MT 323: Automatic Control (1)

MT 421: Automatic Control in

Mechanical Systems
Instructor. Gamal Abdelnasser

Lecture 2 Transfer Function &Laplace Transform

Dr. Shuaiby Mohamed

 Last Lecture

 Basic Components of a Control System

 Classification of Control Systems
 Type of Control System

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 Last Lecture
What is Control System?

• A control system is a collection of components working together under the

direction of some machine intelligence(an integral part of modern society)

Input System Output

How do I change this What I want?

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 Last Lecture
Basic Components of a Control System
Manipulated Variable
Control signal
Disturbance
Input
or
Set point Controller Actuator Process Output
or Or
Reference Controlled Variable

Sensors
Measurement

Sensor noise
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 Last Lecture
Block diagram of human operated liquid – level system

Desired Muscles Water Actual

Brain
level ＆Valve tank level

Eyes

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 Today’s Lecture

Today we are going to discuss the following topics:

 Transfer Function
 Laplace Transform

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 Transfer Function
Transfer Function is the ratio of the output to the input.

• Transfer function G(S) of the plant is given as

Y (S )
G( S ) 
U (S )

U(S) G(S) Y(S)

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 Laplace Transform
• A system represented by a differential equation is difficult to model as a
block diagram
The Laplace transform is defined as

   j

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 Laplace Transform (Cont.)
Find the Laplace transform of

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 Laplace Transform (Cont.)
f(t)
• Ramp signal
 At t0
f (t )  
0 t  0
0 t

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 Laplace Transform (Cont.)

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 Laplace Transform (Cont.)
f(t)

• Step signal
A

A t0
f (t )  
0 t0 0 t

A

s
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 Laplace Transform (Cont.)
δ(t)
• Impulse signal
A

A t 0
 (t )  
0 t0 0 t

A

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 Laplace Transform (Cont.)
Laplace Transform of Derivatives

• Not only common function can be converted into simple algebraic expressions but calculus
operations can also be converted into algebraic expressions.
• For example

dx(t )
  sX ( S )  x( 0)
dt
2
d x(t ) dx(0)
 2
 s X ( S )  sx(0) 
2

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dt dt 14
 Laplace Transform (Cont.)
Laplace Transform of Derivatives

• In general
n
d x(t ) n 1 n 1
 n
 s X ( S )  s x(0)    x (0)
n

dt

• Where x (0) is the initial condition of the system.

1
Laplace Transform of Integrals   x(t )dt  X ( S )
s
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 Laplace Transform (Cont.)
Example
• Consider the following ODE where y(t) is input of the system and x(t) is the
output.
d 2 x(t ) dy(t ) dx(t )
A C B
or dt 2 dt dt

Ax' ' (t )  Cy' (t )  Bx' (t )

• Taking the Laplace transform on either sides

A[ s 2 X ( s )  sx(0)  x' (0)]  C[ sY ( s )  y(0)]  B[ sX ( s )  x(0)]

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 Laplace Transform (Cont.)

A[ s 2 X ( s )  sx(0)  x' (0)]  C[ sY ( s )  y( 0)]  B[ sX ( s )  x(0)]

• Considering Initial conditions to zero in order to find the transfer function of the system

As 2 X ( s )  CsY ( s )  BsX ( s )
• Rearranging the above equation
As 2 X ( s )  BsX ( s )  CsY ( s )
X ( s )[ As 2  Bs ]  CsY ( s )
X (s) Cs sC C
 2  
Y ( s ) As  Bs s ( As  B) As  B
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 Inverse Laplace Transform

Partial-Fraction Expansion

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 Inverse Laplace Transform (Cont.)
Example

Partial-Fraction

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 Inverse Laplace Transform (Cont.)

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 In MATLAB use
F = laplace(f)
syms t F=
f=exp(2*t)+t-t^2 1/(s - 2) + 1/s^2 - 2/s^3
F=laplace(f)

ｆ = ilaplace(f)

syms s
F=2*s/(s^2+1)
f = 2*cos(t)
f=ilaplace(F)
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 Any questions or
suggestions?!

End of Lecture 02
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