03b Modeling

Mathematical Modeling
Review
Chapter 2
MECH 436 Mathematical modeling Slide 1

Cascaded, parallel, & feedback
transfer functions (Matlab)
a) Cascaded
b) Parallel-connected
c) Feedback-connected
Find the transfer

function:
C (s)
R( s)

Automatic controllers
• An automatic controller:
– Compares the value of the plant output with the reference
input,
– Determines the difference,
– Produces a control signal that reduces this difference to 0.
• The manner in which the automatic controller
produces the control signal is called the control
action.

Automatic controllers
Signal at very low e.g., electric motor,

power level hydraulic motor,
pneumatic motor
Converts the output variable into a

suitable variable (e.g., displacement,
pressure, voltage)

Classifying controllers (power)
• Industrial controllers can be classified based on the

kind of power employed:
– Electric controllers.
– Pneumatic controllers (pressurized air).
– Hydraulic controllers (pressurized oil).

Classifying controllers (action)
• Industrial controller can also be classified based on their
control action:
– 2 position (on-off) controllers.
– Proportional controllers (P).
– Integral controllers (I).
– Proportional + Integral controllers (PI).
– Proportional + Derivative controllers (PD).
– Proportional + Integral + Derivative controllers (PID).

2 position (on-off) control action
• The actuating element has 2 fixed positions (on or off).

• With output u(t) and error e(t):
u (t ) = U1 , for e(t)  0
= U 2 , for e(t)  0

Classifying controllers (action)
• Two-position controllers are usually electrical devices,
where an electric solenoid operated valve is widely
used.
• Pneumatic two-position controllers also exist and are
called pneumatic two-position controllers.

Proportional control action
• The value of the controller output u(t) is proportional to
the actuating error signal e(t):
u (t ) = K p e(t )
U ( s)
Transfer function: = Kp Proportional gain
E ( s)
E(s) U(s)
+ Kp
-

Integral control action
• The value of the controller output change (du(t)/dt) is
proportional to the actuating error signal e(t):
t
= K i e(t )  u (t ) = K i 0 e(t )dt
du(t )
dt
U ( s) K i
Transfer function: =
E ( s) s
E(s) Ki U(s)
+
- s

Proportional + Integral control
• The control action is defined by:

Kp t
u (t ) = K p e(t ) +
Ti  e(t )dt
0
Integral time
U ( s)  1 
Transfer function: = K p 1 + 
E ( s)  Ti s 
E(s) K p (1 + Ti s ) U(s)
+
- Ti s

Proportional + Derivative control
• The control action is defined by:
de(t )
u (t ) = K p e(t ) + K pTd
dt
Derivative time
= K p (1 + Td s )
U ( s)
Transfer function:
E ( s)
K p (1 + Td s )
E(s) U(s)
+
-

Proportional + Integral + Derivative
• This combination has the advantages of each of the
three individual control actions.
Kp t de(t )
Controller equation: u (t ) = K p e(t ) +
Ti 0
e(t )dt + K pTd
dt
U ( s)  1 
Transfer function: = K p 1 + + Td s 
E ( s)  Ti s 
+
E(s)
(
K p 1 + Ti s + TiTd s 2 ) U(s)
- Ti s

PID controller using Op-amps
Z1
Z2
C1
R2 C2
R4
R1
R3
-
-
Ei(s) +
E(s) + Eo(s)
E ( s) Z2 R1 R C s +1
=− where Z1 = ; Z2 = 2 2
Ei ( s) Z1 R1C1s + 1 C2 s

PID controller using Op-amps
E ( s)  R2C2 s + 1  R1C1s + 1 
= −  
Ei ( s)  C2 s  R1 
Eo ( s) R4
We also have: =−
E ( s) R3
Eo ( s)  Ti 
Multiplying: = K p 1 + + Td s 
Ei ( s)  s 
Eo ( s) R4 ( R1C1 + R2C2 )  1 R1C1R2C2 

= 1 + + s
Ei ( s) R3 R1C2  (R1C1 + R2C2 )s (R1C1 + R2C2 ) 

Disturbance effect
• Since this is a linear system, superposition holds:

– Treat the reference input and the disturbance independently
– Add the outputs to each of these inputs to get the complete
output.

