National Institute of Technology Warangal

Objective

 To describe the behavior of electrical

circuits involving resistors, capacitors and
inductors using mathematical equations.
 Use of Transfer Function to simplify the
mathematical equations.
 Use the model for analysis, design and
simulations.
National Institute of Technology Warangal
 CONTENTS
• Why Mathematical Modelling is required?

• Introduction to Mathematical Modelling

• Transfer Function and its Approach

• Modelling of Electrical Systems

• Problems

National Institute of Technology Warangal

National Institute of Technology Warangal
• We use quantitative mathematical models of
physical systems to design and analyze control
systems.

• The dynamic behavior is generally described by

ordinary differential equations.

National Institute of Technology Warangal

 A model is a representation of the
process or a system existing in
reality or planned for realization
which expresses the essential
attributes of a process or a system in
a useful form.

Norbert Wiener, 1945

National Institute of Technology Warangal
National Institute of Technology Warangal
• To understand and control complex systems we must obtain
quantitative mathematical models of system, in the form of
DIFFERENTIAL EQUATIONS.

National Institute of Technology Warangal

EXAMPLE

v(t)/R + C dv(t)/dt +1/L v(t) dt = r(t)

The above equations have been framed using KCL and KVL Laws of Electricity
about which we will see a little later.
National Institute of Technology Warangal
 Introduction to Mathematical Modelling

• The mathematical model is usually in the form of

differential equations. A differential equation can
describe relationship between input and output.

• The differential equations describing the dynamic

performance of a physical system are obtained by
utilizing the physical laws of the process.

National Institute of Technology Warangal

 Physical Laws :
• The physical laws define relationships between
fundamental quantities.

Differential Equation :
• A differential equation is any algebraic or
transcendental equality which involves either
differentials or derivatives.

National Institute of Technology Warangal

• For a linear system, Laplace transform can be
used to find the solutions of the differential
equations.

• Using Laplace transforms, we can represent the

real system using Transfer Functions.

National Institute of Technology Warangal

 Transfer function for a differential equation

OBJECTIVES RESULTS
INPUT, R OUTPUT, Y
CONTROL SYSTEM

Y ( s)
G(s) 
R( s)
National Institute of Technology Warangal
National Institute of Technology Warangal
National Institute of Technology Warangal
National Institute of Technology Warangal
Inp
ut

The Transfer Function of Linear System

National Institute of Technology Warangal
How to Find the
TRANSFER
FUNCTION ?

National Institute of Technology Warangal

Differential Equation of nth order
n n 1
d x n 1 d x dx
an n  a n 1
   ai  ao x  q(t )
dt dt dt
a1 , a2 ,  , an are constant coefficients, and an  0
Input  q (t ) independent variable
Output  x (t ) dependent variable

Applying Laplace Transform

n 1 n 1
an s X (s)  a s X ( s)    ai sX (s)  ao X ( s)  Q(s)
n

National Institute of Technology Warangal

From the differential equation,
equation we can obtain the TRANSFER FUNCTION

L[Out _ Var ]
TRANSFER FUNCTION =
L[ Inp _ Var ] Init _ Cond 0

Out_Var = Output Variable

Inp_Var = Input Variable REMEMBER!!!

Init_Cond = Initial Condition

Initial Condition must always
be zero

National Institute of Technology Warangal

 KCL

KVL

National Institute of Technology Warangal

 National Institute of
Technology Warangal

National Institute of Technology Warangal

Basic Elements of the Electrical System

National Institute of Technology Warangal

National Institute of Technology Warangal
In Laplace Domain the Equations are :

National Institute of Technology Warangal

National Institute of Technology Warangal
National Institute of Technology Warangal
 Find the differential equation for the
given system below:R

i
Vi C Vc

By applying KVL Thus,

1
Vi (t )  VR (t )  VC (t ) Vi (t )  i (t ) R   i (t )dt
C
Since or
VR (t )  i (t ) R and Differentiating on both sides:
di (t ) 1 1 dVi (t )
1  i (t ) 
VC (t )   i (t )dt dt RC R dt
C National Institute of Technology Warangal
To Find the Transfer Function …
1st method
R Previously, we get:-
i
Vi C 1
vi (t )  i (t ) R   i (t )dt
Vc

dVc (t )
i (t )  C Vi ( s )  Vc ( s )[ RCs  1]
dt
dvc (t )
vi (t )  RC  vc (t ) Finally,
dt
Change to Laplace Transform Vc ( s) 1

Vi ( s) RCs  1
Vi ( s )  RCsVc ( s )  Vc ( s )
When output is voltage across capacitor and input
National Institute of Technology Warangal
is source voltage
2nd method
R
R

