Automatic Control

Mechanical Engineering Department

Mathematical Modeling of
Dynamic Systems
Lecture 4 & 5
Chapter 3
Block diagram: is a pictorial representation of a function
Transfer function: a linear, time invariant ratio of the Laplace transform of the output to the input
Transferfu nction G ( s )

Transfer function

L[output ]
L[input ]

G(x)
R(s)

feedback B ( s )
G ( s ) H ( s ) open loop transfer function
Error E ( s )
output C ( s )
G ( s ) feedforward transfer function
ErrorE ( s )

Dr. Talal Mandourah

C(s)

E(s)
G(s)

B(s)

C(s)
H(s)

Automatic Control

Mechanical Engineering Department

Mathematical Modeling of
Dynamic Systems
Closed-loop transfer function

C(s)

R(s)

C (s) G(s) E (s)

G1(s)

G2(s)

E ( s) R( s) B( s)
E ( s ) R( s ) H ( s )C ( s )

R(s)

C ( s ) G ( s )[ R ( s ) H ( s )C ( s)]

G1(s)

C(s)

G2(s)

C (s)
G ( s)

R( s) 1 G ( s) H (s)

R(s)

G1(s)

Finding TF by MATLAB

C(s)

[num, den]=series(num1,den1,num2,den2)
[num, den]=parallel(num1,den1,num2,den2)

G2(s)

[num, den]=feedback(num1,den1,num2,den2)
Printsys(num, den)

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Mathematical Modeling of
Dynamic Systems
Classifications of Industrial Controllers

Controlled variable

1- Two- positions (on-off) controllers

2- P- controllers
3- I- controllers
4- PI-controllers
5- PD-controllers
6- PID-controllers
tp
SS error

Overshoot

Transient state
tr

Steady state

Settling time ts

time
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Block diagram reduction

R

H2(s)

Example1:

C
G2(s)

G1(s)

H2/G1

G1G 2
1 G1G 2 H 1

G3(s)

G3(s)

H1(s)

G1G 2G 3
1 G1G 2 H 1 G 2G3H 2

H2/G1

C
G1(s)

G2(s)

G3(s)

R
G1G 2G 3
1 G1G 2 H 1 G 2G3H 2 G1G 2G 3

H1(s)

Num=product of TF of the feedforward path

Den=1-product of TF around each loop

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Block diagram reduction

Example2
R(s)

C(s)

R(s)

H1
C(s)

G1

G2

H2

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Block diagram reduction

H3

R(s)

C(s)
G1

G2

H1

G3

G4

H2

Dr. Talal Mandourah