ECEN 315

Fundamentals of Control
Lecture #3: Mathematical Modeling

By

Mohamed Saeed Darweesh

Associate Professor
Electronics and Computer Engineering Program
School of Engineering and Applied Sciences
Nile University
IEEE R8 Young Professionals Chairman
IEEE Egypt Section Secretary ْ َ
‫ِبحم ِد ِه تعالى‬
This Lecture Logistics

❑ Chapter 2

❑ Chapter 3

❑ K. Ogata, “Modern Control Engineering,” 5th Edition, 2010

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Agenda

❑ How be a system can described?

❑ Types of System Model

❑ Laplace Transform

❑ Transfer Function

❑ Mathematical Model of Electrical Systems

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Main tasks required to design a control system

❑ Modeling
◼ Describe system input/output (I/O) relationship

❑ Analysis
◼ Evaluate system performance either before or after control

❑ Design
◼ Achieve target performance

❑ Implement
◼ Real-time application of designed and tested control algorithm

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How be a system can described?

Example: DC motor

❑ Input 𝑢(𝑡): Voltage

❑ Output 𝑦(𝑡): Speed

❑ 𝑓(𝑡): describes how motor speed changes in response to the

change in the input voltage.
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Types of System Model

Black Box Model

❑ When only input and output are known.
❑ Internal dynamics are either too complex or unknown.

Gray Box Model

❑ When input and output and some information about the
internal dynamics of the system is known.

White Box Model

❑ When input and output and internal dynamics of the system is
known.

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Types of System Model

Static System:
❑ If a system does not change with time, it is called a static
system.

Dynamic System:
❑ If a system changes with time, it is called a dynamic system.
❑ A system is said to be dynamic if its current output may
depend on the past history as well as the present values of the
input variables.

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Ways to Study a System

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Mathematical Model

Model
❑ Is a simplified representation or abstraction of reality.

Mathematical Model
❑ A set of mathematical equations (e.g., differential equations)
that describes the input-output behavior of a system.

What is a model used for?

◼ Simulation

◼ Prediction

◼ Diagnostics

◼ Control System Design

◼ Performance Evaluation

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Differential Equations

The dynamics of many systems, whether they are mechanical,

electrical, thermal, economic, biological, and so on, may be
described in terms of differential equations:

Where:

❑ Such differential equations may be obtained by using physical

laws governing a particular system.

For example:
◼ Newton’s laws for mechanical systems
◼ Kirchhoff’s laws for electrical systems

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Laplace Transform

To evaluate system, we need to find 𝑦(𝑡) as a function of time (𝑡)

either by:

❑ Solving the differential equations by classical methods

(difficult).

❑ Use of Laplace Transform to solve the linear differential

equations (easy).

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Laplace Transform

❑ By using of Laplace transform, can transform the problem from

the time (or 𝑡) domain to the Laplace/complex (or 𝑠) domain.

❑ The main advantage in doing this is that complex time domain

differential equations become relatively simple 𝑠 domain
algebraic equations.

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Laplace Transform
Laplace transformation for common complex functions

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Laplace Transform

❑ Laplace transformation for differential/integral terms

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Laplace Transform

❑ After Laplace transformation, the model is represented by

algebraic equation which is easy to manipulate.

❑ Then, to get the solution (output response), we have to return

it back to time domain by using the inverse Laplace transform.

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Inverse Laplace Transform

❑ The inverse Laplace transform of a function of (𝑠) is given by:

❑ In practice, inverse transformation is most easily achieved by

using partial fractions to break down solutions into standard
components and then use tables of Laplace transform pairs.

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Laplace Transform

Example 1

Find the solution of the system which described by the following

differential equation:

𝑘 𝑏
Given that: 𝑦𝑜 = 1, 𝑀
= 2 and 𝑀
= 3

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Laplace Transform
Solution

By taking Laplace transform:

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Laplace Transform
Solution

Solve for the output 𝒀(𝒔):

𝑘 𝑏
Subistitute by 𝑦𝑜 = 1, = 2 and = 3
𝑀 𝑀

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Laplace Transform
Solution

Find 𝒚(𝒕) by taking the inverse Laplace transform:

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Transfer Function

The transfer function 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.

