Automatic control theory

A Course used for analyzing and

designing a automatic control system

Chapter 1 I ntroduction
Figure 1.1
* Operating principle
* Feedback control
1) A water-level control system
21 century information age, cybernetics(control theory), system
approach and information theory , three science theory mainstay(supports)
in 21 century.
1.1 Automatic control
A machine(or system) work by machine-self, not by manual operation.
1.2 Automatic control systems
1.2.1 examples
Chapter 1 I ntroduction
Wat er exi t
wat er
ent r ance
f l oat
l ever
Fi gur e 1. 2
* Operating
principle
* Feedback
control
2) A temperature Control system
(shown in Fig.1.3)
M
+
e
u
a
=k( u
r
- u
f
)
u
r
u
f
ampl i f i er
t her mo
met er
Gear
assembl y
cont ai ner
Fi gur e 1. 3
* Operating principle
* Feedback
control(error)
Another example of the water-level
control is shown in figure 1.2.
Chapter 1 I ntroduction
3) A DC-Motor control system
M
M
+
-
+
r egul at or
t r i gger
r ect i f i er
DC
mot or
t echomet er
l oad
e
U
f
( Feedback)
u
r
Fi g. 1. 4
u
a
o
U
k
=k( u
r
- u
f
)
* Principle
* Feedback control(error)
Chapter 1 I ntroduction
4) A servo (following) control system

servopot ent i omet er
M
+
-
I nput
T
r
out put
T
c
servomechani sm
servo mot or
servomodul at or
l oad
* principle
* feedback(error)
Fig. 1.5
Chapter 1 I ntroduction
* principle
* feedback(error)
gover nment
( Fami l y pl anni ng commi t t ee)
census
soci et y
excess
pr ocr eat e
Desi r e
popul at i on
popul at i on
+
-
Pol i cy or
st at ut es
Fig. 1.6
5) A feedback control system model of the family planning
(similar to the social, economic, and political realm(sphere or field))
Chapter 1 I ntroduction
x
2
x
3
Si gnal
( var i abl e)
xxx
Component s
( devi ces)
+
-
+
x
1
e
Adder s ( compar i son)
e=x
1
+x
3
- x
2
x
Fig. 1.7
Example:
1.2.2 block diagram of control systems
The block diagram description for a control system : Convenience
Chapter 1 I ntroduction
amplifier Motor
Gearing Valve
Actuator
Water
container
Process
controller
Float
measurement
(Sensor)
Error
Feedback
signal
resistance comparator
Desired
water level
Input
Actual
water level
Output
Fig. 1.8
For the Fig.1.1, The
water level control
system:
Figure 1.1
Chapter 1 I ntroduction
For the Fig. 1.4, The DC-Motor control system
Desi r ed
r ot at e speed n
Regul at or Tr i gger Rect i f i er
DC
mot or
Techomet er
Act uat or
Pr ocess
cont r ol l er
measur ement ( Sensor )
compar at or
Act ual
r ot at e speed n
Er r or
Feedback si gnal
Ref er ence
i nput u
r
Out put n
Fi g. 1. 9
a
u
k
u
a
u
f
e
Chapter 1 I ntroduction
1.2.3 Fundamental structure of control systems
1) Open loop control systems
Cont r ol l er
Act uat or Pr ocess
Di st ur bance
( Noi se)
I nput r ( t )
Ref er ence
desi r ed out put
Out put c( t )
( act ual out put )
Cont r ol
si gnal
Act uat i ng
si gnal
u
k
u
act
Fi g. 1. 10
Features: Only there is a forward action from the input to the
output.
Chapter 1 I ntroduction
2) Closed loop (feedback) control systems
Cont r ol l er
Act uat or Pr ocess
Di st ur bance
( Noi se)
I nput r ( t )
Ref er ence
desi r ed out put
Out put c( t )
( act ual out put )
Cont r ol
si gnal
Act uat i ng
si gnal
u
k
u
act
Fi g. 1. 11
measur ement
Feedback si gnal b( t )
+
-
( +)
e( t ) =
r( t ) - b( t )
Features:
1) measuring the output (controlled variable) . 2) Feedback.
not only there is a forward action , also a backward action
between the output and the input (measuring the output and
comparing it with the input).
Chapter 1 I ntroduction
Notes: 1) Positive feedback; 2) Negative feedbackFeedback.
1.3 types of control systems
1) linear systems versus Nonlinear systems.
2) Time-invariant systems vs. Time-varying systems.
3) Continuous systems vs. Discrete (data) systems.
4) Constant input modulation vs. Servo control systems.
1.4 Basic performance requirements of control systems
1) Stability.
2) Accuracy (steady state performance).
3) Rapidness (instantaneous characteristic).

