Mathematical Modelling: Dr. Siva Rama Krishna Vanjari

Mathematical Modelling
Dr. Siva Rama Krishna Vanjari
September 28, 2020
Dr. Siva Rama Krishna Vanjari Mathematical Modelling September 28, 2020 1 / 18
Objectives of this topic
Modeling - Motivation/Types
Key aspects of modeling
Modeiing of Electrical Systems
Modeling of Mechanical Systems
Inter-relation between the models
Modeling-Motivation
Elemental Mathematical abstraction of physical

phenomenon/system
Trade offs - Accurate, time consuming, non intuitive Vs Relatively
accurate, simple, intuitive
Analysis of input - output relationships
Dynamics of the systems
Evolution of system variables as a function of time
Transient Response
Steady State Response
Frequency Response
Mathematical Modeling-Types
Differential equation model

captures the dynamics of the system in terms of differential
equation
Referred to as Time domain representation
Getting an explicit relationship between input and output is a
difficult task
Time consuming
Accurate
d2 c(t) dc(t) d2 r(t) dr(t)
a2 2
+ a 1 + a0 c(t) = b2 2
+ a1 + b0 c(t)
dt dt dt dt
c(t)
Is it possible to find g(t) = r(t) ?
Transfer function models
Laplace transform representation of differential equation
There is a direct relationship between the input and output
Transfer function is the ratio of output to the input
The behavior of the system as a function of frequency can analyzed
easily
Laplace transform of previous equation with no initial conditions
(a2 s2 + a1 s + a0 )C(s) = (b2 s2 + b1 s + b0 )R(s)
Transfer function G(s)
C(s) (b2 s2 + b1 s + b0 )
G(s) = =
R(s) (a2 s2 + a1 s + a0 )
State Space Representation

Unified method for modeling, analyzing and designing a wide range
of systems
Converts an nth order differential equation into ’n’ first order
differential equations
Can be used to represent, Non-linear systems, time varying
systems, MIMO systems
Non Intuitive - Time consuming
Time consuming
Accurate
State Space equations
ẋ = Ax + Bu
y = Cx + Du
State Space Nomenclature
x - State vector
ẋ - Derivative of the state vector with respect to time
y - Output vector
u - Input vector
A - System matrix
B - Input matrix
C - Output matrix
D - Feedforward matrix
State Space Definitions
State vector - A vector whose elements are state variables

State Space -The n-dimensional space whose axes are the state
variables
State Equations - A simultaneous set of n first order differential
equations with ’n’ state variables
Output Equation - The algebraic equation the expresses the
output variables of the system as a linear combination of the state
variables and the inputs.
Example
R i(t) L
+ v(t) C
−
Consider a simple RLC circuit

The loop equation can be written as
Z
di(t) 1
Ri(t) + L + i(t)dt = v(t)
dt C
Expressing as purely differential equation
dq (t) dq(t) q(t)
L 2
+ R + = v(t)
dt dt C
Step -1: Identify the number of state variables

For a second order system, there should be two state variables
Step -2: Identify the state variables
dq
= i
dt
di q R 1
= − − i + v(t)
dt LC L L
q, i becomes the state variables as their derivative can be
expressed as sum of state variables and input
The above two equations are state equations
Step -3: Represent all the network variables in terms of state

variables
vR = 0.q Ri + 0.v(t)
q
vL (t) = − − Ri + v(t)
C
q
vC (t) = − − 0i + 0.v(t)
C
The above equations are output equations
They are linear combination of state variables and the input
Step -4: Represent the state equations in matrix form

State Variables x
q
x =
i
Derivative State Variables ẋ
 dq 
dt
ẋ =  
di
dt
System Matrix A  
0 L
A =  
1 1
− LC L

Input Matrix B
0
B = 1
L
Output matrix for one output vL (t)
C = − C1

−R
Feedforward Matrix D 1

D = L
Input Matrix u
u = v(t)

 
0 L
ẋ =   x + 01 u
1 1 L
− LC L
− C1 −R x + − L1 u

y =
Steps involved in mathematical modeling
Purpose of the model : Model should be based on the intended

objective
Define Boundaries of the system
Limits of system
Categorize into subsystem
Limits of each subsystem
Postulate a structure
Identification of basic elements
Modeling of basic elements
Interconnection of elements to form the system
Select variables of interest
Mathematical Descripton of elements in terms of variables
Apply relevant physical laws
Final model and validation
Modeling of Electrical Systems
Voltage Sourced Systems Current Sourced Systems

Basic System Elements Basic System Elements
Resistor (R) Resistor (R)
Inductor (L) Inductor (L)
Capacitor C Capacitor C
Basic System Elements Basic System Elements
Voltage (V) Current (I)
Charge (Q) Flux (φ)
Modeling Electrical Systems- Contd
N ode1
i
R L C
iC
iR iL
Writing KCL at Node 1

i = iR + iL + iC
Z
v 1 dv
i = + vdt + C
R L dt
dφ
Substituting v = dt
d2 φ 1 dφ φ
i = C 2
+ +
dt R dt L
Modeling Electrical Systems- Contd
R L
+ vR − + vL −
+
+ v(t) vC C
−
−
Writing KVL at Node 1

v = vR + vL + vC
Z
di 1
v = Ri + L + idt
dt C
dq
Substituting i = dt
d2 q dq q
i = L 2
+ R +
dt dt C

Mathematical Modelling: Dr. Siva Rama Krishna Vanjari

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Mathematical Modelling

Dr. Siva Rama Krishna Vanjari

September 28, 2020

Elemental Mathematical abstraction of physical

Differential equation model

(a2 s2 + a1 s + a0 )C(s) = (b2 s2 + b1 s + b0 )R(s)

Transfer function G(s)

State Space Representation

State vector - A vector whose elements are state variables

Consider a simple RLC circuit

Step -1: Identify the number of state variables

Step -3: Represent all the network variables in terms of state

Step -4: Represent the state equations in matrix form

Step -4: Represent the state equations in matrix form

Output matrix for one output vL (t)

Feedforward Matrix D 1

Step -4: Represent the state equations in matrix form

Purpose of the model : Model should be based on the intended

Voltage Sourced Systems Current Sourced Systems

Writing KCL at Node 1

Writing KVL at Node 1

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