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MCH5003 Modeling of Mechatronic Systems

Tutorial 1: Continuous Time Models

(ODE Model & Transfer Function)

1. Convert the following ODE models into equivalent Transfer Functions

d2y dy du
i. 2
+ 2 + 2y = 4 + 3u
dt dt dt

d2y dy du
ii. 3 2
+5 + y−6 −u = 0
dt dt dt

d3y d2y dy d 3u du
iii. 3
+ 5 2
+ 5 + 7 y = 3
+ 0.1 + u
dt dt dt dt dt

d2y dy d 3u du
iv. +5 + y−6 3 + −u = 0
dt 2 dt dt dt

State the order of the model and comment on the causality.

What assumption must we make in order to obtain these conversions?

2. Convert the following Transfer Functions into ODE models

K
i. G(s) =
s (1 + 0.1s )(1 + s )

10( s + 1)
ii. G ( s ) =
s ( s 2 + 6s + 10)

4( s + 2)
iii. G ( s ) =
s 2 ( s + 4)

4( s + 1)( s + 2)
iv. G ( s ) =
( s + 0.5)( s + 3)

END
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Solution

1.

(i) Taking Laplace transform on both sides of the ODE,

s 2Y ( s ) + 2 sY ( s ) + 2Y ( s ) = 4 sU ( s ) + 3U ( s )
(s 2
)
+ 2 s + 2 Y ( s ) = (4 s + 3)U ( s )
4s + 3
G ( s) =
s + 2s + 2
2

Order of the model: 2

It is strictly causal.

(ii) Taking Laplace transform on both sides of the ODE,

3s 2Y ( s ) + 5sY ( s ) + Y ( s ) − 6 sU ( s ) − U ( s ) = 0
(3s 2
)
+ 5s + 1 Y ( s ) = (6 s + 1)U ( s )
6s + 1 2 s + 0.33
G ( s) = = 2
3s + 5s + 1 s + 1.66 s + 0.33
2

Order of the model: 2

It is strictly causal.

(iii) Taking Laplace transform on both sides of the ODE,

s 3Y ( s ) + 5s 2Y ( s ) + 5sY ( s ) + 7Y ( s ) = s 3U ( s ) + 0.1sU ( s ) + U ( s )
(s 3
) ( )
+ 5s 2 + 5s + 7 Y ( s ) = s 3 + 0.1s + 1 U ( s )
s 3 + 0.1s + 1
G(s) =
s 3 + 5s 2 + 5s + 7

Order of the model: 3

It is causal.
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(iv) Taking Laplace transform on both sides of the ODE,

s 2Y ( s ) + 5sY ( s ) + Y ( s ) − 6s 3U ( s ) + sU ( s ) − U ( s ) = 0
(s 2
) ( )
+ 5s + 1 Y ( s ) = 6 s 3 − s + 1 U ( s )
6s − s + 1
3
G ( s) =
s 2 + 5s + 1

Order of the model: 2

It is non-causal.

Assumption: Initial conditions for the variables and all their derivatives are 0.

2.

Y ( s) K K
= =
U ( s ) s (1 + 0.1s )(1 + s ) 0.1s + 1.1s 2 + s
3

(i) 0.1s 3Y ( s ) + 1.1s 2Y ( s ) + sY ( s ) = KU ( s )

d3y d 2 y dy
0.1 + 1.1 + = Ku
dt 3 dt 2 dt

Y ( s) 10( s + 1) 10s + 10
= = 3
U ( s ) s ( s + 6 s + 10) s + 6s 3 + 10s
2

(ii) s 3Y ( s ) + 6s 2Y ( s ) + 10sY ( s ) = 10 sU ( s ) + 10U ( s )

d3y d2y dy du
3
+ 6 2
+ 10 = 10 + 10u
dt dt dt dt

Y ( s) 4( s + 2) 4s + 8
= 2 = 3
U ( s ) s ( s + 4) s + 4s 2
(iii) s 3Y ( s ) + 4s 2Y ( s ) = 4sU ( s ) + 8U ( s )
d3y d2y du
3
+ 4 2
=4 + 8u
dt dt dt
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Y ( s ) 4( s + 1)( s + 2) 4( s 2 + 3s + 2)
= =
U ( s ) ( s + 0.5)( s + 3) s 2 + 3.5s + 1.5
(iv) s 2Y ( s ) + 3.5sY ( s ) + 1.5Y ( s ) = 4s 2U ( s ) + 12sU ( s ) + 8U ( s )
d2y dy d 2u du
2
+ 3.5 + 1.5 y = 4 2 + 12 + 8u
dt dt dt dt