ITU

System Modeling and

Simulation
KON 214E

Prof. Dr. Hakan Temeltaş

temeltash@itu.edu.tr

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Course Outline
# Topic
1 Introduction and Laplace Transforms
2 Mathematical Models
3 Mechanical Systems
4 Electrical Systems
5 Electromechanical Systems
6 Fluid Systems
7 Thermal Systems
8 Input-Output Equations: Analytical Solutions
9 Input-Output Equations: Numerical Solutions
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Evaluation Criteria
Method Quantity Percentage(%)
Midterm Exam 2 2x20
Homework 4 10
Certificate 2 10
Pre-Test 1 0
Post-Test 1 5
Final Exam 1 35

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VF Condition
Students who satisfy the following conditions
will be eligible to take the final exam;
• At least 30/100 pts from in-term activities and
• At least three homework report submission

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Text Books (1)

(1)
System Dynamics, K. Ogata, Pearson, 2014
(Fourth Edition)

(2)
Dynamic Modeling and Control of
Engineering Systems, B. T. Kulakowski, J. F.
Gardner, J. L. Shearer, Cambridge University
Press, 2007 (Third Edition)

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Text Books (2)

(3)
Modeling and Simulation of Dynamic
Systems, R. L. Woods, K. L. Lawrence,
Prentice Hall, 1997

(4)
Control Systems Engineering, N. S. Nise,
Wiley, 2019 (Eight Edition)

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Course Requirements
• Certified programs to learn MATLAB/SIMULINK
– MATLAB Onramp
• https://www.mathworks.com/learn/tutorials/matlab-
onramp.html
– SIMULINK Onramp
• https://www.mathworks.com/learn/tutorials/simulink-
onramp.html
MATLAB and Simulink software with ITU Campus Licence to be used in
the course must be known at a basic level. For this, the completely free
MATLAB Onramp and SIMULINK Onramp courses must be completed
and the success status must be shown with a certificate.
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Chapter 1:
Introduction and Laplace
Transforms
System Modeling and Simulation
(KON 214E)

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Introduction

In this section, basic terms and classifications

related to system dynamics will be included.

System: It is the name given to the combination

of components (variables) that interact together
to achieve a purpose.

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Introduction
All systems interact with the environment they are
in through variables. These variables are divided
into 2 groups:

1) Input Variables: These variables occur outside

the system and are not directly related to the
system.

2) Output Variables: They are the variables

produced by the system during the interaction
of the system with the environment.
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Introduction
If the current outputs in a system are dependent
on the inputs in the previous moments, this
system is called a DYNAMIC SYSTEM.

If the system outputs are dependent only on the

current inputs, this system is called STATIC
SYSTEM.
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Introduction

Mathematical Model :
Mathematical representation of system dynamic
characteristics. Mathematical models of many
physical systems are expressed in Differential
Equations.

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Introduction
System Mathematical Models Classification:

System Model Type Model Equation Type

Linear Linear Differential Equations
Non-linear Non- Linear Differential Equations .
Distributed Partial Differential Equations
Lumped Ordinary Differential Equations .
Time Invariant Constant Coefficient Diff. Eqn.
Time Variable Variable Coefficient Diff. Eqn. .
Continuous Differential equations
Discrete Difference Equations

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Intro – Mathematical Modeling Steps

1) First, the schematic diagram of the system is
drawn and the variables are determined.

2) Using the laws of physics, an equation is written

for each component, and these equations are
combined to obtain a mathematical model.

3) To determine the accuracy of the mathematical

model, these equations are solved and compared
with the experimentally obtained results.
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Laplace Transform

Pierre-Simon Laplace

23 March 1749 – 5 March 1827

French mathematician and

astronomer

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Laplace Transform
Komplex number: 𝑍 = 𝑥 + 𝑗𝑦 𝑗 = −1
real part imaginery part
y
Angle: Z =  = tan
−1
Amplitude: 𝑍 = 𝑥2 + 𝑦2 x

rectangular (cartesian) form Z = x + jy

polar form Z = Z 

x = Z cos  y = Z sin 

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Laplace Transform
Complex conjugate: Z = x + jy → Z = x − jy

Z = x + jy = Z  ( ) = Z  ( cos  + j sin  )
Z = x − jy = Z  ( − ) = Z  ( cos  − j sin  )

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Laplace Transform
j
Euler Theorem: cos + j sin  = e  j Z = Z  e
− j 
cos − j sin  = e  Z = Z  e − j
Complex Variable: If the real and/or imaginary parts of a
complex number are variable, it is called COMPLEX
VARIABLE.
s =  + j

Complex Function: Functions whose arguments are

complex variables are called COMPLEX FUNCTIONS.