Chapter 1 I ntroduction
1.5 An outline of this text
1) Three parts: mathematical modeling; performance analysis ;
compensation (design).
2) Three types of systems:
linear continuous; nonlinear continuous; linear discrete.
3) three performances: stability, accuracy, rapidness.
in all: to discuss the theoretical approaches of the control
system analysis and design.
1.6 Control system design process
shown in Fig.1.12
Chapter 1 I ntroduction
1. Establish control goals
2. Identify the variables to control
3. Write the specifications
for the variables
4. Establish the system configuration
Identify the actuator
5. Obtain a model of the process,
the actuator and the sensor
6. Describe a controller and select
key parameters to be adjusted
7. Optimize the parameters and
analyze the performance
Performance does not
Meet the specifications
Finalize the design
Performance
meet the
specifications
Fig.1.12
Chapter 1 I ntroduction
1.7 Sequential design example: disk drive read system
Actuator
motor
Arm
Spindle
Track a
Track b
Head slider
Rotation
of arm
Disk
Fig.1.13 A disk drive read system

A disk drive read system Shown in Fig.1.13
Configuration
Principle
Chapter 1 I ntroduction
Sequential design:
here we are concerned with the design steps 1,2,3, and 4 of Fig.1.12.
(1) Identify the control goal:
(2) Identify the variables to control:
Position the reader head to read the date stored on a track on the disk.
the position of the read head.
(3) Write the initial specification for the variables:
The disk rotates at a speed of between 1800 and 7200 rpm and the read head
flies above the disk at a distance of less than 100 nm.
The initial specification for the position accuracy to be controlled:
1 m (leas than 1 m ) and to be able to move the head from track a to track b
within 50 ms, if possible.
Chapter 1 I ntroduction
(4) Establish an initial system configuration:
It is obvious : we should propose a closed loop system , not
a open loop system.
An initial system configuration can be shown as in Fig.1.13.
Control
device
Actuator
motor
Read
arm
sensor
Desired
head
position
error
Actual
head
position
Fig.1.13 system configuration for disk drive
We will consider the design of the disk drive further in the after-
mentioned chapters.
Chapter 1 I ntroduction
Exercise: E1.6, P1.3, P1.13
Chapter 2 mathematical models of systems
2.1 Introduction
Controller Actuator Process
Disturbance
Input r(t)
desired output
temperature
Output T(t)
actual
output
temperature
Control
signal
Actuating
signal
u
k
u
a c
Fig. 2.1
temperature
measurement
Feedback signal b(t)
+
-
()
e(t)=
r(t)-b(t)
1) Easy to discuss the full possible types of the control systemsin terms of the
systems mathematical characteristics.
2) The basis analyzing or designing the control systems.
For example, we design a temperature Control system :
The key designing the controller how produce u
k
.
2.1.1 Why
Chapter 2 mathematical models of systems
2.1.3 How get
1) theoretical approaches 2) experimental approaches
3) discrimination learning
2.1.2 What is
Mathematical models of the control systems the mathematical
relationships between the systems variables.
Different characteristic of the process different u
k
:
T(t)
u
k
T
1

