MEC 3825: Control Systems

Lecture Notes 2

Dr. Mohamed Okasha

Department of Mechanical Engineering
Room : E1-5-2.8
Email: mokasha@iium.edu.my

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 Course road map
1. Modeling
Laplace transform
Transfer function
Models for systems
Mechanical
electrical
Electromechanical
Linearization
2. Analysis
Time response
Frequency response
Stability
3. Design
Root locus
PID

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 Summary
Introduction
Examples of control systems
Open loop and closed loop (feedback) control
Analysis and Design objectives
Design process
Next
Modeling
Exercises
Buy the course textbook at the Bookstore.
Read Chapter 1 and 2.

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Chapter 2: Modeling in the Frequency
Domain

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 Objectives
Find the Laplace transform and inverse Laplace transform
Find the transfer function of a system from a differential
equation
Solve a differential equation by using its transfer function
Find the transfer function for
LTI electrical networks
LTI mechanical systems (translational and mechanical)
LTI electromechanical systems
Gear systems with and without loss
Produce analogous electrical and mechanical circuits
Linearize a nonlinear system to find its transfer function

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 The Laplace Transform
Modeling

Three elements: input, output, and the system (process)

Differential equations often model systems of interest, but can
be cumbersome mathematically
Laplace transforms facilitate block-diagram modeling of
systems and subsystems

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 The Laplace Transform
The method of Laplace transforms converts a calculus problem (the linear
differential equation) into an algebra problem
Pierre-Simon Laplace (1749-1827)
Integral transformation (similar to the Fourier transform)

Multiplication by the Laplace variable s corresponds to differentiation in

the time domain
Inverse Laplace transformation

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Laplace Transform Table

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Laplace Transform Theorems

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Laplace Transform Examples

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Laplace Transform Examples

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Laplace Transform Examples

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Laplace Transform Properties
Linearity

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Laplace Transform Properties
Linearity

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Laplace Transform Properties
Differentiation

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Laplace Transform Properties
Differentiation

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Laplace Transform Properties
Integration

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 Laplace Transform Properties
Other properties (Check the table)
Final value theorem
Initial value theorem
Time shift an frequency shift
We will revisit these properties in the coming
chapters.

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 Laplace transform
Advantage: Transform an ordinary differential
equation (ODE) into an algebraic equation (AE)

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Laplace transform Examples

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Partial Fraction Expansion

= 0 ?
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Partial Fraction Expansion

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 Partial Fraction Expansion

In this way, we can find a rather Check Matlab commands:

complicated solution to ODEs
tf, zpk, residue
easily by using Laplace
transform table! poly
Denominators Roots Cases: Laplace, ilaplace
real and distinct syms
real and repeated
complex or imaginary 23
 Transfer functions
Goal: Algebraically relate input and output
Consider an n-th order differential equation with initial
conditions equal to zero, that relates the input u(t) and output
y(t)

Take the Laplace transform of both sides

And rearrange to obtain

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 Transfer functions
The transfer function is the ratio G(s) = C (s)/R(s).

Note that this means that C(s) = G(s)R(s), so the output signal
can be calculated in a straightforward manner (multiplication!).

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 Summary
Laplace transform (Important math tool!)
Definition
Laplace transform table
Properties of Laplace transform
Solution to ODEs via Laplace transform
Exercises
Read Chapter 2.
Solve problems.

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