Lecture-09-System Modelling

System Modelling
Automation and Robotics

Transfer function
● The input to a system

termed as cause
operates through a Input, Output,
transfer operation R(s) System, C(s)
termed as transfer G(s)
function to produce an
effect resulting in output
or response termed as
controlled variable.
Transfer function
● Thus the cause and effect relationship between the

output and input is related to each other through a
transfer function.
● The transfer function of a linear time-invariant (LTI)
system is deﬁned to be the ratio of of the Laplace
transform of the output variable to the Laplace
transform of the input variable under the
assumption that all initial conditions are zero.
Transfer function of a Mechanical
System
Find the transfer function
between the displacement x(t)
and the force applied F(t) of the
Mass Spring Dashpot System
Mass, m = 1000kg,
Damping coefﬁcient, c = 25 kg/s, F(t)
Spring constant, k = 1.87kg/s^2

System
Applying Newton's law of motion to the free-body
diagram:
m * x"(t) = F(t) - c * x'(t) - k * x(t)

or, F(t) = m * x"(t) + c * x'(t) + k * x(t)
Taking laplace transform on both sides:
F(s) = m * X(s) * s^2 + c * X(s) * s + k * X(s)
or, F(s) = (m * s^2 + c * s + k ) * X(s)
System
Therefore, the transfer function,

G(s) = X(s)/F(s)
= 1 / (m * s^2 + c * s + k )
Time response of an LTI system
For feedback control system given below plot the time response
G(s) = K(s+0.1)/(s+0.5)
H(s) = 1 Forward
Transfer Function
Input, Error, Output
R(s) E(s) C(s)
K=1
G(s)
H(s)
Feedback Transfer Function
Installing Conda - Package manager
● Download and install Miniconda in your PC using

the following link:
https://docs.conda.io/en/latest/miniconda.html
● Conda is a open-source package management

system and environment management system for
Python
● Miniconda is minimal installer for conda
Installing Conda - Package manager
● To install new packages, type at command prompt:

○ conda install <package_name>
● To update packages
○ conda update <package_name>
● To add a channel for searching packages
○ conda config --add channels <channel_name>
Conda - Environments
● Different environments can be created for different

applications with different sets of packages
● To create an environment
○ conda create --name <environment_name>
● To activate an environment
○ activate <environment_name>
Installing Packages
● Install NumPy, Matplotlib, Jupyter Notebook

○ $ conda install numpy matplotlib jupyter
● Install Control Module

○ $ pip install control
Verifying Installation
$ ipython
Python 3.8.3 (default, May 19 2020, 18:47:26)
Type 'copyright', 'credits' or 'license' for more information
IPython 7.16.1 -- An enhanced Interactive Python. Type '?' for help.
In [1]: import sys
In [2]: print(sys.version)
3.8.3 (default, May 19 2020, 18:47:26)
[GCC 7.3.0]
In [3]: exit
Software Simulation in Python
import control.matlab as ctl # Matlab like functions
import matplotlib.pyplot as plt # Plot functions
import numpy as npy # Array function
K = 1
# (1) `G(s) = K(s+0.1)/(s+0.5)` and `H(s) = 1` (type 0 system)
num = K*[1,0.1] # Numerator
den = [1,1] # Denominator
Gs1 = ctl.tf(num,den) # Forward transfer function
Hs1 = ctl.tf(1,1) # Feedback transfer function
Ms = ctl.feedback(Gs1,Hs1)
yout, T = ctl.impulse(Ms)
plt.plot(T,yout)
Software Simulation in Python ...
# (2) `G(s) = K(s+1)(s+0.2)/(s+1.2)(s+0.7)` and `H(s) = 1` (type 0 system)
zeros = [-1,-0.2]
poles = [-1.2, -0.7]
gain = K
num, den = ctl.zpk2tf(zeros,poles,gain) # Create transfer function from
zero, pole and gain
Gs2 = ctl.tf(num,den)
Hs2 = ctl.tf(1,1) # Feedback transfer function
Ms2 = ctl.feedback(Gs2,Hs2)
yout, T = ctl.impulse(Ms2)
plt.plot(T,yout)
Software Simulation in Python ...
# Task (b): To plot step response of System
T = npy.arange(0,50,0.1)
l = len(T)
U = npy.ones(l)
print('Step response of the system 1:')

yout, T, xout = ctl.lsim(Ms1,U,T)
plt.plot(T,yout,T,U)
print('Step response of the system 2:')

yout, T, xout = ctl.lsim(Ms2,U,T)
plt.plot(T,yout,T,U)
Practice Problem
For feedback control system plot the time responses
(1) G(s) = K(s+0.1)/(s+0.5) and H(s) = 1
(2) G(s) = K(s+1)(s+0.2)/(s+1.2)(s+0.7) and H(s) = 1
(3) G(s) = K(s+0.1)/s(s+0.5) and H(s) = 1
(4) G(s) = K(s+1)(s+0.2)/s(s+1.2)(s+0.7) and H(s) = 1
(5) G(s) = K(s+0.1)/s^2(s+0.5) and H(s) = 1
(6) G(s) = K(s+1)(s+0.2)/s^2(s+1.2)(s+0.7) and H(s) = 1
Assume K = 1

Lecture-09-System Modelling

Uploaded by

Lecture-09-System Modelling

Uploaded by

System Modelling

Automation and Robotics

● The input to a system

● Thus the cause and effect relationship between the

Damping coefﬁcient, c = 25 kg/s, F(t)

Spring constant, k = 1.87kg/s^2

m * x"(t) = F(t) - c * x'(t) - k * x(t)

Therefore, the transfer function,

● Download and install Miniconda in your PC using

● Conda is a open-source package management

● To install new packages, type at command prompt:

● Different environments can be created for different

● Install NumPy, Matplotlib, Jupyter Notebook

● Install Control Module

print('Step response of the system 1:')

print('Step response of the system 2:')

(1) G(s) = K(s+0.1)/(s+0.5) and H(s) = 1

(2) G(s) = K(s+1)(s+0.2)/(s+1.2)(s+0.7) and H(s) = 1

(3) G(s) = K(s+0.1)/s(s+0.5) and H(s) = 1

(4) G(s) = K(s+1)(s+0.2)/s(s+1.2)(s+0.7) and H(s) = 1

(5) G(s) = K(s+0.1)/s^2(s+0.5) and H(s) = 1

(6) G(s) = K(s+1)(s+0.2)/s^2(s+1.2)(s+0.7) and H(s) = 1

You might also like