T
2
u
k12
u
k11
u
k21


For T
1

12
11
k
k
u
u

For T
1

22
21
k
k
u
u

Chapter 2 mathematical models of systems

2.2.1 Examples
2.2 Input-output description of the physical systems differential
equations
2.1.4 types
1) Differential equations
2) Transfer function
3) Block diagramsignal flow graph
4) State variables(modern control theory)
The input-output descriptiondescription of the mathematical
relationship between the output variable and the input variable of the
physical systems.
Chapter 2 mathematical models of systems
u
r
u
c
R L
C
i
define: input u
r
output u
c
we have

r c
c c
c
r c
u u
dt
du
RC
dt
u d
LC
dt
du
C i u u
dt
di
L Ri
= + +

= = + +
2
2
r c
c c
u u
dt
du
T
dt
u d
T T T
R
L
T RC make = + + = =
1
2
2
2 1
2 1 :
Example 2.1 : A passive circuit
Chapter 2 mathematical models of systems
Example 2.2 : A mechanism
y
k
f
F
m
Define: input F output y. We have:
F ky
dt
dy
f
dt
y d
m
t d
y d
m
dt
dy
f ky F
= + +

=
2
2
2
2
F
k
y
dt
dy
T
dt
y d
T T have we
T
f
m
T
k
f
make we If
1
:
:
1
2
2
2 1
2 , 1
= + +
= =
Compare with example 2.1: u
c
y; u
r
F analogous systems
Chapter 2 mathematical models of systems
Example 2.3 : An operational amplifier (Op-amp) circuit
u
r
u
c
R
1
C
R
2
R
4
R
1
R
3
i
3
i
1
i
2
+
-
Input u
r
output u
c
) 3 ........( .......... .......... )......... (
1
) 2 ...( .......... .......... .......... ..........
) 1 )......( ( ) (
1
2 2
3
3
1
1 2
2 3 4 2 3 3 3
i R u
R
i
R
u
i i
i i R dt i i
C
i R u
c
r
c
=
= =
+ + =
}
(2)(3); (2)(1); (3)(1)
(

+ + = +
+

+
r
r
C R
R R
R R
R
R R
c
c
C R u
dt
du
u
dt
du
) (
4
3 2
3 2
4
1
3 2
) ( :
) ( ; ; :
4
3 2
3
2
1
3 2
4
r
r
c
c
u
dt
du
k u
dt
du
T have we
C R
R R
R R
k
R
R R
T C R make
+ = +
= +
+

=
+
=
t
t
Chapter 2 mathematical models of systems
Example 2.4 : A DC motor
u
a
w
1
R
a
L
a
i
a
M
w
3
w
2
( J
3
, f
3
)
( J
1
, f
1
)
( J
2
, f
2
)
M
f
i
1
i
2
Input u
a
output
1
) 4 .....(
) 3 .....( .......... ..........
) 2 .....( .......... ..........
) 1 ....(
1
1
1
e
e
e
f
dt
d
J M M
C E
i C M
u E i R
dt
di
L
e a
a m
a a a a
a
a
+ =
=
=
= + +
(4)(2)(1) and (3)(1):
M
C C
R
M
C C
L
u
C
C C
f R
C C
J R
C C
f L
C C
J L
m e
a
m e
a
a
e
m e
a
m e
a
m e
a
m e
a
=
+ + + +
-
- - -
1
) 1 ( ) (
1 1 1
e e e
Chapter 2 mathematical models of systems
) : (
...... .......... ..........
......
......
:
3 2 1 2 1 1
2 1
2
2
2
1
3
2
1
2
1
2
2
2
1
3
2
1
2
1
e e e i i i f rom derived be can
torque equivalent
i i
M
M
nt coef f icie f riction equivalent
i i
f
i
f
f f
inertia of moment equivalent
i i
J
i
J
J J
here
f
= =
=
+ + =
+ + =
Make:

