Dynamic Systems and Control, Chapter 1: Mathematical Models of Systems

Dynamic Systems and Control, Chapter 1: Mathematical Models of Systems
Mathematical Models of Systems
© 2017 Quoc Chi Nguyen, Head of Control & Automation Laboratory, nqchi@hcmut.edu.vn 1-1
What is a control system?
- System: An interconnection of elements and devices for a desired

purpose and/or objective.
- Control system: An interconnection of components forming a
system configuration that will provide a desired response
- Process: The device, plant, or system under control. The input and
output relationship represents the cause-and-effect relationship of
the process.
- In Vietnam, semi-automated crossbow (170 BC) developed by

General Cao Lo.
Future evolution of control systems
• Control system
- flexibility
- high level of autonomy
HIGH Improvements:
• Sensory limitation FactoryAutomation
Automated society *Vision
- computer vision *Man-machine
- no adaptibility to environment Improvements: interface
> need human supervision Robotics
NC Machines *Sensors *Supervisory
*Vision control
• Advanced robotics system
Autonomy
Power tools *Languages
- task adaptibility Intelligent controller
*Artificial
- artificial intelligence
- sensor integration intelligence
- computer vision
- off-line programming Hand tools
- human-machine interface Automatic Computer Control

Electric Control Systems
> database management
> communications machines Systems (programmable)
> programming language Automatic machine

LOW
Flexibility HIGH
LOW
Basic components of control systems
Plant
Controlled Variable
Expected Value
Controller
Actuator
Sensor
Disturbance
© Prof. Bin Jiang & Dr. Ruiyun QI, Nanjing University of Aeronautics and Astronautics
Basic concepts of a control system

- Plant: a physical object to be controlled such as a mechanical device,
a heating furnace, a chemical reactor or a spacecraft, a car, a missile.
- Controlled variable: the variable controlled by a automatic control

system , considering as a system output
- Expected value : the desired value of controlled variable based on

requirement, often it is used as the reference input
Basic concepts of a control system

- Controller: an unit that can compute the required control signal.
- Actuator: a mechanical device that takes energy, usually created by

air, electricity, or liquid, and converts that into some kind of motion.
- Sensor: a device that measures a physical quantity and converts it

into a signal which can be read by an observer or by an instrument.
- Disturbance: the unexpected factors disturbing the normal functional

relationship between the controlling and controlled parameter
variations.
Example of premature incubator

Reference signal r
+ Controller Plant
y
-
e u
Feedbac
k
Premature baby incubator
Desired
temperature Thermocouple
Microcontroller
Amplifier
Reference signal r
+ Controller Plant
y
-
e u
Feedback
Premature baby incubator

Desired
temperature Thermocouple
Microcontroller
Amplifier
Dynamics of systems
• Dynamics describes how the states evolves, as a function on the
current state and any external inputs
• Inputs describe the external excitation of the dynamics

• Outputs describe the directly measured variables
 Outputs are a function of the state and inputs ⇒ not
independent variables
 Not all states are outputs; some states can’t be directly
measured
Dynamics of Mechanical Systems
Differential Equation of a Shock Absorber System
Shock absorber Equivalent damper Free body

(from wikipedia) spring mechanism diagram
According the Newton’s second law, the equations of motion of the
system is derived as follows:
Dynamics of Electrical Systems
Differential Equation of an Electrical System
Using Kirchhoff's voltage laws, one obtains , where

, , and .
we obtain the following differential equation
.
If the unchanging voltage is considered , differentiating and
dividing by L leads to the second order differential equation
1
0
Dynamics of Thermal Systems
Using heat-balance equation, derive dynamic equation of

the tank
↔
C: Thermal capacitance
hi: Heat rate of input
ho: Heat rate of output
: Change of temperature
What is your observation?

• The dynamics of many systems, whether they are mechanical,
electrical, thermal, and so on, may be described in terms of
differential equations.
• The differential equations may be obtained by using physical

laws governing a particular system (e.g., Newton’s laws for
mechanical systems and Kirchhoff’s laws for electrical
systems).
• Deriving reasonable mathematical models is the most

important part of the entire analysis of control systems
Differential Equation of Physical Systems

Electrical Inductance Describing Equation Energy Power
1
2
Rotational Spring
1 1
2
Translational Spring
1 1
2
Fluid Inertia
1
2
Differential Equation of Physical Systems
Electrical Capacitance Describing Equation Energy Power
1
Translation Mass
2
1
2
Rotational Mass
1
2
Fluid Capacitance 1
2
Thermal Capacitance
1
2
Mathematical model
- Mathematical models may assume many different forms.
- Depending on the particular system and the particular
circumstances, one mathematical model may be better suited than
other models.
Simplicity Versus Accuracy
- In obtaining a mathematical model, we must make
a compromise between the simplicity of the model and the
accuracy of the results of the analysis.
- We frequently find it necessary to ignore certain inherent physical
properties of the system. If the effects that these ignored properties
have on the response are small, good agreement will be obtained
between the results of the analysis of a mathematical model and the
results of the experimental study of the physical system.
System modeling
Models are a mathematical representations
of system dynamics:
• Models allow the dynamics to be
simulated and analyzed, without having
to build the system
• Models are never exact, but they can be
predictive
The model you use depends on the questions

you want to answer
• A single system may have many models
• Time and spatial scale must be chosen to
suit the questions you want to answer
• Always formulate questions before building
a model
The principle of causality

