The document discusses modeling control systems using mathematical models. It describes how to establish differential equations to model systems based on physical laws like Newton's laws of motion. The analytic method is used to derive transfer functions from differential equations. The Laplace transform is introduced as a tool to solve differential equations and study systems in the frequency domain. Properties of the Laplace transform like linearity and differentiation are covered. Finally, examples are provided on using partial fraction expansion to find the inverse Laplace transform of transfer functions and obtain the time domain response.
Presentation on Fourier Series
contents are:-
Euler’s Formula
Functions having point of discontinuity
Change of interval
Even and Odd functions
Half Range series
Harmonic analysis
Presentation on Fourier Series
contents are:-
Euler’s Formula
Functions having point of discontinuity
Change of interval
Even and Odd functions
Half Range series
Harmonic analysis
laplace transform and inverse laplace, properties, Inverse Laplace Calculatio...Waqas Afzal
Laplace Transform
-Proof of common function
-properties
-Initial Value and Final Value Problems
Inverse Laplace Calculations
-by identification
-Partial fraction
Solution of Ordinary differential using Laplace and inverse Laplace
laplace transform and inverse laplace, properties, Inverse Laplace Calculatio...Waqas Afzal
Laplace Transform
-Proof of common function
-properties
-Initial Value and Final Value Problems
Inverse Laplace Calculations
-by identification
-Partial fraction
Solution of Ordinary differential using Laplace and inverse Laplace
21st Mediterranean Conference on Control and Automation
The present paper is a survey on linear multivariable systems equivalences. We attempt a review of the most significant types of system equivalence having as a starting point matrix transformations preserving certain types of their spectral structure. From a system theoretic point of view, the need for a variety of forms of polynomial matrix equivalences, arises from the fact that different types of spectral invariants give rise to different types of dynamics of the underlying linear system. A historical perspective of the key results and their contributors is also given.
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CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
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More examples of our work https://www.r-r-consult.dk/en/cases-en/
Automobile Management System Project Report.pdfKamal Acharya
The proposed project is developed to manage the automobile in the automobile dealer company. The main module in this project is login, automobile management, customer management, sales, complaints and reports. The first module is the login. The automobile showroom owner should login to the project for usage. The username and password are verified and if it is correct, next form opens. If the username and password are not correct, it shows the error message.
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Also when the user tries to sale items which are not in stock, the system will prompt the user that the stock is not enough. Customers of this system can search for a automobile; can purchase a automobile easily by selecting fast. On the other hand the stock of automobiles can be maintained perfectly by the automobile shop manager overcoming the drawbacks of existing system.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
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Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Democratizing Fuzzing at Scale by Abhishek Aryaabh.arya
Presented at NUS: Fuzzing and Software Security Summer School 2024
This keynote talks about the democratization of fuzzing at scale, highlighting the collaboration between open source communities, academia, and industry to advance the field of fuzzing. It delves into the history of fuzzing, the development of scalable fuzzing platforms, and the empowerment of community-driven research. The talk will further discuss recent advancements leveraging AI/ML and offer insights into the future evolution of the fuzzing landscape.
6. System model
Definition:
Mathematical expression of dynamic relationship between input
and output of a control system.
Mathematical model is foundation to analyze and design
automatic control systems
No mathematical model of a physical system is exact. We
generally strive to develop a model that is adequate for the
problem at hand but without making the model overly complex.
7. Modeling methods
1. Analytic method
According to
A. Newton’s Law of Motion
B. Law of Kirchhoff
C. System structure and parameters
the mathematical expression of system input and
output can be derived.
Thus, we build the mathematical model ( suitable
for simple systems).
8. Laplace
transform
Fourier
transform
Analytic method: Models
• Differential equation
• Transfer function
• Space state
• Frequency characteristic
Transfer
function
Differential
equation
Frequency
characteristic
Linear system
LTI
Study
time-domain
response
study
frequency-domain
response
9. Modeling methods
2. System identification method
Building the system model based on the system input—output
signal
This method is usually applied when there are little information
available for the system.
Black box
Input Output
Black box: the system is totally unknown.
Grey box: the system is partially known.
10. Why Focus on Linear Time-Invariant (LTI)
System
• What is linear system?
system
1( )u t 1( )y t
2 ( )u t 2 ( )y t
1 1 2 2( ) ( )u t u t 1 1 2 2y y
system
system
-A system is called linear if the principle of
superposition applies
12. Differential equation of LTI System
• Linear ordinary differential equations
( ) ( 1) (1)
0 1 1
( ) (1)
0 1
( ) ( ) ( ) ( )
( ) ( ) ( )
n n
n
m
m m
a c t a c t a c t c t
b r t b r t b r t
--- A wide range of systems in engineering are
modeled mathematically by differential equations
--- In general, the differential equation of an n-th
order system is written
Time-domain model a0, a1, …an, b0, b1,…
bm: Constantes
13. How to establish ODE of a control system
--- list differential equations according to the
physical rules of each component;
--- obtain the differential equation sets by
eliminating intermediate variables;
--- get the overall input-output differential
equation of control system.