constant - time electric f riction
C C
f R
T
constant - time electric - mechanical
C C
J R
T
constant - time magnetic - electric
R
L
T
m e
a
f
m e
a
m
a
a
e
- .......
.......
.. ..........
=
=
=
Chapter 2 mathematical models of systems
a
e
m m e
u
C dt
d
T
dt
d
T T
1
2
2
= + + e
e e
Assume the motor idle: M
f
= 0, and neglect the friction: f = 0,
we have:
) (
1 1
) 1 ( ) (
1 1 1
M T M T T
J
u
C
T T T T T T
m m e a
e
f m f e m e
+ =
+ + + +
-
- - -
e e e
The differential equation description of the DC motor is:
Chapter 2 mathematical models of systems
Example 2.5 : A DC-Motor control system
+
t r i gger
U
f
u
r
-
M
M
+
-
r ect i f i er
DC
mot or
t echomet er
l oad
u
a
-
u
k
R
3
R
1
R
1
R
2
R
3
w
Input u
r
Output ; neglect the friction:
(4) M T M T T
J
u
C dt
d
T
dt
d
T T
(3) u k u (2) u
(1) u u k u u
R
R
u
m m e a
e
m m e
k a f
f r f r k
)...... (
1 1
.. .......... .......... . .......... ..........
.... .......... .......... .......... )...... ( ) (
2
2
2
1
1
2
+ = + +
= =
= =
-
e
e e
oe
Chapter 2 mathematical models of systems
2134we have
) (
1
) 1 (
2 1
1
2 1
2
2
M M T
J
T
u
C
k k k k
dt
d
T
dt
d
T T
e
m
r
e
C
m m e
e
+ = + + +
-
e o
e e
2.2.2 steps to obtain the input-output description (differential
equation) of control systems
1) Determine the output and input variables of the control systems.
2) Write the differential equations of each systems components in
terms of the physical laws of the components.
* necessary assumption and neglect.
* proper approximation.
Chapter 2 mathematical models of systems
2.2.3 General form of the input-output equation of the linear
control systemsA nth-order differential equation:
m n r b r b r b r b r b
y a y a y a y a y
m m
m m m
n n
n n n
> + + + + + =
+ + + + +

.........
) 1 (
1
) 2 (
2
) 1 (
1
) (
0
) 1 (
1
) 2 (
2
) 1 (
1
) (
3) dispel the intermediate(across) variables to get the input-output
description which only contains the output and input variables.
4) Formalize the input-output equation to be the standard form:
Input variable on the right of the input-output equation .
Output variable on the left of the input-output equation.
Writing polynomial according to the falling-power order.
Suppose: input r output y
Chapter 2 mathematical models of systems
2.3 Linearization of the nonlinear components
2.3.1 what is nonlinearity
The output is not linearly vary with the linear variation of the
systems (or components) input nonlinear systems (or
components).
2.3.2 How do the linearization
Suppose: y = f(r)
The Taylor series expansion about the operating point r
0
is:
) )( ( ) (
) (
! 3
) (
) (
! 2
) (
) )( ( ) ( ) (
0 0
) 1 (
0
3
0
0
) 3 (
2
0
0
) 2 (
0 0
) 1 (
0
r r r f r f
r r
r f
r r
r f
r r r f r f r f
+ ~
+ + + + =
0 0
: ) ( ) ( : r r r and r f r f y make = A = A
equation ion linearizat r r f y wehave .. .......... ) ( :
0
'
A ~ A
Chapter 2 mathematical models of systems
Examples:
Example 2.6 : Elasticity equation
o
kx x F = ) (
25 . 0 ; 1 . 1 ; 65 . 12 : suppose
0
= = = x point operating k o
11 . 12 25 . 0 1 . 1 65 . 12 ) ( ) (
1 . 0
0
' 1 '
= = =

x F x k x F
o
o
equation ion linearizat x F
x x x F x F
.... .......... 11 . 12 : is that
) ( 11 . 12 ) ( ) ( : have we
0 0
A ~
~
Example 2.7 : Fluxograph equation
p k p Q = ) (
Q Flux; p pressure difference
Chapter 2 mathematical models of systems


equation ion linearizat p
p
k
Q
p
k
p Q because
. ..........
2
: thus
2
) ( ' :
0
A ~ A
=
2.4 Transfer function
Another form of the input-output(external) description of control
systems, different from the differential equations.
2.4.1 definition
Transfer function: The ratio of the Laplace transform of the
output variable to the Laplace transform of the input variable,with
all initial condition assumed to be zero and for the linear systems,
that is:
Chapter 2 mathematical models of systems



