MATHEMATICAL MODEL

TOPIC LEARNING OUTCOMES

At the end of this topic, the students will be able to:

1. Apply the transfer function modelling to electrical networks,

translational and rotational mechanical system and electromechanical
system (C3,LO1).
2. Analyze the stability, steady state errors and transient response of
controlled system using appropriate method (C4,LO1)
3. Demonstrates analysis and design of physical systems in various
transient and frequency response methods to the practical application
of the control systems engineering (A2,LO11)
4. Execute problem solving methods and verify the concept covered in
basic control system via hand calculation and simulation in computer-
aided software in group project (P4,LO5)

CONTENTS:
2.1 INTRODUCTION

A mathematical model of a dynamic system is defined as a set of equations

that represents the dynamics of the system. The equations represented in
many different ways. The dynamics of many systems, whether they are
mechanical, electrical, thermal, economic, biological, and so on, may be
described in terms of differential equations. Differential equations may be
obtained by using physical laws such as Newton’s laws for mechanical
systems and Kirchhoff’s laws for electrical systems. Basically mathematical
model shown current output of the system is depends on the past input and it
is not depend on the future input

2.2 MECHANICAL TRANSLATIONAL SYSTEM

Mechanical translation systems are classified into three parts, there are
mass, spring and damper. This topic is discussing single translation system
purposely to let easily teaching and learning process.

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2.2.1 MASS

Figure 2.1: One ton of mass

If a force is acting on rigid body through the canter of mass in a given

direction, the acceleration of the rigid body in the same direction is directly
proportional to the force acting on it and is inversely proportional to the mass
of the body.That is,
F, (force ) = ma (2.1)
= m d2 x
dt2
= M D2x
Where:
m is mass
a is acceleration

2.2.2 SPRING

Figure 2.2. Spring

A linear spring is a mechanical element that can be deformed by external

force that the deformation is directly proportional to the force applied to the
element.

The force that arises in the spring is proportional to x. That is,

F,(force) = kx (2.2)

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 Where:
x is the elongation of the spring and
k is the spring constant

2.2.3 DAMPER

Figure 2.3: Damper

A damper is an element that provides resistance in mechanical motion, and

effected on the dynamic behaviour of a mechanical system. Consequently, a
damper is often referred to as a mechanical resistance element and the
viscous friction coefficient as the mechanical resistance.That is,
F, (force) = cv (2.3)
= c dx
dt
= C Dx
Where:
c is proportionality constant
v is velocity

Example 2.1
Consider the simple mechanical translation system shown below figure. The
system is involving single solid mass, spring and viscous damping. Obtain
the mathematical model of the system.

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 Figure 2.4: Mechanical translations system with mass, spring and damper

Step 1
The free body diagram FBD of the system is shown in the figure below.

Figure 2.5.: Free body diagram

Step 2
Apply Newton’s second law of motion to a system in translation.

ƩF =ma
F – Fs – Fd = m a
Ft – kx – cv = m a

F – kx – c dx = m d2 x
dt dt2

F – kx – CDx = MD2 x
F = kx + c Dx + m D2 x
F = x (MD2 + CD + k )
x = 1 . (2.4)
F (MD2 + CD + k )

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Step 3
Draw block diagram as below represent above equation.

2.3 MECHANICAL ROTATIONAL SYSTEM

Mechanical rotation system is similar with mechanical translation system with
some differences in the elements equations. Table below show the elements
apply the mechanical translation and rotation system.

Table 2.1 Elements apply in mechanical translation and rotation system

2.3.1TORK

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 Figure 2.6.: Torsion spring

Consider the torsion spring where one end is fixed and a torque T is applied
to the other end. The angular displacement of the free end is Ө.

The torque T in the torsional spring is

T(tork) = kθ
(2.5)
where ,
θ is the angular displacement and
k is the spring constant

2.3.2 INERTIA

Figure 2.7: Moment of inersia

Moment of inertia or inertia may be defined as the change in force (torque)

required making a unit change in angular acceleration). That is,
2
dϖ d θ
T =Jα =J =J 2
=JD2 θ
dt dt
(2.6)
where
α is angular acceleration and
J is Inertia
ω is angular velocity
Ө is angular displacement

2.3.3 TORSIONAL DAMPER

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 Figure 2.8. Torsion damping

The damping torques T applied to the ends of the damper are of equal
magnitude, but opposite in direction. The angular velocities of the ends of the
damper are ω and angular displacement is Ө.

That is,
dθ
T =Bω=B =BDθ
dt (2.7)
where
ω is angular velocity
Ө is angular displacement

EXAMPLE 2.2
Consider the mechanical rotation system shown below figure. The system is
involving inertia J, spring and damping. Obtain the mathematical model of the
system.

Figure 2.9. Mechanical rotation system with inertia J, spring k and damper B

Step 1
The free body diagram FBD of the system below.
Step 2
Apply Newton’s second law of motion to a system in rotation.

