Chapter 2 - Mathematical Modelling

Chapter 2:
Mathematical
modelling
NURYANTI MOHD. SALLEH
FACULTY OF ELECTRICAL ENGINEERING
UiTM PULAU PINANG
ROOM: BILIK PENSYARAH 10 (PERDA)
EXT: 2430 HP: 012-6679583
2
Mathematical modelling
Introduction to Mathematical Modelling
Models of Electrical, Mechanical and
Electromechanical System
Block Diagram Reduction
Signal Flow Graph and Mason's rule
Chapter 2: Mathematical Modelling
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INTRODUCTION TO
Mathematical modeling is used to design and analyze
control systems.
Type of discussing system electrical, mechanical and
electromechanical system.
Modeling method differential equation, Laplace
transform, transfer function, block diagram and signal
flow graph.
Advantage of mathematical models :
Translation of physical system from a complex
system to a simple mathematical form.
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In order to analyse and design control system,
physical system need to be represented
mathematically.
A physical system can be represented
mathematically in three form:-
1. Differential equation
2. Transfer function
3. State space
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Table 2.1(pg40)
Laplace transform table
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Table 2.2 (pg 41)
Laplace
transform theorems
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Simplify EQUATION
Single loop equation:
Sum of impedance ( ) Sum of applied voltage I s = ( (

Double loop equation:
1 2
Sum of impedances Sum of impedances Sum of applied voltage
( ) ( )
around Mesh 1 common to the 2 meshes around mesh 1
I s I s
( ( (
=
( ( (

1 2
Sum of impedances Sum of impedances Sum of applied voltage
( ) ( )
common to the 2 meshes around Mesh 2 around mesh 2
I s I s
( ( (
+ =
( ( (

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Simplify EQUATION
Multiple loop equation:
1 2 3
Sum of impedances Sum of impedances Sum of impedances Sum of applied voltage
( ) ( ) ( )
around Mesh 1 common to mesh 1 and 2 common to mesh 1 and 3 around mesh 1
I s I s I s
( ( ( (
=
( ( ( (

1 2 3
( ) ( ) ( )
common to mesh 1 and 2 around mesh 2 common to mesh 2 and 3 around mesh 2
I s I s I s
( ( ( (
+ =
( ( ( (

1 2 3
( ) ( ) ( )
common to mesh 1 and 3 common to mesh 2 and 3 around mesh 3 around mesh 3
I s I s I s
( ( ( (
+ =
( ( ( (