) (
) (
) (
s R
s C
s G =
C(s) Laplace transform of the output variable
R(s) Laplace transform of the input variable
G(s) transfer function
* Only for the linear and stationary(constant parameter) systems.
* Zero initial conditions.
* Dependent on the configuration and the coefficients of the
systems, independent on the input and output variables.
2.4.2 How to obtain the transfer function of a system
1) If the impulse response g(t) is known
Notes:
Chapter 2 mathematical models of systems

| | ) ( ) ( t g L s G =
1 ) ( ) ( ) ( if ,
) (
) (
) ( = = = s R t t r
s R
s C
s G o
Because:
We have:
Then:
Example 2.8 :
) 2 (
) 5 ( 2
2
3 5
) ( 3 5 ) (
2
+
+
=
+
= =

s s
s
s s
s G e t g
t
2) If the output response c(t) and the input r(t) are known
We have:
| |
| | ) (
) (
) (
t r L
t c L
s G =
| | ) ( ) ( ) ( t g L s C s G = =
Chapter 2 mathematical models of systems

Example 2.9:
response Unit step
s s s s
s C e t c
f unction Unit step
s
t t r
t
.........
) 3 (
3
3
1 1
) ( 1 ) (
........
1
R(s) ) ( 1 ) (
3
+
=
+
= =
= =

Then:
3
3
1
) 3 ( 3
) (
) (
) (
+
=
+
= =
s s
s s
s R
s C
s G
3) If the input-output differential equation is known
Assume: zero initial conditions;
Make: Laplace transform of the differential equation;
Deduce: G(s)=C(s)/R(s).
Chapter 2 mathematical models of systems
Example 2.10:
4 3 2
6 5

) ( 6 ) ( 5 ) ( 4 ) ( 3 ) ( 2
) ( 6 ) ( 5 ) ( 4 ) ( 3 ) ( 2
2
2
+ +
+
= =

+ = + +

+ = + +
- - - -
s s
s
R(s)
C(s)
G(s)
s R s sR s C s sC s C s
t r t r t c t c t c
4) For a circuit
* Transform a circuit into a operator circuit.
* Deduce the C(s)/R(s) in terms of the circuits theory.
Chapter 2 mathematical models of systems
Example 2.11: For a electric circuit:
u
c
u
r
C
1
C
2
R
1
R
2
u
c
( s)
1/ C
1
s
1/ C
2
s
R
1
R
2
u
r
( s)
2 1 12 2 2 2 1 1 1
r
c
r
r c
C R ; T C R ; T C R T
s T T T s T T
s U
s U
s G
s U
s T T T s T T
sC
R
sC
s U
sC
R
sC
R
sC
R
sC
s U
= = =
+ + + +
= =

