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Mathematical Modeling
RECALL:
The Design of Control System requires Formulation of Mathematical
Model of the System
Why Mathematical Model?
So that we will able to Design and Analyze the control system

Examples:
How would we know the relationship between Input and Output?
How would we predict or describe the dynamic behavior of the
control system?

Two Methods to develop the Mathematical Model of Control System
1. Transfer Function in Frequency Domain (Using Laplace Transform)
2. State Space Equations in Time Domain
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Review of Laplace Transform and Linearity
V(t)
L
R
C
i(t)
RECALL:
In EE301, We learned that Ordinary Differential Equation may describe
mathematically dynamic behavior, input vs. output relationship of
physical system such as Mechanical System using Newton Law and
Electrical System using Kirchoffs Law

Example: RLC Network
Lets assume that V(t) is Input; i(t) is Output
Using KVL:

0
( ) 1
( ) ( ) ( )
t
R
di t
v t v t L i d
dt C


( ) ( ) ( ) ( )
R L C
v t v t v t v t
Using the differential equation (derived from KVL):
Is it a simple algebraic equation?
Is it easy to describe relationship between Input and Output and System?
i.e. Can you make them as a Separate Entities?
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Laplace Transform
If you answered NO to all previous questions, then YOU NEED
LAPLACE TRANSFORMS

Laplace Transform provides:
Representation of Input, output, and system as separate entities
Simple Algebraic interrelationship between Input, Output, and
System

Limitation of Laplace Transfrom:
Works in Frequency Domain
Valid when the system is LINEAR

A System is called LINEAR when it possesses:
Superposition
Homogeneity
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Superposition
The output response of a system to the sum of inputs is the sum of
the responses to individual inputs
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Homogeneity
Describes the response of the system to a Multiplication of the input
by a scalar as compared to a Multiplication of output to the same input
by the same scalar
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Will any LINEAR EQUATION/FUNCTION represent a LINEAR
SYSTEM?

Example: Try y = mx + b (where m and b are constants) is
a LINEAR function, but check to see
if it yields a LINEAR System
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Linearization
BAD NEWS is Real World Physical Systems are NON-LINEAR
GOOD NEWS:
1. A great majority of Physical Systems are LINEAR within some range of
operating point
2. We have a Mathematical Tool that could perform Linear Approximation
of Non-Linear Systems, a process called LINEARIZATION
NOTE:
Linearization does NOT necessarily
yield a LINEAR system!
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