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Transfer function
Definition
Transfer function is the ratio between output and
input expressed in s-domain.
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Simplify steps to obtain
TRANSFER FUNCTION
1. Draw the transformed circuit:
Convert all time variables to its Laplace
transform.
Replace component values with its
impedance values.
2. Using the suitable pattern of
equations obtain the TF.
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Model of Electrical system
Passive Network (RLC Circuit)
Serial RLC Circuit
Parallel RLC Circuit
Combinational RLC Circuit
Active Network (Op-amp)
Inverting Op-Amp
Non-inverting Op-Amp
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Electric Network
Transfer function
Electrical Components
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Differential equatioN Serial RLC Circuit
( ) ( ) ( ) ( )
( ) ( )
}
+ + =
+ + =
dt t i
C
1
dt
) t ( di
L R t i
t V t V t V t V
: KVL
C L R in
( ) ( ) ( )
( ) t i
C dt
t i d
L
dt
t di
R
dt
t dV
in
1
: equation the of side both ate Differenti
2
2
+ + =
( ) ( ) ( )
( ) t i
LC dt
t di
L
R
dt
t i d
dt
t dV
L
in
1 1
: L with sides both Divide
2
2
+ + =
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Serial RLC Circuit
( ) ( ) ( ) ( ) s I
LC
s sI
L
R
s I s s V
L
s
in
1
0) to equal condition initial the all (Let
: side both Transform Laplace Taking
2
+ + =
( )
( )
LC
s
L
R
s
L
s
s V
s I
in
1
: follows as is system the of TF the Therefore
2
+ +
=
ModelS of Electrical system
Chapter 2: Mathematical Modelling 14
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Serial RLC Circuit
( ) ( ) ( ) ( ) t V t V t V t V
C L R in
+ + =
: Transform Laplace using
away straight obtained be can system the of TF the ely, Alternativ
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( )
( ) ( )
(
+ + =
(
+ + =
+ + =
+ + =
LC
s
L
R
s s I s V
L
s
C
Ls Rs s I s sV
C
s I Ls s I Rs s I s sV
Cs
s I Ls s I R s I s V
in
in
in
in
1
1
1
1
2
2
2
( )
( )
LC
s
L
R
s
L
s
s V
s I
in
1
: follows as is system the of TF the Therefore
2
+ +
=
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EG 2.10: Double loop
Find the TF,
2
( )
( )
I s
V s
( )
( )
| | | |
2 2
2 1
1
: system the of TF
s L
Cs
Ls R Ls R
Ls
s V
s I
in
+ + +
=
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EG 2.13: Multiple loops
Write, do not
solve the mesh
equation for
the given
network.
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exercise
Try Skill Assessment exercise 2.6 (pg 67)
Find
( )
( )
( )
L
V s
G s
V s
=
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Op Amp
Ideal characteristics:
1. Differential inputs, v
2
(t) v
1
(t)
2. High input impedance, Z
i
=
3. Low output impedance, Z
o
= 0
4. High constant gain amplification, A =
The output, v
o
(t) = A(v
2
(t)- v
1
(t))
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Inverting Op Amp
v
2
(t) connected to ground
v
o
(t) = -Av
1
(t)
) ( ) ( ) (
) ( ) ( ) (
e therefor ,
0 e therefor , , ,
: pedance, input High
2 2
1 1
1 2 2 1
1
s Z s I s V
s Z s I s V
I I I I I
I I d Z
I
V
Z
Z
o
i
a
a a a
a
a
a
=
=
= = +
~ + | =
|
) (
) (
) ( ) (
) ( ) (
) ( ) (
) ( ) (
) (
) (
1
2
1 1
2 1
1 1
2 2
s Z
s Z
s Z s I
s Z s I
s Z s I
s Z s I
s V
s V
i
o

=
= =
Transfer function
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Non Inverting Op Amp
) (
) ( ) (
) ( V
) ( V
A arg
)) ( ) ( /( ) ( ) ( V
) ( V
(1) into (2)
) ( ) ( V
) ( ) (
) (
) ( V
division, voltage using By
) ( )) ( ) ( ( ) (
i
o
i
o
o 1
s Z
s Z s Z
s
s
e l for
s Z s Z s AZ
A
s
s
Substitute
s
s Z s Z
s Z
s
s V s V A s V
i o
1
2 1
2 1 1
2 1
1
1
1
2
1
+
=
+ +
=
+
=
=
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Example 2.14
Find Transfer Function:
) s ( V
) s ( V
i
o
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Mechanical system is handled the same way as electrical
system.
Can be simplified using Cramers Rule.
Two type of Mechanical System:
Linear Mechanical System
Three passive components spring, damper and mass.
Translational motion.
Rotational Mechanical System
Three passive components spring, damper and inertia.
Rotation motion instead of translational.
ModelS of MECHANIcal system
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LINEAR Mechanical System
TRANSFER FUNCTION
Table 2.4(pg 69)
Force-velocity, force-
displacement, and
impedance translational
relationships
for springs, viscous
dampers, and mass
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Simplify EQUATION
Sum of impedance ( ) Sum of applied forces X s = ( (

1 2
1 2 1
1
Sum of impedances
Sum of impedances Sum of applied
connected to ( ) ( )
bet x and x forces at x
the motion at x
X s X s
(
( (
(
=
( (
(