Vi(s) Vi
i
1
C Vc
Cs
Construct KVL :- 1
V ( s)  ( R  )Vc ( s )Cs
1 Cs
V (s)  ( R  ) I (s)
Cs V ( s )  RVc ( s )Cs  Vc ( s )
1
Vc ( s )  I ( s) V ( s )  Vc ( s )[ RCs  1]
Cs
Change to:-
Finally:-
I ( s )  Vc ( s )Cs Vc ( s ) 1

V ( s ) RCs  1
National Institute of Technology Warangal
 3rd method (when output is current and input is source voltage)

Its differential equation is given as:

R di (t ) 1 1 dVi (t )
 i (t ) 
i dt RC R dt
Vi C Vc
Apply the Laplace transform yields to:

1 1
sI ( s )  I ( s )  sVi ( s )
RC R
By heart, you should notice that:

I ( s)  output I (s)
and TF   G ( s)
Vi ( s ) 1 s
Vi ( s )  input R
Finally:- G ( s) 
s 1
RC
National Institute of Technology Warangal
 Find the differential equation for the
L
given system below
R

i
Vi C Vc

By applying KVL

Vi (t )  VR (t )  VL  VC (t ) Thus,
Since di(t ) 1
Vi (t )  i (t ) R  L   i(t )dt
VR (t )  i (t ) R and dt C
di (t ) or
VL  L and
dt d 2i (t ) R di(t ) 1 1 dVi (t )
1 2
  i (t ) 
VC (t )   i (t ) dt dt L dt LC L dt
C National Institute of Technology Warangal
To find the transfer function …
L Its differential equation is given as:

d 2i (t ) R di (t ) 1 1 dVi (t )
R 2
  i (t ) 
dt L dt LC L dt
i
Vi C Vc Apply the Laplace transform yields to:

R 1 1
s I ( s)  sI ( s) 
2
I ( s)  sVi ( s )
L LC L
By heart, you should notice that:
I ( s)
I ( s)  output and TF   G (s)
Vi ( s )
1 s
Vi ( s )  input L
Thus: G ( s)  2
s R s 1
L LC
National Institute of Technology Warangal
 From the same circuit:

L
Vc ( s )
If I want the TF G(s) 
Vi ( s )
R
ZL(s)
i By voltage divider:
Vi C Vc
Vc ( s) Z c ( s)
G(s)  
Zc(s)
Vi ( s) Z c ( s)  Z L ( s)  R

1
Where: Z c ( s)  1
cs So, the TF LC
Z L ( s )  Ls G ( s) 
s R s 1
2
L LC
National Institute of Technology Warangal
 Find the differential equation for the
given system below:
R1

R2 C
Vi Vo

Apply KVL at Loop 1 Apply KVL at Loop 2

1
Vi (t )  R1i1 (t )  R2 (i1 (t )  i2 (t )) R2  i2 (t )  i1 (t )    i2 (t )dt  0
C eqn b
Simplify it:
1
i1 (t )  Vi (t )  R2i2 (t )
R1  R2
eqn a
National Institute of Technology Warangal
 From previous:

1
 i2 (t )dt  R2  i2 (t )  i1 (t )   0
C
Substitute eqn a into eqn b, simplify it, will yield to

1  1 
 i2 (t )dt  R2i2 (t )  R2  Vi (t )  R2i2 (t )    0
C  R1  R2 
Further simplify it:

1 R1 R2 R2
C  i2 (t )dt 
R1  R2
i2 (t ) 
R1  R2
Vi (t )

And after eliminating the integral, we’ll get:

di2 (t ) R1  R2 1 dVi (t )
 i2 (t ) 
dt R1 R2C R1 dt
National Institute of Technology Warangal
Thus taking i2(t) as output and Vi(t) to be the input, the transfer
function can be written as follows,

National Institute of Technology Warangal

Find the differential equation and
transfer function for the given system
below:

National Institute of Technology Warangal

Solution :

National Institute of Technology Warangal

National Institute of Technology Warangal
National Institute of Technology Warangal
REFERENCES

National Institute of Technology Warangal

I would like to thank the following softwares for
making this project come true

Micro
so ft Pow
erPoin m e
t gl e Chr o
Goo

p C S3
t os ho
ob e Pho Sof
Ad twa
re 995
Omnifo
rm at

National Institute of Technology Warangal

A Project By:
ABHISHEK GAJARE
B.TECH MECH 2/4
NITW
Under the guidance of:
Mr. J Ravi Kumar
Prof. ECE Dept. National Institute of Technology Warangal