ƩT = Jα

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 Ts=k ( θi −θo )
T d =BDθ
T s -T d =JD2 θ

Step 3
Draw block diagram as below represent above equation.

2.4 LIQUID LEVEL SYSTEM.

Liquid level system is involving fluid flow between tank and reservoir. The
fluid flow out through piping system, control valve, measurements meter and
others device. These systems are widely used in engineering system such
chemical industrials, pneumatic system, hydraulics, automation and aircraft
control system. Fluid flow are divide into two categories, there are laminar
flow and turbulent flow.

2.4.1 LIQUID LEVEL SYSTEM

Consider liquid level system showed in figure below. Variable elements in
this system are liquid level, h and liquid flow rate, q.

Figure 2.10. Liquid level system

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 Where,
C = A = tank or reservoir cross section.
qi = liquid flow in
qo = liquid flow out
R = liquid resistance
H = liquid level

The differences between liquid flow rate q i and qo will affects liquid volume in
the tank. The changes can be expressed such as;

dV
qi −q o =
dt
(2.8)
However, V = Ah,
d
qi −q o = ( Ah )
Therefore, dt
dh
qi −q o = A
dt

2.4.1.1 RESISTANCE LIQUID LEVEL SYSTEM

Consider liquid flow through a short pipe connecting between two tanks.
Resistance liquid level system R, is defined as the change in level difference
causes a unit change in flow rate.

change in liquid level h

R= =
change in flow rate qo
(2.9)

2.4.1.2 CAPACITANCE LIQUID LEVEL SYSTEM

Capacitance liquid level, C of tank is defined as change in liquid quantity or

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volume causes a unit change in liquid level.

change in liquid stored dV

C= =
change in liquid level dh (2.10)

But, V =Ah

Therefore, C = d ( A h)
d h.
= A.
EXAMPLE 2.3
Consider the liquid level system shown below figure. Obtain transfer function
for the system.

Figure 2.11. Liquid level system with tank

Step 1
Define mathematic equations for the system.
dV
qi −q o =
dt
But, V =Ah=Ch
dh
qi −q o =C =CDh
Therefore, dt
h
R=
qo

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Step 2
Construct block diagram and indentified input, q i and output, qo .

Step 3
Define and summarize equation.

1
h CD
=
qi C 1
1+
D R ( )
h R
=
qi RCD+1

2.5 THERMAL SYSTEM

Thermal resistance, R for heat transfer between two substances defined as

followed.

change in temperature differance dθ 1

R= = =
change in head flow rate dq K (2.11)

Thermal capacitance, C is defined as followed.

change in head stored

C= =mc
change in temperature (2.12)

Variables for thermal system normally are being controlled is temperature

and heat capacity. Assumption that no heat loss to surrounding and constant

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heat distribution in the oven by the fan.

Figure 2.12. Thermal system

Thermal resistance, Ho
1
H 0 = θ0
Heat conservation, Hi R
dθ
H i=C +H 0
dt
Example 2.4
The specific heat of water is 4.2 kJ/kg-°C. What is the thermal capacitance of
5 liters of water? If the water starts at θc=35°C, how hot will it be if it is heated
with a 1 kW heater for 1 minute.

Step 1
C=m·cp,
and 5 liters of water has a mass of 5 kg. 
So C = 5·(4.2·103) = 21 kJ/°C.

Step 2
Calculate the rate of increase of temperature

 then find the total increase:

 so the final temperature is

35 2.9=37.9 OC

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2.6 ELECTRICAL SYSTEM
The basic component in an electrical system is inductor, capacitor and
resistor. Power source of the system will be focussing on the fixed source
such as battery. Variables that will be analysed are voltage and current. The
relationship between voltage and current are as below;

Resistor : V =Ri
di
Inductor : V =L =LDi
dt
dV
Capacitor : C =i or CDV =i
dt

Where V = Voltage i = current

L = Inductance
C = Capacitance

(a) Resistor (b) Inductor (c) Capacitor

Figure 2.13. Electrical elements

The relationship between current, voltage, charge and impedance are given
in this table;

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 Table 2.2. Electrical elements.

The basic circuit theory that is frequently use are;

Components In Series

Figure 2.14. Two components arranged in series.

Figure 2.14 above shows two components arranged in series. The voltage
relationships are;
V =V 1+V 2 (2.13)

Components In Parallel

Figure 2.15. Two components arranged in parallel.

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Figure 2.15 shows two components arranged in parallel. The voltage
relationships are;
V 1=V 2 (2.14)

Kirchoff’s Current Law

Figure 2.16. Two components arranged in distributions.

