9/16/21, 5:08 PM Control Systems - Mathematical Models
Control Systems - Mathematical Models
The control systems can be represented with a set of mathematical equations known as
mathematical model. These models are useful for analysis and design of control systems.
Analysis of control system means finding the output when we know the input and mathematical
model. Design of control system means finding the mathematical model when we know the
input and the output.
The following mathematical models are mostly used.
Differential equation model
Transfer function model
State space model
Let us discuss the first two models in this chapter.
Differential Equation Model
Differential equation model is a time domain mathematical model of control systems. Follow
these steps for differential equation model.
Apply basic laws to the given control system.
Get the differential equation in terms of input and output by eliminating the intermediate
variable(s).
Example
Consider the following electrical system as shown in the following figure. This circuit consists of
resistor, inductor and capacitor. All these electrical elements are connected in series. The input
voltage applied to this circuit is v
vii and the voltage across the capacitor is the output voltage
v
voo
.
Mesh equation for this circuit is
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9/16/21, 5:08 PM Control Systems - Mathematical Models
d
dii
v
vii =
= R
Rii+
+LL +
+vvo
o
d
dtt
d
dvvo
Substitute, the current passing through capacitor i
i =
= c
c
d
o
in the above equation.
dtt
2
2
d
dvvo d
d v
vo
o o
⇒
⇒ v
vii =
= R
RCC +
+LLC
C +
+vvo
o
22
d
dtt d
dtt
2
2
d
d v
vo R
R d
dvvo 1
1 1
1
o o
⇒
⇒ +
+(( )
) +
+(( )
)vvo = (
o = (
)
)vvii
22
d
dtt L
L d
dtt L
LCC L
LCC
The above equation is a second order differential equation.
Transfer Function Model
Transfer function model is an s-domain mathematical model of control systems. The Transfer
function of a Linear Time Invariant (LTI) system is defined as the ratio of Laplace transform of
output and Laplace transform of input by assuming all the initial conditions are zero.
If x
x((t
t)) and y
y((t
t)) are the input and output of an LTI system, then the corresponding
Laplace transforms are X
X((s
s)) and Y
Y((s
s)) .
Therefore, the transfer function of LTI system is equal to the ratio of Y
Y((s
s)) and X
X((s
s)) .
Y
Y((s
s))
i
i.. e
e.. ,, T
Trra
anns
sffe
errF
Fuun
ncct
tiio
onn =
=
X
X((s
s))
The transfer function model of an LTI system is shown in the following figure.
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Here, we represented an LTI system with a block having transfer function inside it. And this
block has an input X
X((s
s)) & output Y
Y((s
s)) .
Example
Previously, we got the differential equation of an electrical system as
2
2
d
d v
voo
R
R d
dvvo
o
1
1 1
1
+
+(( )
) +
+(( )
)vvo = (
o = (
)
)vvii
2
2
d
dtt L
L d
dtt L
LCC L
LCC
Apply Laplace transform on both sides.
s
sRR 1
1 1
1
2
2
s
s V
Vo (s) + (
o (s) + (
)
)VVo (s) + (
o (s) + (
)
)VVo (s) = (
o (s) = (
)
)VVii (
(ss)
)
L
L L
LCC L
LCC
R
R 1
1 1
1
2
2
⇒
⇒ {
{ss +
+(( )
)ss+
+ }
}VVo (s) = (
o (s) = (
)
)VVii (
(ss)
)
L
L L
LCC L
LCC
1
1
V
Vo (s)
o (s) L
LCC
⇒
⇒ =
=
2 R
R 1
1
V
Vii (
(ss)
) s
s
2
+
+(( )
)ss+
+
L
L L
LCC
Where,
v
vii (
(ss)
) is the Laplace transform of the input voltage v
vii
v
vo (s)
o (s)
is the Laplace transform of the output voltage v
voo
The above equation is a transfer function of the second order electrical system. The transfer
function model of this system is shown below.
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Here, we show a second order electrical system with a block having the transfer function inside
it. And this block has an input V
Vii (
(ss)
) & an output V
Vo (s)
o (s)
.
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