F ( s ) = FX + jFY

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Laplace Transform
A typical complex function:

K ( s + z1 )( s + z2 )...( s + zm )
F (s) =
( s + p1 )( s + p2 )...( s + pn )

Values which makes 𝐹 𝑠 zero are called ZERO.

Values which makes 𝐹 𝑠 ∞ are called POLE.

Zeros: 𝑠1 = −𝑧1 , 𝑠2 = −𝑧2 , … , 𝑠𝑚 = −𝑧𝑚

Poles: 𝑠1 = −𝑝1 , 𝑠2 = −𝑝2 , … , 𝑠𝑛 = −𝑝𝑛

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Laplace Transform
Differential equations can be transformed into algebraic
expressions owing to the Laplace transform. (pros)

ℒ 𝑓 𝑡 = 𝐹 𝑠 = න 𝑓(𝑡)𝑒 −𝑠𝑡 𝑑𝑡
0

𝑓 𝑡 ቚ = 0, 𝑡≤0
𝑡=0

𝑠: complex variable ℒ: Laplace transform

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Laplace Transform
Example: ℒ-transform of an exponential function

𝐴𝑒 −𝛼𝑡 𝑡≥0
𝑓 𝑡 =ቊ
0 𝑡<0

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Laplace Transform

 
L A  e − t =  A  e − t  e − s t  dt
0

− ( s + ) t A
= A  e  dt =
0
s +

• Example: ℒ-transform of a step function

A t  0 f(t)
f (t ) = 
0 t  0 A


A
L  f (t ) =  A  e −s t t
 dt =
0
s
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Properties of the Laplace Transform

1. Linearity:

L a  f1 (t ) + b  f 2 (t ) = a  F1 ( s ) + b  F2 ( s )

2. Integral Rule:

 t  F ( s )
L   f ( )  d  =
 0  s

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Properties of the Laplace Transform

3. Derivation Rule:
 d n f (t )  n n −1 
 d k
f (t ) 
L n 
= s  F (s) −  s n − k −1
 k 
 d t  k =0  d t 
t =0

 df (t ) 
Example: L   = s  F ( s ) − s 0
 f (0)
 dt 

4. Shifting in time domain:

L  f (t − a ) = e − as  F ( s )

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Properties of the Laplace Transform

5. Shifting in the s-plane:


L f (t )  e − at
 = F (s + a)
6. Initial value theorem:
+
f (0 ) = lim s  F ( s )
s →

7. Final value theorem:

lim f (t ) = lim s  F ( s)
t → s →0

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Properties of the Laplace Transform

8. Convolution Integral:
 t 
L  f1 (t )  f 2 (t ) = L   f1 (t −  )  f 2 ( )  d 
 =0 
= F1 ( s )  F2 ( s )

x(t) y(t)
g(t)

t
y (t ) =  g (t −  )  x( )  d y (t ) = x(t )  g (t )
 =0

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Inverse Laplace Transform (L-1)

Inverse Laplace Transform;
L

Time Frequency
domain domain
(t) (s)

L −1
c + j
1
−1
F ( s) = F ( s )  e st  ds
2    j c −j
f (t ) = L

c: constant and chosen larger than the real parts of

all singular points (poles) of F(s).
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Inverse Laplace Transform (L-1)

• Selection procedure of c constant:
– It is chosen larger than the real parts of all singular points
(poles) of F(s). jω
– Thus, the integration path
(trajectory) is chosen parallel
s-plane
to the jω axis.

