Lecture No 2

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 2
(Electrical Network Transfer Functions)

Mechanical Engineering Department

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 d n c(t ) d n1c(t ) d m r (t ) d m1r (t )
an n
 an 1 n 1
   a0c(t )  bm m
 bm1 m 1
   b0 r (t )
dt dt dt dt

an s nC ( s )  an 1s n 1C ( s )   a0C ( s )  bm s m R( s )  bm 1s m 1R( s )   b0 R(s )

a s
n
n
 an 1s n 1   
 a0 C ( s )  bm s m  bm1s m 1  
 b0 R( s)

C ( s)  b s  bm1s m1  b 
m


m 0

R( s )  a s
n
n
 an1s n1  a 
0

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 Electrical Circuit Components

Output to input ratio using Laplace Transform is given by,

V (s) V (s) V ( s) 1
R  sL 
I ( s) I (s) I ( s) sC

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Table 2.3

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Table 2.3

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 1 t
v(t )  Ri (t )   i ( )d
C 0
dq(t )
As i (t ) 
dt
dq (t ) 1
v(t )  R  q (t )
dt C
q(t )  C vc (t )
V(s) VC(s) dvc (t )
G(s) v(t )  RC  vc (t )
dt

VC ( s) 1
V (s)  RCsVC (s)  VC (s)
G(s)   RC
V ( s) s  1 RC
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 di(t ) 1 t
v(t )  L  Ri (t )   i ( )d
dt C 0
dq(t )
As i (t ) 
dt
d 2 q(t ) dq(t ) 1
v(t )  L 2  R  q(t )
d t dt C
q(t )  C vc (t )
V(s) d 2vc (t ) dvc (t )
G(s)
VC(s) v(t )  LC 2
 RC  vc (t )
dt dt

V ( s )  LCs 2VC ( s)  RCsVC ( s )  VC ( s)

VC ( s) 1
 2 LC

V ( s) s  R L s  1 LC

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 V(s) VC(s)
G(s)

VC ( s) 1 VC ( s) 1
 RC  2 LC

V ( s) s  1 RC V ( s) s  R L s  1 LC

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Laplace-transformed network

1
Z ( s )  Ls  R 
Cs

V ( s)  Z ( s) I ( s)

Trnasform  1 
V ( s)   Ls  R   I ( s)
 Cs 
I ( s) 1

V ( s)  1 
 Ls  R  
 Cs 
How do we find Vc(s) ???
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Modeling Complex Circuits via
Mesh Analysis
Example 2.10

a. Two-loop electrical
network;

b. transformed
two-loop electrical
network;

c. block diagram

How do we find the transfer function ??? 10

Modeling Complex Circuits via
Mesh Analysis

R1I1 (s)  LsI1 (s)  LsI 2 (s)  V (s)

 R1  Ls  I1 (s)  LsI2 (s)  V (s) 1

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LsI 2 ( s)  R2 I 2 ( s )  I 2 ( s)  LsI1 ( s)  0
Cs
 1 
 LsI1 ( s)   Ls  R2   I 2 ( s)  0  2
 Cs 

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Modeling Complex Circuits via Mesh Analysis

 R1  Ls  I1 (s)  LsI2 (s)  V (s) 1

 1 
 LsI1 ( s)   Ls  R2   I 2 ( s)  0  2
 Cs 

R1  Ls   Ls 
  I1 ( s)  V ( s)
 1   I ( s)   0 
  Ls  Ls  R2    2   
  Cs 
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 R1  Ls   Ls 
  I1 ( s)  V ( s)
 1   I ( s )   0 
  Ls  Ls  R2    2   
  Cs 
Using Cramer's rule

R1  Ls  V ( s) R1  Ls   Ls

  Ls    1 
I 2 (s)   
0  Ls  Ls  R2  
 Cs 


LCs 2
I 2 ( s)  V ( s)
R1  R2 LCs  R1R2C  L s  R1
2

I 2 ( s) LCs 2
G( s)  
V ( s) R1  R2 LCs 2  R1R2C  L s  R1

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 Home Assignment
(Don’t submit)

Modeling Complex Circuits via

Nodal Analysis

Work out Example 2.11

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Figure 2.9
Three-loop electrical network

 2s  2 I1 (s)   2s 1 I 2 (s)  I3 (s)  V (s) These eqns can be solved

− 2𝑠 + 1 𝐼1 𝑠 + 9𝑠 + 1 𝐼2 (𝑠) − 4𝑠𝐼3 (𝑠) = 0 simultaneously to determine
the desired transfer function
 1
 I1 ( s )  4sI 2 ( s )   4s  1   I 3 ( s)  0
 s

I1 ( s )
G1 ( s ) 
V (s)

I 2 ( s)
G2 ( s) 
V ( s)

I3 ( s)
G3 ( s) 
V ( s) 15
Operational amplifier configured
for transfer function realization

Vo ( s ) Z 2 (s)

Vi ( s ) Z1 ( s )

Vo ( s)

 R1C1s  1 R2C2 s  1
Vi ( s) R1C2 s

Vo ( s )

 
R1C1 R2C2 s 2   R1C1  R2C2  s  1
Vi ( s ) R1C2 s
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 VC ( s) 1
V(s)
G(s)
VC(s) RC cct  RC
V ( s) s  1 RC
RLC cct
VC ( s) 1
 2 LC

V ( s) s  R L s  1 LC
I 2 ( s) LCs 2
Two loop network G( s)  
V ( s) R1  R2 LCs 2  R1R2C  L s  R1

Op-amp Vo ( s )

 
R1C1 R2C2 s 2   R1C1  R2C2  s  1
Vi ( s ) R1C2 s

C ( s)

 bm s m  bm1s m1  
 b0
R( s ) an s n  an1s n1  a 0

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???
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