We find the Transfer Function to check:

❑ Time domain and frequency domain characteristics of the

system.
❑ Response of the system for any given input.
❑ The stability of the system.

𝑂𝑢𝑡𝑝𝑢𝑡 (𝑠)
Transfer Function: 𝐺 𝑠 =
𝐼𝑛𝑝𝑢𝑡 (𝑠)

Hint: If the highest power of 𝑠 in the denominator of the transfer function is equal to
𝑠+1
𝑛, the system is called 𝑛𝑡ℎ order system (e.g. 𝐺 𝑠 = 2 is a second-order system).
𝑠 +2𝑠−1

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Transfer Function

Example 2

Find the transfer function of the system which described by the

following differential equation:

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Transfer Function

Solution

Laplace Transform

Apply zero initial conditions

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Poles and Zeros

Roots of denominator polynomial, 𝐷(𝑠) = 0, are called “poles”.

❑ Pole is the frequency at which system becomes infinite.

Roots of numerator polynomial, 𝑁(𝑠) = 0, are called “zeros”.

❑ Zero is the frequency at which system becomes Zero.

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Poles and Zeros

𝑆-plane

❑ Poles of the system are represented by ‘x’

❑ Zeros of the system are represented by ‘o’.

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Transfer Function

Example 3

Consider the following transfer function:

❑ Calculate the Poles and Zeros of the system.

❑ Determine the order of the system.

❑ Draw the pole-zero map.

Solved on Board
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Transfer Function

Closed-Loop (-ve Feedback) Transfer Function

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Transfer Function

Closed-Loop (+ve Feedback) Transfer Function

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Transfer Function Example

For the following system, calculate the Transfer Function.

Solved on Board
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Mathematical Model of Electrical Systems

Basic Elements of Electrical Systems

❑ Resistor

❑ The time domain expression relating voltage and current for

the resistor is given by Ohm’s law:

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Mathematical Model of Electrical Systems

Basic Elements of Electrical Systems

❑ Inductor

❑ The time domain expression relating voltage and current for

the inductor is given as:

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Mathematical Model of Electrical Systems

Basic Elements of Electrical Systems

❑ Capacitor

❑ The time domain expression relating voltage and current for

the capacitor is given as:

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Mathematical Model of Electrical Systems

❑ V-I and I-V relations

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Electrical Systems

Example 1

The network shown in the following figure has 𝑣𝑖 (𝑡) as the input
voltage and 𝑣𝑜 (𝑡) as the output voltage. Find the I/O relation of the
network.

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Electrical Systems

Solution

Applying the Kirchhoff’s voltage law in the closed path: σ 𝑉 = 0

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Electrical Systems

Example 2

The network shown in the following figure has 𝑣𝑖 (𝑡) as the input
voltage and 𝑣𝑜 (𝑡) as the output voltage. Find the I/O relation of the
network.

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Electrical Systems

Solution

Applying the Kirchhoff’s voltage law in the closed path: σ 𝑉 = 0

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Electrical Systems

Example 3

The network shown in the following figure has 𝑣𝑖 (𝑡) as the input
voltage and 𝑣𝑜 (𝑡) as the output voltage. Find the I/O relation of the
network.

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Electrical Systems

Solution

Define current for each branch

Applying the Kirchhoff’s voltage law in the closed path 1: σ 𝑉 = 0

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Electrical Systems

Solution

Applying the Kirchhoff’s voltage law in the closed path 2: σ 𝑉 = 0

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Electrical Systems

Solution

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Electrical Systems

Example 4

The network shown in the following figure has 𝐸𝑖 (𝑡) as the input
and 𝐸𝑜 (𝑡) as the output. Find the I/O relation of the network.

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Electrical Systems

Solution

This is a Series/Parallel RLC.

We need to find the equivalent impedance Z for the connected

components.

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Electrical Systems

Equivalent Impedance

Series/Parallel Impedance

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Electrical Systems

Solution

Equivalent Impedance of R and L:

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Electrical Systems
Solution

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Where to find me?

❑ My Office at UB2-S09-B

❑ Email: [email protected]

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