σ
c

Singular
points

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Inverse Laplace Transform (L-1)

Solving inverse Laplace transform (L-1) problem using
partial fraction expansion:
A given expression F(s)
B( s ) K  ( s + z1 )  ( s + z2 ) ( s + zm )
F (s) = =
A( s ) ( s + p1 )  ( s + p2 ) ( s + pn )
an
can be converted into F ( s) = B( s) = a1 + a2 + +
A( s ) s + p1 s + p2 s + pn
 B( s) 
ak = ( s + pk )   k = 1, 2, ,n
 A( s )  s =− pk
and then the L-1-transform of each term can be calculated
to reach f(t) expression.
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Inverse Laplace Transform (L-1)

−1 
ak  − pk t
since L  =
 k a  e ,
 s + pk 
f (t ) = L −1  F ( s ) = a1  e − p1t + a2  e − p2 t + + an  e − pn t

is achieved.
s+3
Example: F (s) =  f (t ) = ?
( s + 1)  ( s + 2)
a1 a
F (s) = + 2  2 −1 
s +1 s + 2 f (t ) = L −1  F ( s ) = L −1  + 
 s +1 s + 2 
 s+3 
a1 = ( s + 1)   =2  2  −1  −1 
 ( s + 1)  ( s + 2)  s =−1 = L −1   + L  
 s + 1 s + 2
 s+3 
a2 = ( s + 2)   = −1 = 2  e −t − e −2t ; t0
 ( s + 1)  ( s + 2)  s =−2

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Inverse Laplace Transform (L-1)

Attention: How to find partial fraction expansion using
MATLAB!
B ( s ) num b1  s n + b2  s n−1 + + bn
= =
A( s ) den a1  s n + a2  s n−1 + + an

num = b1 b2 bn 
den =  a1 a2 an 
 r , p, k  = residue (num, den)
MATLAB command

B( s) r (1) r (2) r ( n)
= k (s) + + + +
A( s ) s − p (1) s − p (2) s − p ( n)

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Inverse Laplace Transform (L-1)

Example: Find the partial fraction expansion of the
following expression using MATLAB.
num = [1 8 16 9 6];
B( s ) s 4 + 8  s 3 + 16  s 2 + 9  s + 6
den = [1 6 11 6]; =
[r,p,k] = residue(num,den) A( s ) s 3 + 6  s 2 + 11  s + 6
r =
-6.0000
-4.0000
3.0000 B( s) −6 −4 3
= s+2+ + +
A( s ) s + 3 s + 2 s +1
p =
-3.0000
-2.0000
-1.0000

k =
1 2
MATLAB commands and outputs
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Solution of Differential Equations

(Linear Time Invariant)
The following 2 steps are executed to solve a
differential equation with L-transform:
1. An algebraic expression in terms of s-parameter is
obtained by taking the L-transform of each term in the
differential equation.
2. The necessary arrangements are done and time
domain solution (f(t)) is obtained by applying L-1
transformation.
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Solution of Differential Equations

(Linear Time Invariant)
• Example: Solve the differential equation given
below and find x(t).
x + 3  x + 2  x = 0 ; x(0) = a x(0) = b
L  x(t ) = X ( s )
L  x(t ) = s  X ( s ) − x(0) = s  X ( s ) − a
L  x(t ) = s 2  X ( s ) − s  x(0) − s 0  x(0) = s 2  X ( s ) − s  a − b

L  x + 3  x + 2 x = L  x + 3  L  x + 2  L  x = L 0

 s 2  X (s) − s  a − b  + 3   s  X (s) − a  + 2  X (s) = 0

 
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Solution of Differential Equations

(Linear Time Invariant)
 s 2  X (s) − s  a − b  + 3   s  X (s) − a  + 2  X (s) = 0
 

X ( s )   s 2 + 3  s + 2  = a  s + b + 3  a
a  s + b + 3 a 2  a + b a + b
X (s) = = −
s + 3 s + 2
2
s +1 s+2

2a + b a + b
x(t ) = L −1  X ( s ) = L −1  − 
 s + 1 s + 2 
Solution of 2a + b −1  a + b 
= L −1   − L  
the diferential  s +1  s+2
equation
x(t ) = ( 2  a + b )  e −t − ( a + b )  e −2t ; t0

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Next class…

• Mathematical Models

have any questions or concerns!

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