14. Examples-1 RLC circuit
R L
C
u(t) uc(t)i(t)
Input
u(t) system
Output
uc(t)
Defining the input and output according to which
cause-effect relationship you are interested in.
16. • It is re-written as in standard form
Generally,we set
•the output on the left side of the equation
•the input on the right side
•the input is arranged from the highest order to the
lowest order
( ) ( ) ( ) ( )C C CLCu t RCu t u t u t
18. ( ) ( ) ( ) ( )mx t f x t kx t F t
By eliminating intermediate variables, we obtain the
overall input-output differential equation of the mass-
spring-friction system.
Recall the RLC circuit system
( ) ( ) ( ) ( )c c cLCu t RCu t u t u t
These formulas are similar, that is, we can use the same
mathematical model to describe a class of systems that
are physically absolutely different but share the same
Motion Law.
20. Transfer function
LTI
system
Input
u(t)
Output
y(t)
Consider a linear system described by differential equation
1
1 1 0
1 0
1
1
( )
( )
( )
...( )
( ) ...
zero initial conditio
m m
m m
n n
n
n
output y t
TF G s
input u t
b s b s b s bY s
U s s a s a s a
L
L
( ) ( 1) ( ) ( 1) (1)
1 0 1 0( ) ( ) ( ) ( ) ( ) ( ) ( )n n m m
n m my t a y t a y t b u t b u t bu t b u t
Assume all initial conditions are zero, we get the transfer
function(TF) of the system as
L: Trasformada
de Laplace
21. WHY need LAPLACE transform?
s-domain
algebra problems
Solutions of algebra
problems
Time-domain
ODE problems
Solutions of time-
domain problems
Laplace
Transform
(LT)
Inverse
LT
Difficult Easy
23. Examples
• Step signal: f(t)=A
0
( ) ( ) st
F s f t e dt
0
st
Ae dt
0
stA
e
s
A
s
• Exponential signal f(t)= at
e
( )F s
0
at st
e e dt
1
s a
( )
0
1 a s t
e
s a
24. Laplace transform table
f(t) F(s) f(t) F(s)
δ(t) 1
1(t)
t
at
e
2 2
w
s w
2 2
s
s w
wte at
sin
wte at
cos
22
)( was
w
22
)( was
as
1
s a
1
s
2
1
s
sinwt
coswt
25. Properties of Laplace Transform
(1) Linearity
1 2 1 2[ ( ) ( )] [ ( )] [ ( )]af t bf t a f t b f t L L L
(2) Differentiation
( )
( ) (0)
df t
sF s f
dt
L
(1)
1 2 ( 1)( )
( ) (0) (0) (0)
n
n n n n
n
d f t
s F s s f s f f
dt
L
where f(0) is the initial value of f(t).
Using Integration
By Parts method
to prove
26. (3) Integration
0
( )
( )
t F s
f d
s
L
Using Integration
By Parts method
to prove )
27. (5) Initial-value Theorem
(4)Final-value Theorem
)(lim)(lim 0
ssFtf st
)(lim)(lim
0
ssFtf
st
The final-value theorem
relates the steady-state
behavior of f(t) to the
behavior of sF(s) in the
neighborhood of s=0
28. (6)Shifting Theorem:
a. shift in time (real domain)
[ ( )]f t L
[ ( )]at
e f t L
b. shift in complex domain
( )s
e F s
( )F s a
29. Inverse Laplace transform
Definition:Inverse Laplace transform, denoted by
is given by
where C is a real constant。
1
[ ( )]F s
L
1 1
( ) [ ( )] ( ) ( 0)
2
C j
st
C j
f t F s F s e ds t
j
L
Note: The inverse Laplace transform operation involving
rational functions can be carried out using Laplace transform
t a b l e a n d p a r t i a l - f r a c t i o n e x p a n s i o n .
30. Partial-Fraction Expansion method for finding
Inverse Laplace Transform
1
0 1 1
1
1 1
( )
( ) ( )
( )
m m
m m
n n
n n
b s b s b s bN s
F s m n
D s s a s a s a
If F(s) is broken up into components
1 2( ) ( ) ( ) ( )nF s F s F s F s
If the inverse Laplace transforms of components are
readily available, then
1 1 1 1
1 2( ) ( ) ( ) ( )nF s F s F s F s
L L L L
1 2( ) ( ) ... ( )nf t f t f t
31. Poles and zeros
• Poles
– A complex number s0 is said to be a pole of a
complex variable function F(s) if F(s0)=∞.