Figure 2.16 above shows current distribution at a node. The current

relationships are;
i=i 1+ i2 (2.15)

Electrical Circuit

Mesh analysis is one of the most frequently used theory in developing

electric circuit modelling.Consider an electrical circuit below. Mesh analysis
formula for a typical 2 mesh system is given by;

Mesh 1 Mesh 2

I 1(s) I 2( s)

[ ∑ of impedance at mesh 1 ] ( I 1 ( s ) )−[ ∑ of impedance at 2 comon mesh ] ( I 2 ( s ) )=∑ of voltage at mesh1

−[ ∑ of impedance at 2 common mesh ] ( I 1 ( s) ) + [ ∑ of impedance at mesh 2 ] ( I 2 ( s) ) =∑ of voltage at m

Again consider an electrical circuit as below;

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Figure above shows an electrical circuit that consists of capacitor, inductor
and resistor arranged in series. The equations involved are;

V 0=V i−V L −V C
di
V L=L =LDi
dt
d VC i
C =i Thus V C =
dt CD
V 0=iR

All the above equations relates the voltage with current that passes through
capacitor, inductor and resistor. Rearranged all the equations above into a
block diagram as below;

Example 2.5
V2
Develop block diagram for ,
i

In this case,

i = input signal
V 2 = output signal

Step 1 and V 1=V 2

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List down all the equations involved;

i=i 1+ i2
dV 2
i 2=C =CD V 2
dt
Vi
i 1=
R
V 1=i 1 R

Step 2
Rearranged all the equations into a block diagram as below;

Example 2.6
Based on the circuit diagram below;
(a) List down all equations involved
(b) Draw the block diagram of the system
V0
(c) Find the transfer function, using block diagram reduction method
Vi

(a) The equations involved are;

V i=V n+V 0
i=i R 1+i C
dV
i C =C =CD V C =CD V n
dt

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V n=V R =V C
V R=i R R1

(b) The block diagram are;

(c) Using the block reduction method,

Cascade the blocks

Apply negative feedback loop

The transfer function is;

V0 R2 [ 1+CD R 1 ]
=
V i R1 + R2 [ 1+CD R1 ]
Example 2.7

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 V0
Find the transfer function G ( s )= of the electrical network shown in figure
Vi
below;

Step 1
Using electrical mesh analysis method
First, transform the circuit in figure above into impedance circuit as shown
below;

Step 2
Apply mesh analysis formula;
Sum of impedance around mesh 1 ¿ a+ b+c +d
1
¿ 1+ + s+1
S
1
¿ 2+ s+
S
Sum of impedance of 2 common mesh ¿ c +d
Sum of impedance around mesh 2 ¿ c +d +e +f
1
¿ s+1+ s+
S
1
¿ 2 s+ 1+
S

Sum of applied voltage around mesh 1 ¿ V i ( s )

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Sum of applied voltage around mesh 2 ¿ 0
Put into the formula for mesh analysis,
1
[ 2+ s + ]
I ( s )−[ s+1 ] I 2 ( s )=V i ( s )
s 1
1
[
−[ s +1 ] I 1 ( s ) + 2 s+1+ ]
I ( s )=0
S 2
1
We know that, V 0 ( s )= I 2 ( s )
S

Step 3
Apply Cramer’s Rule to solve equations

Therefore we need to solve the equation above for I 2 ( s ) . By using Cramer’s

Rule, to obtain;
1

I 2 ( s )=
|
2+ s+
s
−( s+ 1 ) 0 |
V i (s )

|
2+ s+
s
−( s +1 )

− ( s+ 1 ) 1+2 s+
1
s
|
1
I ( s )=
( 2+ s+ ) 0−[ V ( s ) (−( s+1 ) ) ]
s i

(2+s + 1s )(1+2 s+ 1s ) — [ −( s +1) (− ( s+ 1) )]

s2 V i (s)
I 2 ( s )= 3
s +2 s 2 +2 s+1 ¿
¿
1
But V 0 ( s )= I 2 ( s )
S
s2 V i ( s )
V 0 ( s )=
1
[
s s 3 +2 s 2+2 s+1 ]
The transfer function is;

V 0 (s ) s
= 3 2
V i (s ) s +2 s + 2 s+1

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2.7 ELECTRO-MECHANICAL SYSTEM
Electromechanical system consists of subsystem that generates force /
torque to move mass. The system may have DC Motor or AC Motor. But in
this course, our concern is only involving DC motor.

The sketch of a simplified DC motor (armature controlled) system as shown

below;

The DC Motor is connected to a mass and J is the mass moment of inertia of

the motor and mass. The armature will have resistance R and inductance L.
When the motor turns, it will produce back emf voltage to overcome the
voltage to the system. Thus emf voltage, e b is proportional to angular speed
of motor, ω.
e b=k e ω (2.16)

Where k e is the emf constant.

The rotation of the motor will then produce torque, τ that is link by;
τ =k t i
Where k t torsional stiffness and i is the current flows in the circuit.

Figure 2.16. DC Brush Motor

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Example 2.8

Consider an electromechanical system below that drives a mass, find the

transfer function of the system.

Step 1
List down all the equations involved;
V =V R +V L + eb
V R=iR
di
V L=L =LDi
dt
e b=k e ω
dω
τ −J =0
dt
τ =k t i
Step 2
Rearranged the equation into block diagram;

ω kt
The transfer function is G ( s )= =
V JD ( LD+ R )+ k t k e

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......................................................................

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