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    Republic of Iraq

    Ministry of Higher Education and Scientific Research


    Southern Technical University
    Thi-Qar Technical College
    Electromechanical Systems Engineering Department

    Automation &Control

    Lecture 3
    Mathematical Models of Systems
    In control theory, functions called transfer functions are
    commonly used to characterize the input-output relationships
    of components or systems that can be described by linear,
    time-invariant, differential equations. We begin by defining
    the transfer function and follow with a derivation of the
    transfer function of a differential equation system.

    Laplace transform:- is one of the mathematical tools used to


    solve linear ordinary differential equations.
    The Laplace transform converts the differential equation into
    an algebraic equation in s-domain. It is then possible to
    manipulate the algebraic equation by simple algebraic rules to
    obtain the solution in the s-domain. The final solution is
    obtained by taking the inverse Laplace transform.

    2
    The Transfer function TF
    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.
    Consider the linear time-invariant system defined by the
    following differential equation:

    3
    where y is the output of the system and x is the input. The
    transfer function of this system is the ratio of the Laplace
    transformed output to the Laplace transformed input when all
    initial conditions are zero, or

    By using the concept of transfer function, it is possible to


    represent system dynamics by algebraic equations in s. If the
    highest power of s in the denominator of the transfer function
    is equal to n, the system is called an nth-order system.

    Transfer Function PROCEDURE:- The following steps are


    involved to obtain the transfer function of the given system:
    • Step 1 : Write the differential equations for the given
    system.

    • Step 2 : Take the Laplace transform of the equations


    obtained in step1, with assumption; all initial conditions are
    zero.

    • Step 3 : Take the ratio of transformed output to input.

    • Step 4 : The ratio of transformed output to the input,


    obtained in step 3 is the required transfer function of the
    given system.
    4
    Example: Determine the Transfer function for below circuit.

    5
    Example: Determine the Transfer function of the electrical network
    shown below.

    6
    Example: Determine the Transfer function of the electrical network
    shown below.

    Transient and Steady-State Response Analyses

    The time response of a control system consists of two parts:


    1. The transient response and
    2. The steady-state response.

    1. Transient Response:- The element of the system that


    vanishes with time is called Transient response. It is denoted
    by Ctr(t).
    2. Steady-State Response:- The response of the system after
    transient response is basically called steady state response. It is
    denoted by Css(t).

    7
    8
    The transient response characteristics of a control system to a unit-step
    input, it is common to specify the following:
    1. Delay time, td
    2. Rise time, tr
    3. Peak time, tp
    4. Maximum overshoot, Mp
    5. Settling time, ts

    1. Delay time, td: The delay time is the time required for the response to
    reach half the final value the very first time.
    2. Rise time, tr: The rise time is the time required for the response to rise
    from 10% to 90%, 5% to 95%, or 0% to 100% of its final value.
    3. Peak time, tp: The peak time is the time required for the response to
    reach the first peak of the overshoot.
    4. Maximum (percent) overshoot, Mp: The maximum overshoot is the
    maximum peak value of the response curve measured from unity.
    5. Settling time, ts: The settling time is the time required for the response
    curve to reach and stay within a range about the final value of size
    specified by absolute percentage of the final value (usually 2% or 5%).

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