1- Disturbance alone
• Assume the reference input is zero and find CD

CD ( s) G2 ( s)
=
D( s) 1 + G1 ( s)G2 ( s) H ( s)

2- Reference input alone
• Assume the disturbance is zero and find CR
CR (s) G1 (s)G2 (s)

=
R(s) 1+ G1 (s)G2 (s)H (s)

Total response
(reference + disturbance)
• Add both response together:
C ( s) = CR ( s) + CD ( s) =
G2 ( s)
G1 (s) R(s) + D(s)
1 + G1 ( s)G2 ( s) H ( s)

Analysis
• What happens when |G1(s)H(s)| >>1 and
|G1(s)G2(s)H(s)| >>1?
• The response becomes independent of the disturbance:
CD ( s) G2 ( s)
= 0
D( s) 1 + G1 ( s)G2 ( s) H ( s)
• The closed loop transfer function is independent of the gains:
CR ( s) G1 ( s)G2 ( s) 1
=
D( s) 1 + G1 ( s)G2 ( s) H ( s) H (s)

Drawing a block diagram
• To draw a block diagram:
1) Write the equations that describe the dynamic
behavior of each component.
2) Take the Laplace transform of these equations,
assuming zero initial conditions.
3) Represent each Laplace-transformed equation
individually in block form.
4) Assemble the blocks.

Example – RC circuit
Start by writing the equations:
i=
ei − eo
eo =
 idt
R C
Next take the Laplace transforms:
Represent each equation in blocks:
Ei ( s) − Eo ( s)
I (s) =
R
I ( s)
Eo ( s) =
Cs

Example – RC circuit
Finally assemble the block into a complete block diagram:

Block diagram reduction
• Blocks can be connected in series only if the output of

one block is not effected by the next following block.
• If there are any loading effects between the
components, they must be combined into a single
block instead of cascading.
• Any number of cascaded blocks representing non-
loading components can be replaced by a single
block. In this case the resulting transfer function is the
product of the individual transfer functions.

Block diagram reduction
• We can reduce a complicated block diagram by step-

by-step rearrangement.
• The net effect is to reduce the subsequent mathematical
analysis.
• Unfortunately, the transfer functions in the new blocks
become more complex.

Example
H2
R - C
+- + G1 + G2 G3
+
H1
H2
G1
R - C
+- + + G1 G2 G3
+
H1

H2
G1
R - G1G2 C
+- + G3
1 − G1G2 H1
R G1G2G3 C
+-
1 − G1G2 H1 + G2G3 H 2
R G1G2G3 C
1 − G1G2 H1 + G2G3 H 2 + G1G2G3

Example
• The numerator for the closed loop transfer function is

the product of the transfer functions of the
feedforward path.
• The denominator for the closed loop transfer function
is:
1 −  product of the transfer functions around each loop =
1 − G1G2 H1 + G2G3 H 2 + G1G2G3

03b Modeling

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Mathematical Modeling

MECH 436 Mathematical modeling Slide 1

Find the transfer

MECH 436 Mathematical modeling Slide 2

MECH 436 Mathematical modeling Slide 3

Signal at very low e.g., electric motor,

Converts the output variable into a

MECH 436 Mathematical modeling Slide 4

• Industrial controllers can be classified based on the

MECH 436 Mathematical modeling Slide 5

MECH 436 Mathematical modeling Slide 6

• The actuating element has 2 fixed positions (on or off).

MECH 436 Mathematical modeling Slide 7

MECH 436 Mathematical modeling Slide 8

MECH 436 Mathematical modeling Slide 9

MECH 436 Mathematical modeling Slide 10

• The control action is defined by:

MECH 436 Mathematical modeling Slide 11

• The control action is defined by:

MECH 436 Mathematical modeling Slide 12

MECH 436 Mathematical modeling Slide 13

MECH 436 Mathematical modeling Slide 14

Eo ( s) R4 ( R1C1 + R2C2 )  1 R1C1R2C2 

MECH 436 Mathematical modeling Slide 15

• Since this is a linear system, superposition holds:

MECH 436 Mathematical modeling Slide 16

• Assume the reference input is zero and find CD

MECH 436 Mathematical modeling Slide 17

• Assume the disturbance is zero and find CR

CR (s) G1 (s)G2 (s)

MECH 436 Mathematical modeling Slide 18

MECH 436 Mathematical modeling Slide 19

• The response becomes independent of the disturbance:

• The closed loop transfer function is independent of the gains:

MECH 436 Mathematical modeling Slide 20

MECH 436 Mathematical modeling Slide 21

MECH 436 Mathematical modeling Slide 22

Finally assemble the block into a complete block diagram:

MECH 436 Mathematical modeling Slide 23

• Blocks can be connected in series only if the output of

MECH 436 Mathematical modeling Slide 24

• We can reduce a complicated block diagram by step-

MECH 436 Mathematical modeling Slide 25

MECH 436 Mathematical modeling Slide 26

MECH 436 Mathematical modeling Slide 27

• The numerator for the closed loop transfer function is

1 −  product of the transfer functions around each loop =

1 − G1G2 H1 + G2G3 H 2 + G1G2G3

MECH 436 Mathematical modeling Slide 28

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