(

1 2
1 2 2
2
Sum of impedances
( ) connected to ( )
bet x and x forces at x
the motion at x
X s X s
(
( (
(
+ =
( (
(

(

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Simplify EQUATION
1 2 3
1 3 1 2 1
1
Sum of impedances
Sum of impedances Sum of impedances Sum of applied
connected to ( ) ( ) ( )
bet x and x bet x and x forces at x
the motion at x
X s X s X s
(
( ( (
(
=
( ( (
(

(

1 2 3
2 3 1 2 2
2
Sum of impedances
( ) connected to ( ) ( )
the motion at x
X s X s X s
(
( ( (
(
+ =
( ( (
(

(

1 2 3
1 3 2 3 3
3
Sum of impedances
( ) ( ) connected to ( )
the motion at x
X s X s X s
(
( ( (
(
=
( ( (
(

(

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Eg 2.16: free body diagram
Linear Motion System:
Find transfer function,
( )
( )
X s
F s
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Linear Motion System
( ) ( ) ( ) ( ) t f t x
dt
d
M t x
dt
d
f t Kx
v
= + +
2
: right the to is motion of direction positive the Assume
motion. of equation al differenti the find TF, the find To
SOLUTION:
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( ) ( ) ( ) ( ) s F s KX s sX f s X Ms
v
= + +
2
: transform Laplace
( )
( ) K s f Ms s F
s X
v
+ +
=
2
1
: system the of TF
Block Diagram:
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EG 2.17: two degree of
freedom (pg 63)
2
( )
( )
X s
F s
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Linear Motion System
( )| | ( )| | ( )
( )| | ( )| | 0 ) ( ) (
: M on forces All
) ( ) (
: M on forces All
: motion own its to due ) M , (M body
each on acting forces the find ion, superposit Using
3 2 3 2
2
2 2 2 3 1
2
2 3 2 2 1 3 1
2
1 1
1
2 1
= + + + + + +
= + + + + +
K K s f f s M s X K s f s X
s F K s f s X K K s f f s M s X
v v v
v v v
( ) ( )
A
+
+ + + + =
0 ) (
) (
: Rule s Cramer' Using
2 3
2 1 3 1
2
1 2
K s f
s F K K s f f s M s X
v
v v
SOLUTION:
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( )
( ) A
+
=
2 3
2
: system the of TF
K s f
s F
s X
v
( ) ( )
3 2 3 2
2
2 2 3
2 3 2 1 3 1
2
1
2 3
2 1 3 1
2
1 2
) ( ) (
) ( ) (
0 ) (
) (
K K s f f s M K s f
K s f K K s f f s M
K s f
s F K K s f f s M s X
v v v
v v v
v
v v
+ + + + +
+ + + + +
+
+ + + + =
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Block Diagram:
( )
( )
2
2 3 3 2 3 2
2
2 2 1 3 1
2
1
2 3
2
) ( ] ) ( ][ ) ( [
: system the of TF
K s f K K s f f s M K K s f f s M
K s f
s F
s X
v v v v v
v
+ + + + + + + + +
+
=
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EG 2.18: tHree degree of
freedom (pg 65)
Write, do not solve, the equation of motion for the
mechanical network
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exercise
Find
2
( )
( )
( )
X s
G s
F s
=
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rotational Mechanical
System Transfer Function
Table 2.5 (pg 69)
Torque-angular velocity,
torque-angular
displacement,
and impedance
rotational relationships for
springs, viscous dampers,
and inertia
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Simplify EQUATION
Sum of impedance ( ) Sum of applied forces s u = ( (

1 2
1 2 1
1
Sum of impedances
connected to ( ) ( )
bet and forces at x
the motion at
s s u u
u u
u
(
( (
(
=
( (
(

(

1 2
1 2 2
2
Sum of impedances
( ) connected to ( )
bet and forces at x
the motion at
s s u u
u u
u
(
( (
(
+ =
( (
(