Examples:
( 1)( 2)
( 3)( 4)
s s
s s
zeros: 1, -2poles: -3, -4;
2
1
2 2
s
s s
poles: -1+j, -1-j; zeros: -1
• Zeros
– A complex number s0 is said to be a zero of a complex
variable function F(s) if F(s0)=0.
32. Case 1: F(s) has simple real poles
1
0 1 1
1
1 1
( )
( )
( )
m m
m m
n n
n n
b s b s b s bN s
F s
D s s a s a s a
where ( 1,2, , ) are eigenvalues of ( ) 0, and
( )
( )
( )
i
i
i i
s p
p i n D s
N s
c s p
D s
( )f t 1 2
1 2 ... np tp t p t
nc e c e c e
Parameters pk give shape and numbers ck give magnitudes.
1 2
1 2
n
n
cc c
s p s p s p
Partial-Fraction Expansion
Inverse LT
33. 2 31 1 1
( )
6 15 10
t t t
f t e e e
1 1 1 1 1 1
( )
6 1 15 2 10 3
F s
s s s
1
( )
( 1)( 2)( 3)
F s
s s s
Example 1
31 2
1 2 3
cc c
s s s
2
2 ( 2
1 1
( 1)( 2)( 3) 5
)
1
s
c
s s s
s
3
3
1 1
( 1)( 2) 0
3)
( )
(
3 1
s
c
s s
s
s
1
1
1 1
( 1)( 2)
1)
( 3) 6
(
s
c
s s
s
s
Partial-Fraction Expansion
34. Case 2: F(s) has simple complex-conjugate poles
Example 2
2 2
cos 3 si( ) n
tt
e ety t t
2
5
( )
4 5
s
Y s
s s 2
5
( 2) 1
s
s
2
2 3
( 2) 1
s
s
2 2
2
( 2) 1
3
( 2) 1
s
s
s
Laplace transform
Partial-Fraction Expansion
Inverse Laplace transform
Applying initial conditions
35. 1
1
11 1
( ) ( )
n l l l
n l i i
l l
i
c b bc b
s p s p s p s p s p
Case 3: F(s) has multiple-order poles
1 2
( ) ( )
( )
( ) ( )( ) ) )( (
l
in r
N s N s
F s
D s s s sp pp p s
1
1( ) ( ,) ( ) ( ), ,
l l
i i
s p
s pi
l l
d
s p s p
d
F s
s
b F s b
1
1
1
( ) ( )
,
( ) (
1 1
( ) ( )
! ( 1)! )
i
m l
l l
i i
s p s
l m
p
N s N s
b b
D s D
d d
s p s p
m d ds ss l
1
The coefficients , , of simple poles can be calculated as Case 1;n l
c c
The coefficients corresponding to the multi-order poles are determined as
Simple poles Multi-order poles
36. Example 3
3
1
( )
( 1)
Y s
s s
31 2 1
3 2
( )
( 1) ( 1) 1
bc b b
Y s
s s s s
Laplace transform:
3 2 2
( ) (0) ( 3 ( ) 3 (0) 3 (0
3 ( )
)
3
0
1
) (0
0
)
( ) ( )
s Y s s y sy
sY s y Y s
sy Y s sy y
s
Applying initial conditions:
Partial-Fraction Expansion
s= -1 is a 3-order
pole
37. 1 3
0
1
1
( 1)
s
c s
s s
3 2
2 13 1
1
1 1
[ ( 1) ] [ ( )] ( ) 1
( 1)
s s
s
d d
b s s
ds s s ds s
3
3 13
1
[ ( 1) ] 1
( 1)
sb s
s s
3
1
1
1
(2 ) 1
2! s
b s
Determining coefficients:
3 2
1 1 1 1
( )
( 1) ( 1) 1
Y s
s s s s
Inverse Laplace transform:
21
( ) 1
2
t t t
y t t e te e
38. Find the transfer function of the RLC
1) Writing the differential equation of the system according to physical
law:
R L
C
u(t) uc(t)i(t)Input Output
2) Assuming all initial conditions are zero and applying Laplace
transform
3) Calculating the transfer function as( )G s
2
( ) 1
( )
( ) 1
cU s
G s
U s LCs RCs
( ) ( ) ( ) ( )C C CLCu t RCu t u t u t
2
( ) ( ) ( ) ( )c c cLCs U s RCsU s U s U s
Solution:
39. Properties of transfer function
• The transfer function is defined only for a
linear time-invariant system, not for nonlinear
system.
• All initial conditions of the system are set to
zero.
• The transfer function is independent of the
input of the system.
• The transfer function G(s) is the Laplace
transform of the unit impulse response g(t).
40. Review questions
• What is the definition of “transfer function”?
• When defining the transfer function, what
happens to initial conditions of the system?
• Does a nonlinear system have a transfer
function?
• How does a transfer function of a LTI system
relate to its impulse response?
• Define the characteristic equation of a linear
system in terms of the transfer function.