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Lecture 2 - Mathematical Model - Transfer Function and Block Diagram

This document discusses different methods for representing mathematical models of control systems, including transfer functions, block diagrams, and state space models. It defines a transfer function as the ratio of the Laplace transform of the output of a linear system to the Laplace transform of its input. Block diagrams provide a visual representation of systems and their components. Signal flow graphs and Mason's gain formula are introduced as additional representation methods to be covered in the next lecture.

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Mouadh Wahrani
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140 views20 pages

Lecture 2 - Mathematical Model - Transfer Function and Block Diagram

This document discusses different methods for representing mathematical models of control systems, including transfer functions, block diagrams, and state space models. It defines a transfer function as the ratio of the Laplace transform of the output of a linear system to the Laplace transform of its input. Block diagrams provide a visual representation of systems and their components. Signal flow graphs and Mason's gain formula are introduced as additional representation methods to be covered in the next lecture.

Uploaded by

Mouadh Wahrani
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© © All Rights Reserved
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Control 1: MCTE 3312


Lecture #2: Mathematical Model – Transfer Function
and Block Diagram

Noor Hazrin Hany Mohamad Hanif


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2
Transfer Function

Block Diagram

Signal Flow Graph

SYSTEM
REPRESENTATION State Space Form

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Introduction
In mathematical modeling, it is required to arrange and
represent model equations in useful form for the
purpose of analysis, simulation, etc.

The common representation in control systems:


• transfer function form
• state space form
• block diagram
•Signal flow graph

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Transfer Function
Definition
 Transfer function G(s) of a linear system is defined as
the ratio of the Laplace transform of the output
variable to the Laplace transform of the input variable,
with all initial conditions assumed to be zero

Output(s)
G (s) 
Input(s)

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Transfer Function
Example:
Find the transfer function of the following differential
equation
𝑦(t)+5𝑦(t)+4y(t)=u(t)

Y(s) 1
 2
U(s) s  5s  4

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Laplace Transform Table
 (t ) t n e  at u (t ) n!
1
( s  a ) n 1
u (t ) 1
sin(t )u (t ) 
s
1 s2   2
tu (t )
s
s2 cos(t )u (t )
n! s2   2
t n u (t ) 
s n 1
e  at sin(t )u (t ) ( s  a) 2   2
1
e  at u (t ) sa sa
1 e  at cos(t )u (t ) ( s  a) 2   2
te  at u (t ) (s  a) 2
Laplace Transform Properties

f (t ) F (s)
f1 (t )  f 2 (t ) F1 ( s )  F2 ( s )
kf (t ) kF ( s )
f (t  T ) e  sT F ( s )
e  at f (t ) F (s  a)
f (at ) 1 s
F 
df a a
dt sF ( s )  f (0  )
Laplace Transform Properties

2
 df ( 0 )
d f s F ( s )  sf (0 ) 
2

dt 2 dt
n
dn f s F ( s )   s n  k f k 1 (0  )
n

k 1
dt n
t F (s)

0
f ( )d
s
f ( ) lim sF ( s )
s 0
f (0  ) lim sF ( s )
s 
Example: Find the Laplace transform for the following
DE and initial conditions.

d2y dy dy 
 9  2 y  6e  4t 
y (0 )  2 (0 )  4
dt 2 dt dt
Laplace

s Y (s)  2s  4 9sY (s)  2  2Y (s)  s 6 4


2

6 2s  14
Y (s)   2
( s  4)(s  9s  2) s  9s  2
2
Transfer Function
Given the following transfer function G(s)

A(s)
G (s) 
B(s)
 The roots of the numerator A(s) are called zeros.
 The roots of the denominator B(s) are called poles.
 The denominator of a transfer function is called
characteristic equation.

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Block Diagram
• A block diagram is a convenient tool to visualize the
systems as a collection of interrelated subsystems, which
emphasize the relationships among the system variables.

G(s)
input output

C ( s)  G ( s) R( s)
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Block Diagram
Procedure for Block Diagram Drawing

• Write the equations that describe behaviors of each


component.
• Taking Laplace transform with zero initial values.
• Replacing individual equation by block diagram
• Assemble the elements into a complete block
diagram.

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Block Diagram
Block
Block DiagramReduction
Diagram Reduction

The block diagram of a given system often can be reduced


to a simplified block diagram with fewer blocks than the
original block diagram.

For block diagram reduction, we utilize the following


concepts:
• Elementary Block Diagram
• Block diagram algebra

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Three Elementary block diagrams

Series connection Parallel connection Feedback connection

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Block Diagram
Block Diagram Algebra

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Block Diagram
Block Diagram Algebra

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Block Diagram
Example
Find the transfer function of the following block diagram

Y(s) 2s  4
 2
R (s) s  2s  4
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Block Diagram
Exercise

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What we did today?

Transfer Function & Block diagram

Next Lecture
Signal Flow Graph & Mason’s Gain Formula

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