(

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Simplify EQUATION
1 2 3
1 3 1 2 1
1
Sum of impedances
connected to ( ) ( ) ( )
bet and bet and forces at
the motion at
s s s u u u
u u u u u
u
(
( ( (
(
=
( ( (
(

(

1 2 3
2 3 1 2 2
2
Sum of impedances
( ) connected to ( ) ( )
the motion at
s s s u u u
u u u u u
u
(
( ( (
(
+ =
( ( (
(

(

1 2 3
1 3 2 3 3
3
Sum of impedances
( ) ( ) connected to ( )
the motion at
s s s u u u
u u u u u
u
(
( ( (
(
+ =
( ( (
(

(

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Rotational Motion System
( ) ( ) ( ) ) (
: m transfor Laplace
2
s T s K s Ds s Js = + + u u u
( )
( ) K Ds Js s T
s
+ +
=
2
1
: system the of TF
u
EG 2.19: ONE equation of motion
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EG 2.20: two equation of motion
2
( )
( )
s
T s
u
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Rotational Motion System
Two degrees
of freedom
( )| | ( )| | ( )
( )| | ( )| | 0
: M on torques All
: M on torques All
: System Motion Linear as way same the Use
2
2
2 2 1
2
2 1
2
1 1
1
= + + +
= + +
K s D s J s K s
s T K s K s D s J s
u u
u u
SOLUTION:
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( )
( ) A
=
K
s T
s
2
: system the of TF
u
( ) ( )
K s D s J K
K K s D s J
K
s T K s D s J s
+ +
+ +
+ + =
2
2
2
1
2
1
1
2
1 2
0
: Rule s Cramer' Using
u
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EG 2.21: tHree degree of
freedom
Write, do not solve, the equation of motion for the
mechanical network
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exercise
Find
2
( )
( )
( )
s
G s
T s
u
=
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TRANSFER FUNCTION FOR
SYSTEMS WITH GEAR
1
2
2
1
1
2
2
1
2
1
1
2
2 2 1 1
N
N
= =
T
T
N
N
=
r
r
=
r = r