The current output of the system (the output at time t = 0)
depends on the past input (the input for t<0) but does not
depend on the future input (the input for t>0).
Examples of causal systems

- Memoryless system: 1 cos
∝
- Autoregressive filter:
Examples of noncausal systems
- Central moving average: sin
- Central moving average: +
Linear systems
A system is called linear if the principle of superposition applies
Given : → then
Linear time-
Linear time invariant varying system
system (LTI) (LTV)
The coefficients are constants or
The coefficients are
functions only of the
functions of time:
independent variable
Ex: Spacecraft control system.
(The mass of a spacecraft
changes due to fuel
consumption)
Linear approximation of physical system

• A great majority of the physical systems are linear within some range of
variables.
• The linearity of many mechanical and electrical elements can be

assumed over reasonably large of variables.
• Linearize the nonlinear elements assuming small-signal conditions
(using Taylor series)

Euler formula
Laplace Transform
- Laplace transform: A transformation from t (time)

to s (Laplace variable)
Pierre Simon
Laplace
- Definition: Laplace transformation . is used to map time

domain function into domain function
- This mapping is defined as . : →
Common Transforms
- Unit impulse function
- The Laplace transform of the unit impulse is as follows
- According the definition, the integral produces zero value except

infinitesimal time interval 0 , 0 , within which 1
Common Transforms
- Unit step
- The Laplace transform of the unit step is as follows
- According the definition, 1 within the limits of

integration. Therefore, we obtain
Common Transforms
- Exponential function
- The Laplace transform of the exponential function is as follows
Common Transforms
- Cosine function cos
- The equivalent expression of cos
- The Laplace transform is as follows
List of Common Transforms
Laplace Transform Properties

- Multiplication by time,
- The Laplace transform of
- By repetitive application of the above procedure, it can be

proven that

- Laplace transform of a function derivative,
- Using integration by parts, , the

following expression are identified
- Then, the one obtains

- By repetitive application of the above procedure, it can be
proven that

- Laplace transform of time scaling,
- Introduce the new variable
- Then, the one obtains

- Initial value theorem: an interesting observation is made when the
limit
of as → ∞ is evaluated as follows
- Since 0 can be replaced by lim , then

→

- Final value theorem: an interesting observation is made when the
limit
of as → is
0 evaluated as follows
- Since ∞ can be replaced by lim , then

→

- Convolution integral, ∗ , is defined as follows
Exogenous input and its response after elapsed time

- The Laplace transform of the convolution integral can be obtained
as follows
Transfer Function and Impulse Response Function

Definition. The transfer function of a linear, time-invariant,
differential equation system is defined as the ratio of the Laplace
transform of the output (response function) to the Laplace transform
of the input (driving function) under the assumption that all initial
conditions are zero.
Differential equation
Transfer Function and Impulse Response Function

- The transfer function is a property of a system itself, independent of the
magnitude and nature of the input or driving function.
- The transfer function does not provide any information concerning the
physical structure of the system.
Taking a Laplace transform:
Transfer function
Dynamics of Electrical Systems
Taking a Laplace transform

11
11
Transfer function
1
1
Derive dynamic equation of the tank Rewrite dynamic equation

↔
;C ; Transfer function:

C: Thermal capacitance
1
hi: Heat rate of input
ho: Heat rate of output
: Change of temperature
R: Thermal resistance
c: Specific heat of liquid
M: Mass of liquid

What is the transfer function?
How to find the output in time domain?

The output Y(s) can be written as the product of G(s) and X(s)
Taking an inverse Laplace transform gives the following convolution

integral:
If the input is an impulse
Complete information of the system (the dynamic characteristics of the

system) can be obtained by exciting it with an impulse input and measuring
the response.
Modelling in State Space

Why we need state space model?
- Q: Are transfer function (TF) enough to model systems?
- A: TF is not applicable and convenience for MIMO (multi input
multi output), LTV, and nonlinear system
Frequency domain Time domain
Transfer State space

function model
SISO-LTV
MIMO-LTI
SISO-LTI SISO-LTI MIMO-LTV
Nonlinear system
States and States Variables

- State of a dynamic system is the smallest set of variables with the input
that completely determines the behavior of the system.
- State variables of a dynamic system are the variables making up the
smallest set of variables that determine the state of the dynamic system
- State vector: If n state variables are needed to completely describe the
behavior of a given system, then these n state variables can be
considered the n components of a vector x.
- State space: The n-dimensional space whose coordinate axes consist of
the x1 axis, x2 axis,…, xn axis, where x1 axis, x2 axis,…, xn axis are state
variables, is called a state space.
- State-space equations include modeling of dynamic systems input
variables, output variables, and state variables.
States Space Model

