2015-03-25

SIGNALS AND CONTROL SYSTEMS

Week 7_2
Differential Equations of Physical
Systems
Instructor : Dr. Raouf Fareh
2014/2015
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Introduction to Linear Control

A control system is an interconnection of components forming a system configuration
that will provide a desired system response.
The basis for analysis of a system is provided by linear system theory, which
assumes a cause-effect relationship for the components of a system.
The process to be controlled can be represented by a block.
The input/output relationship represent the cause and effect relationship of the
process

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Introduction to Linear Control

An open-loop control system utilizes an actuating device to control the process directly
without using feedback

A closed-loop control system uses a measurement of the output and feedback of

this signal to compare it with the desired output

Multivariable control system

Many complex engineering systems are equipped with several actuators that may influence their
static and dynamic behavior.
Systems with more than one actuating control input and more than one sensor output may be
considered as multivariable systems or multi-input-multi-output (MIMO).
The control objective for multivariable systems is to obtain a desirable behavior of several output
variables by simultaneously manipulating several input channels

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Six Step Approach to Dynamic System Problems

1. Define the system and its components
2. Formulate the mathematical model and list the
necessary assumptions
3. Write the differential equations describing the model
4. Solve the equations for the desired output variables
5. Examine the solutions and the assumptions
6. If necessary, reanalyze or redesign the system
5

Differential Equation of Physical Systems

How do we obtain the equations?

Physical law of the process

Differential Equation

Examples:
i.
ii.

Mechanical system (Newtons laws)

Electrical system (Kirchhoffs laws)

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Differential Equation of Physical Systems

Inductive storage

Electrical Inductance

Energy or Power

Describing Equation

v 21

d
L i
dt

v 21

1 d
F
k dt

21

1 d
T
k dt

P21

d
I Q
dt

1
2

L i

Translational Spring

1 F

2 k

Rotational Spring

1 T

2 k

Fluid Inertia

1
2

I Q

Differential Equation of Physical Systems

Capacitive storage
Electrical Capacitance
i

d
v 21
dt

1
2

M v 21

Translational Mass
d
v2
dt

Cf

Ct

1
2

M v2

Rotational Mass
d
2
dt

1
2

J 2

Fluid Capacitance
d
P 21
dt

1
2

C f P 21

Thermal Capacitance
d
T2
dt

C t T 2

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Differential Equation of Physical Systems

Energy dissipators
Electrical Resistance
1

v 21

b v 21

b v 21

b 21

b 21

v 21

Translational Damper

Rotational Damper

Fluid Resistance
Q

1
Rf

P 21

T 21

1
Rf

P 21

Thermal Resistance
q

1
Rt

1
Rt

T 21

Mechanical system: Spring-mass-damper

where k is the spring constant of the ideal spring and b is the friction constant. This Equation
is a second-order linear constant-coefficient differential equation
The net force applied to the mass m is

; V: is the velocity. The net force is the force

applied to the mass to cause it to accelerate thus: Newtons law: net force applied to mass =ma

d
y ( t) + b y ( t) + k y ( t)
dt
dt
2

r( t )

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Example

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Electrical System
Resistorcapacitorinductor system

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Electrical and Mechanical Analogy

13

Force-Current Analogy

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Example (Electrical)
The circuit shown in the figure consists of an inductor L, a capacitor C, and two resistors R and
Ro. The input is the voltage Vi(t) and the output is the voltage V0 across the resistor Ro.

For R = Ro = 1 , L = 1 H, and C =1 F

Obtain two differential equations for the system in term of iL and Vc

15

Solution

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Solution

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