Rotational mechanical impedances can be reflected
through gear trains by multipying the mechanical
impedance by the ratio
)
shaft source on gear of teeth of #
shaft n destinatio on gear of teeth of #
(
2
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ElectroMechanical System
Transfer function
Electromechanical system is the
combination of electrical and mechanical
system.
In this course, electromechanical systems
to be studied are:
1. Armature control DC motor
2. Field control DC motor
3. Filed Control DC generator
4. Potentiometer
5. Tachometer
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Armature control Dc motor
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Armature Control DC Motor System
DC motor converts electrical voltage (armature
circuit) into mechanical rotation.
The fixed field circuit current, If is constant.
( ) | | ) ( ) (
: circuit Armature
s V sL R s I s E
b a a a a
+ + =
1
a a a
a
sL R s s E
s I
TF
+
=
1
) ( V ) (
) (
: circuit armature of
b
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( )
m
m
, Simplified
) current circuit field fixed (
constant with ,
speed a is where ,
: EMF) (back
circuit, armature of Potential
u
u
s K V
I
s I K V
w
w I K V
V
b b
f
f b
f b
b
=
=
=
b
sK
s
s
TF
=
) (
) ( V
: EMF back of
m
b
u
2
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( )
a m m
f
a f
m
a b
m
I K T
I
w
I w I K
T
w
I V
Speed
Power
T
=
=
=
=
, Simplified
constant with ,
motor of potential is V ,
: T motor, DC by Torque
b
m
3
m
K
s
s
=
) ( I
) ( T
: motor DC by torque of TF
a
m
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( ) ( ) ( ) ) ( T
: system mechanical Rotational
m
2
s s K s Ds s Js
m m m
= + + u u u
4
K sD J s s
s
m
+ +
=
2
m
1
) ( T
) (
: system rotational of TF
u
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Armature Control DC Motor
Overall block diagram
b
sK
s
s
=
) (
) ( V
m
b
u
a a a
a
sL R s s E
s I
+
=
1
) ( V ) (
) (
b
m
K
s
s
=
) ( I
) ( T
a
m
K sD J s s
s
m
+ +
=
2
m
1
) ( T
) ( u
CLCS
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field control Dc motor
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Field Control DC Motor System
DC motor converts electrical voltage (fixed field
circuit) into mechanical rotation.
The armature circuit current, Ia is constant.
( ) | |
f f f f
sL R s I s V + = ) (
: circuit field Fixed
1
f f
f
sL R s
s I
TF
+
=
1
) ( V
) (
: circuit field fixed of
f
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( )
f m m
a
a f
m
a b
m
I K T
I
w
I w I K
T
w
I V
Speed
Power
T
=
=
=
=
, Simplified
constant with ,
motor of potential is V ,
: T motor, DC by Torque
b
m
m
K
s
s
=
) ( I
) ( T
: motor DC by torque of TF
f
m
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2
( ) ( ) ( ) ) ( T
: system mechanical Rotational
m
2
s s K s Ds s Js
m m m
= + + u u u
3
K sD J s s
s
m
+ +
=
2
m
1
) ( T
) (
: system rotational of TF
u
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Field Control DC Motor
f f
f
sL R s
s I
+
=
1
) ( V
) (
f
m
K
s
s
=
) ( I
) ( T
f
m
K sD J s s
s
m
+ +
=
2
m
1
) ( T
) ( u
) ( V
) (
) ( I
) ( T
) ( T
) (
) ( V
) (
: TF
f f
m
m f
s
s I
x
s
s
x
s
s
s
s
f
m m
u u
=
OLCS
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field control Dc generator
R
f
L
f
I
f
G
V
i
V
o
Electro Mechanical System
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Field Control DC Generator System
Generator converts mechanical rotation into
electrical voltage.
The speed of the rotation is constant.
( ) | |
f f f f
sL R s I s V + = ) (
: circuit field Fixed
1
f f
f
sL R s
s I
TF
+
=
1
) ( V
) (
: circuit field fixed of
f
R
f
L
f
I
f
G
Vf
+
_ g=constant
Vg
+
_
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( )
f g g
f g g
f g g
g
I K V
s I K V
w
w I K V
V
=
=
=
, Simplified
speed constant a is where ,
: generator, of Potential
g
u
g
f
g
K
s I
s V
TF
=
) (
) (
: potential generator of
2
R
f
L
f
I
f
G
Vf
+
_ g=constant
Vg
+
_
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Field Control Generator
f f
f
sL R s
s I
+
=
1
) ( V
) (
f
g
f
g
K
s I
s V
=
) (
) (
) (
) (
) (
) (
) (
) (
: TF
s V
s I
x
s I
s V
s V
s V
f
f
f
g
f
g
=
OLCS
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62
potentiometer
+
V
i
-
+
V
o
-