Differential equation of states Output equation LTI model
LTV model
Define
State equation
Defining state variables
output variables
state space model
Define state variables outputs of the system state space model
What we can do with the system including derivatives of input?
Consider the differential equation system
define the following n variables as a set of n state variables
with
Rewrite the differential equation:
Compute the coefficients:
Then, we obtain the state equation and output equation
In matrix form
Connection between Transfer Functions and State-Space

Equations
Q?: How
to get an
inverse of
a matrix
Connection between Transfer Functions and State-Space

Equations
Example of DC motor model
The transfer function of DC motor will be developed for a linear approximation to an

actual motor, and second order effects, such as hysteresis and the voltage drop across
the brushes, will be neglected
The air-gap flux of the motor is proportional to the field of current as follows.
  K f if
Torque is generated by the motor is assumed to be related linearly to  and the
armature current ia as follows.
Tm  K1 ia (t )  K1 K f i f (t )ia (t )
Since we want the linear model, ia is assumed that to be constant
We do the Laplace transformation for the equations describing the field current of
the motor.
Tm ( s )  ( K1 K f  I a ) I f ( s )  K m I f ( s )
where, Km is defined as the motor constant. The field current is related to the field
voltage is
V f ( s)  ( R f  L f s) I f ( s)
The motor torque Tm is equal to the torque delivered to the load. The relation may
be expressed as
Tm ( s )  TL ( s )  Td ( s )
where, TL is the load torque and Td is the disturbance torque, which is often
negligible. The load torque for rotating inertia, is written as
TL ( s )  Js 2 ( s )  bs ( s )
Finally, we have the set of equation for DC motor

V f (s)
TL ( s )  Tm ( s )  Td ( s ), Tm ( s )  K m I f ( s ), I f ( s ) 
Rf  Lf s
The transfer function of the motor-load combination, with Td(s) = 0
 (s) Km K m /  JL f 
G (s)   
V f ( s ) s( Js  b)( L f s  R f ) s ( s  b / J )( s  R f / L f )
The transfer function in term of time constants of the motor

 (s) K m / (bR f )
G (s)  
V f ( s) s ( f s  1)( L s  1)
where d = Lf /Rf and L = J/b
What is the transfer function in the case of armature-controlled motor?

END OF CHAPTER 1
LINEAR SYSTEM THEORY WILL BE THE NEXT

Dynamic Systems and Control, Chapter 1: Mathematical Models of Systems

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Dynamic Systems and Control, Chapter 1: Mathematical Models of Systems

Mathematical Models of Systems

What is a control system?

- System: An interconnection of elements and devices for a desired

- In Vietnam, semi-automated crossbow (170 BC) developed by

- human-machine interface Automatic Computer Control

> programming language Automatic machine

Basic components of control systems

Basic concepts of a control system

- Controlled variable: the variable controlled by a automatic control

- Expected value : the desired value of controlled variable based on

Basic concepts of a control system

- Actuator: a mechanical device that takes energy, usually created by

- Sensor: a device that measures a physical quantity and converts it

- Disturbance: the unexpected factors disturbing the normal functional

Example of premature incubator

Premature baby incubator

• Inputs describe the external excitation of the dynamics

Shock absorber Equivalent damper Free body

Differential Equation of an Electrical System

Using Kirchhoff's voltage laws, one obtains , where

Using heat-balance equation, derive dynamic equation of

What is your observation?

• The differential equations may be obtained by using physical

• Deriving reasonable mathematical models is the most

Differential Equation of Physical Systems

The model you use depends on the questions

The principle of causality

Examples of causal systems

Linear approximation of physical system

• The linearity of many mechanical and electrical elements can be

Shock absorber Equivalent damper Free body

- Laplace transform: A transformation from t (time)

- Definition: Laplace transformation . is used to map time

- This mapping is defined as . : →

- The Laplace transform of the unit impulse is as follows

- According the definition, the integral produces zero value except

- The Laplace transform of the unit step is as follows

- According the definition, 1 within the limits of

- The Laplace transform of the exponential function is as follows

- The Laplace transform is as follows

Laplace Transform Properties

- The Laplace transform of

- By repetitive application of the above procedure, it can be

Laplace Transform Properties

- Using integration by parts, , the

- Then, the one obtains

Laplace Transform Properties

Laplace Transform Properties

- Introduce the new variable

- Then, the one obtains

Laplace Transform Properties

- Since 0 can be replaced by lim , then

Laplace Transform Properties

- Since ∞ can be replaced by lim , then

Laplace Transform Properties

Exogenous input and its response after elapsed time

Laplace Transform Properties

Transfer Function and Impulse Response Function

Transfer Function and Impulse Response Function

Taking a Laplace transform:

Taking a Laplace transform

Derive dynamic equation of the tank Rewrite dynamic equation