+ + + +
=
+

+ +
+
=
: here
1 ) (
1
) (
) (
) (
) (
1 ) (
1

1
1
) (
)
1
( //
1
)
1
( //
1
) (
12 2 1
2
2 1
12 2 1
2
2 1
2
2
2
2
2
1
1
2
2
1
Chapter 2 mathematical models of systems
Example 2.12: For a op-amp circuit
u
r
u
c
R
1
R
2
R
1
+
-
C
R
2
1/ Cs
u
r
u
c
R
1
R
1
+
-
...... ; : here
....... .......... )
1
1 (
1
1
) (
) (
) (
2
1
2
1
2
1
2
nt ime consta Integral t C R
R
R
k
ller .PI-Contro
s
k
Cs R
Cs R
R
sC
R
s U
s U
s G
r
c
= =
+ =
+
=
+
= =
t
t
Chapter 2 mathematical models of systems
5) For a control system
Write the differential equations of the control system, and Assume
zero initial conditions;
Make Laplace transformation, transform the differential equations
into the relevant algebraic equations;
Deduce: G(s)=C(s)/R(s).
Example 2.13
+
t r i gger
U
f
u
r
-
M
M
+
-
r ect i f i er
DC
mot or
t echomet er
l oad
u
a
-
u
k
R
3
R
1
R
1
R
2
R
3
w
the DC-Motor control system in Example 2.5
Chapter 2 mathematical models of systems
In Example 2.5, we have written down the differential equations
as:
(4) M M T
J
T
u
C dt
d
T
dt
d
T T
(3) u k u (2) u
(1) u u k u u
R
R
u
e
m
a
e
m m e
k a f
f r f r k
)...... (
1
......... .......... .......... ..........
..... .......... .......... )......... ( ) (
2
2
2
1
1
2
+ = + +
= =
= =
-
e
e e
oe
Make Laplace transformation, we have:
(4) s M
J
T s T T
s U
Ce
s s T s T T
(3) s U k s U (2) s s U
(1) s U s U k s U
m m e
a m m e
k a f
f r k
)...... ( ) (
1
) ( ) 1 (
..... )......... ( ) ( ...... )......... ( ) (
... .......... .......... .......... .......... )]........ ( ) ( [ ) (
2
2
1
+
= O + +
= O =
=
o
Chapter 2 mathematical models of systems
(2)(1)(3)(4), we have:
) ( ) (
1
) ( )]
1
1 ( [
2 1 2 1
2
s M
J
T s T T
s U
C
k k s
C
k k s T s T T
m m e
r
e e
m m e
+
= O + + + o
- ......
- . .......... :
constant time electric mechanical
C C
J R
T
constant time magnetic electric
R
L
T here
m e
a
m
a
a
e
=
=
)
1
1 (
1
) (
) (
) (
2 1
2
2 1
e
m m e
e
r
C
k k s T s T T
C
k k
s U
s
s G
o + + +
=
O
=
Chapter 2 mathematical models of systems
2.5 Transfer function of the typical elements of linear systems
A linear system can be regarded as the composing of several
typical elements, which are:
2.5.1 Proportioning element
Relationship between the input and output variables:
) ( ) ( t kr t c =
Transfer function: k
s R
s C
s G = =
) (
) (
) (
Block diagram representation and unit step response:
R( s) C( s)
k
1
k
t
r( t ) C( t )
t
Examples:
amplifier, gear train,
tachometer
Chapter 2 mathematical models of systems
2.5.2 Integrating element
Relationship between the input and output variables:
constant time integral T dt t r
T
t c
I
t
I
: .......... ) (
1
) (
0
}
=
Transfer function:
s T s R
s C
s G
I
1
) (
) (
) ( = =
Block diagram representation and unit step response:
1
R( s) C( s)
1
t
r( t ) C( t )
t
s T
I
1
T
I
Examples:
Integrating circuit, integrating
motor, integrating wheel
Chapter 2 mathematical models of systems
2.5.3 Differentiating element
Relationship between the input and output variables:
dt
t dr
T t c
D
) (
) ( =
Transfer function: s T
s R
s C
s G
D
= =
) (
) (
) (
Block diagram representation and unit step response:
Examples:
differentiating amplifier, differential
valve, differential condenser
R( s) C( s)
T
D
s
1 T
D
t
r( t ) C( t )
t
2.5.4 Inertial element
Chapter 2 mathematical models of systems
Relationship between the input and output variables:
) ( ) (
) (
t kr t c
dt
t dc
T = +
Transfer function:
1 ) (
) (
) (
+
= =
Ts
k
s R
s C
s G
Block diagram representation and unit step response:
Examples:
inertia wheel, inertial load (such as
temperature system)
1
R( s) C( s)
k
t
r( t ) C( t )
t
T
1 + Ts
k
Chapter 2 mathematical models of systems
2.5.5 Oscillating element
Relationship between the input and output variables:
1 0 ) ( ) (
) (
2
) (
2
2
2
< < = + + , , t kr t c
dt
t dc
T
dt
t c d
T
Transfer function:
1 0
1 2
) (
) (
) (
2 2
< <
+ +
= = ,
,Ts s T
k
s R
s C
s G
Block diagram representation and unit step response:
Examples:
oscillator, oscillating table,
oscillating circuit
R( s)
C( s)
1 2
1
2 2
+ + Ts s T ,
C( t )
k
t
1
t
r( t )
2.5.6 Delay element
Chapter 2 mathematical models of systems
Relationship between the input and output variables:
) ( ) ( t = t kr t c
Transfer function:
s
ke
s R
s C
s G
t
= =
) (
) (
) (
Block diagram representation and unit step response:
Examples:
gap effect of gear mechanism,
threshold voltage of transistors
R( s)
C( s)
1
t
r( t )
s
ke
t
k
C( t )
t
t
2.6 block diagram models (dynamic)
Portray the control systems by the block diagram models more
intuitively than the transfer function or differential equation models.
2.6.1 Block diagram representation of the control systems