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Potentiometer
The TF relationship is between output voltage and input
angular displacement.
In the center location Vo is zero.
5 turns toward either the +10V or the -10V (Vo) yields
voltage change (Vi) of 10V.
H
=
H
=
1
10
10
) (
) (
: ter potentiome of
s
s V
TF
i
o
u
63
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64
tachometer
+
-
V
o
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Tachometer
To measure rotation speed.
f
o
sK
s
s V
TF
=
) (
) (
: r tachomete of
u
T
+
-
V
o
Exercise 2.6:
Find the operation of tachometer .
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66
EG:
electromechanical system
G M J
T,
R
f
L
f
R
a
L
a
+
-
E(s)
+
-
E
a
(s)
+
-
E
b
(s)
Obtain,
( )
( )
s
E s
e
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Block diagram components:
Lines/arrows (signals)
Blocks (system, TF, gain)
Summing junction (SJ)
Pick-off point/take-off point (PP)
Use Block diagram reduction method to reduce complex system.
) ( ) ( ) ( s B s A s C + =
) ( ) (
) ( ) (
s R s Y
s R s X
=
=
BLOCK DIAGRAM
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Reduction method:
SJ Arrangement
PP Arrangement
BLOCK DIAGRAM REDUCTION METHOD
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Reduction method:
Blocks Arrangement
Cascade (serial) blocks
Parallel blocks
Feedback blocks
69
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Reduction method:
Moving Block Diagram Over SJ
Moving BD to the left of SJ Moving BD to the right of SJ
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Reduction method:
Moving Block Diagram Over PP
Moving BD to the left of PP Moving BD to the right of PP
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Step of Block Diagram Reduction
1. Rearrange all summing junctions (SJ) that have
more than two inputs.
2. Rearrange all pick-off points (PP) that have more
than two outputs.
3. Solve all cascade, parallel and feedback blocks.
4. Repeat step 1, 2 and 3 which appropriate until the
simplest block diagram can be obtained.
5. Obtain transfer function of the simplest block
diagram configuration.
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Example 2.1
Step 1, 2: Rearrange all summing junctions (SJ) and pick-off points (PP).
G1
G2
G3
G4
G5 G6
G7
R(s) C(s) +
-
-
+
+
+
-
-
C
V
G1
G2
G3
G4
G5
G7
R(s) +
-
-
+
+
+
-
-
G6
C(s) + +
ESE353
C
V
C
V
Step 3: Solve all cascade, parallel and feedback blocks .
Step 1 & 2
Step 3
Rearrange SJ
Rearrange SJ
Rearrange PP
Rearrange PP
Parallel
Feedback
G1
G2+G3
G4
G5
G7
+
-
C(s)
R(s) +
-
+
-
G6
(1+G6)
G1
G2+G3 G5
G7
+
-
C(s)
R(s) +
-
+
-
G6
(1+G6)
G4
G2+G3
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Step 4: Repeat step 1, 2 and 3 which appropriate until the simplest block
diagram can be obtained.
Move block G2+G3
over PP to the left
Step 4
Step 4
Feedback
Parallel
G7
C(s)
R(s) +
-
G6
(1+G6)
G5 G4
G2+G3
G2+G3
1+G1(G2+G3)
C(s)
R(s) [G6][G5(G2+G3) G4]
[1+G1(G2+G3)][1+G6]+[G6G7][G5(G2+G3) G4]
ESE353
Step 4
Step 5
Step 5: Obtain transfer function of the simplest block diagram configuration.
Feedback
| || |
| || || |
| |
| || |
| |
| || | | || | 4 G ) 3 G 2 G ( 5 G 7 G 6 G 6 G 1 ) 3 G 2 G ( 1 G 1
4 G ) 3 G 2 G ( 5 G 6 G
Ga 7 G Gb
Ga
Gb
Ga 7 G Gb
Gb
Ga
Gb
Ga
7 G 1
Gb
Ga
Feedback
) s ( G ) s ( H 1
) s ( G
) s ( R
) s ( C
Gb
Ga
6 G 1 ) 3 G 2 G ( 1 G 1
4 G ) 3 G 2 G ( 5 G 6 G
6 G 1 3 G 2 G ) 3 G 2 G ( 1 G 1
4 G ) 3 G 2 G ( 5 G 3 G 2 G 6 G
6 G 1
6 G
3 G 2 G
4 G
5 G
) 3 G 2 G ( 1 G 1
3 G 2 G
+ + + + +
+
=
+
=
+
=
+
=
>
+
=
=
+ + +
+
=
+ + + +
+ +
=
(
+
(
+ +
+
ESE353
Simplify the transfer function:
SFG components:
Nodes (signals, points)
Arrows / branches (system, TF, gain)
SFG represents block diagram of a system:
Use Masons Rule to reduce complex block diagram.
G1
G2
-
G3
G4
G5
+
+
G6
C(s) R(s) +
BD
SFG
R SJ PP C SJ PP
G1
G2
G6
G4
-G5
G3
SIGNAL FLOW GRAPH (SFG)
ESE353
DEFINITIONS IN SIGNAL FLOW GRAPH
ESE353
Forward path gain:
The product of gains found by traversing a path from the input node to
the output node of single-flow graph in the direction of signal flow.
5 4 3 2 1 1
G G G G G M =
6 4 3 2 1 2
G G G G G M =
Loop gain:
The product of branch gains found by traversing a path that starts at a
node and ends at the same node, following the direction of signal flow
without passing through any other node more than once.
1 2 1
H G L =
2 4 2
H G L =
3 5 4 3
H G G L =
Nontouching loop gain:
The product of loop gains from non touching loops taken two, three, four
or more at a time.
Nontouching loop:
Loops that do not have any nodes in common.
2 4 1 2 2 1
H G H G L L =
3 5 4 1 2 3 1
H G G H G L L =
Masons Rule
To determine the final transfer function of SFG.
Masons Rule expression:
t determinan the
gain path forward k the M
path forward of number k where
th k
=
=
=
...... NTL4 NTL3 NTL2 LG 1 + + =
cofactor the
k
=
) NTL2(NTFPG LG(NTFPG) 1 + =
...... ) NTL3(NTFPG +
Note:
LG = individual loop gain
NTL = non-touching loops
NTFPG = non-touching forward path gain
80
M
R(s)
C(s)
(s) G
k k k
= =
Masons Rule
Example 2.2
5 ) 1 )( 5 )( 1 (
36 ) 1 )( 4 )( 3 )( 3 )( 1 (
: gain, path forward Consider
2
1
k
= =
= =
M
M
M
31
15 ) 5 )( 3 (
6 ) 2 )( 3 (
: G gain, loop individual Consider
5 4 3 2 1
2
1
= + + + + = E
= =
= =
L L L L L LG
L
L
L
4
30 ) 2 )( 3 )( 5 (
36 ) 3 )( 4 )( 3 (
5
4
3
=
= =
= =
L
L
L
1
2
81
Masons Rule
None : others and NTL4 NTL3, Consider
84 2
60 ) 4 )( 15 ( ) )( (
24 ) 4 )( 6 ( ) )( (
: time a at NTL2 Consider
25 15
5 2 25
5 1 15
= + = E
= = =
= = =
L L NTL
L L L
L L L
116 0 ) 84 ( ) 31 ( 1
..... 4 3
2 1
: t determinan the Therefore,
= + =
E + E
E + E = A
NTL NTL
NTL LG
3
1 0 1
) not touch that loop ( 1
: gain path forward not touch that loop Consider
1 1
= =
= A M
16 ) 15 ( 1 ) ( 1
) not touch that loop ( 1
2
2 2
= = =
= A
L
M
4
1
116
) 16 )( 5 ( ) 1 )( 36 (
R(s)
C(s)
: Rule s Mason' using function transfer the Therefore,
2 2 1 1 k k k
=
+
=
A
A + A
=
A
A E
=
M M M
5
82
Differential Equation (DE) describes the relationship
between input and output system, sometimes become
complex equation.
Laplace Transform (LT) simplifies DE to represent
the input, output and system as separate entities.
Transfer Function (TF) ratio of output variable to input
variable in form of LT, with all initial conditions assumed
to be zero.
SUMMARY
83
Block Diagram (BD)
Representation as blocks and lines.
System (TF) as blocks and signals as lines.
Using BD Algebra (BD Reduction Method) to reduce BD.
Signal Flow Graph (SFG)
Representation as lines/branches and nodes.
System (TF) as lines and signals as nodes
Using Masons Rule to reduce SFG
ESE353
SUMMARY

Chapter 2 - Mathematical Modelling

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Chapter 2 - Mathematical Modelling

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Chapter 2: Mathematical Modelling

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