Chapter 2 mathematical models of systems
Examples:
Si gnal
( var i abl e)
G( s)
Component
( devi ce)
Adder ( compar i son)
E( s) =x
1
( s) +x
3
( s) - x
2
( s)
X( s)
X
3
( s)
X
2
( s)
+
-
+
X
1
( s)
E( s)
Example 2.14
Chapter 2 mathematical models of systems
For the DC motor in Example 2.4
In Example 2.4, we have written down the differential equations as:
) 4 .....( ) 3 .....( .......... ..........
) 2 .....( .......... .......... ) 1 ....(
e
e
e f
dt
d
J M M C E
i C M u E i R
dt
di
L
e a
a m a a a a
a
a
+ = =
= = + +
Make Laplace transformation, we have:
(8) s M s M
f s J
s s f s s J s M s M
(7) s C s E
(6) s I C s M
(5)
R s L
s E s U
s I s U s E s I R s sI L
e a
a m
a a
a a
a a a a a a a
)]...... ( ) ( [
1
) ( ) ( ) ( ) ( ) (
........ .......... .......... .......... .......... .......... .......... .......... )......... ( ) (
....... .......... .......... .......... .......... .......... .......... .......... )......... ( ) (
... ..........
) ( ) (
) ( ) ( ) ( ) ( ) (

+
= O O + O =
O =
=
+

= = + +
Chapter 2 mathematical models of systems
Draw block diagram in terms of the equations (5)(8):
U
a
( s)
a a
R s L +
1
C
m
I
a
( s)
M( s)
E
a
( s)
C
e
) (s O
f s J +
1
) (s M
-
-
Consider the Motor as a whole:
1 ) (
1
2
+ + + +
f f e m m e
e
T s T T T s T T
C
1 ) (
) (
1
2
+ + + +
+
f f e m m e
m m e
T s T T T s T T
T s T T
J
U
a
( s)
) (s O
) (s M
-
Chapter 2 mathematical models of systems
Example 2.15 The water level control system in Fig 1.8:
Desi r ed
wat er l evel
ampl i f i er Mot or Gear i ng Val ve
Wat er
cont ai ner
Fl oat
Act ual
wat er l evel
Feedback si gnal h
f
I nput h
i
Out put h
-
e
u
a
e
u Q
1
k 1
1
2
+ + s T s T T
C
m m e
e
s
e k
s t
2
1
1
3
+ s T
k
1
2
4
+ s T
k
o
) (
1
) 1 (
2
s M
s T s T T
s T
J
T
m m e
e
m
+ +
+

Chapter 2 mathematical models of systems

The block diagram model is: