CHAPTER TWO: MATHEMATICAL MODELING

OF DYNAMIC SYSTEMS
 A mathematical model of a
dynamic system is defined as
a set of equations that
represents the dynamics of
the system accurately, or at
MATHEMATICAL least fairly well. Note that a
MODELING OF mathematical model is not
A SYSTEM unique to a given system. A
system may be represented in
many different ways and,
therefore, may have many
mathematical models,
depending on one’s
perspective.
M AT H E M AT I C A L
MODELING OF A
SYSTEM
The dynamics of many systems, whether they are
mechanical, electrical, thermal, economic,
biological, and so on, may be described in terms
of differential equations. Such differential
equations may be obtained by using physical laws
governing a particular system—for example,
Newton’s laws for mechanical systems and
Kirchhoff’s laws for electrical systems. We must
always keep in mind that deriving reasonable
mathematical models is the most important part of
the entire analysis of control systems.
T H E A P P ROAC H T O DY N A M I C S Y S T E M
MODELING

Define the system and its components.

Formulate the mathematical model and fundamental necessary assumptions based on basic principles.

Obtain the differential equations representing the mathematical model.

Solve the equations for the desired output variables.

Examine the solutions and the assumptions.

If necessary, reanalyze or redesign the system.

TYPES OF MODELING

Transfer Function (TF)

State Space Presentation (SPP)

TRANSFER FUNCTION
TRANSFER FUNCTION

The transfer function of a linear, time-invariant, differential equation system is

defined as the ratio of the Laplace transform of the output (response function) to the
Laplace transform of the input (driving function) under the assumption that all initial
conditions are zero.

Consider the linear time-invariant system defined by the following differential equation:
TRANSFER FUNCTION

By using the concept of transfer function, it is possible to represent system

dynamics by algebraic equations in s. If the highest power of s in the
denominator of the transfer function is equal to n, the system is called an nth-
order system.
LAPLACE
TRANSFORM
TA B L E
L A P L AC E T R A N S F O R M TA B L E O F
D I F F E R E N T I A L E Q UAT I O N S
LAPLACE TRANSFORM OF DIFFERENTIAL
E Q UAT I O N S
𝑑𝑥
•𝐿 = 𝑆𝑋 𝑠
𝑑𝑡

𝑑𝑥 2
•𝐿 = 𝑆 2 𝑋 𝑠 − 𝑆𝑥 0
𝑑𝑡 2

𝑑𝑥 3
•𝐿 = 𝑆 3 𝑋 𝑠 − 𝑆 2 𝑥 0 − 𝑆𝑥 . 0 + 𝑥 ..
𝑑𝑡 3
4
•𝐿 𝑥 (𝑡) = 𝑆 4 𝑋 𝑠 − 𝑆 3 𝑥 0 − 𝑆 2 𝑥 . 0 − 𝑆𝑥 .. 0 −𝑥 (3)

•𝐿 𝑥 5 (𝑡) = 𝑆 5 𝑋 𝑠 − 𝑆 4 𝑥 0 − 𝑆 3 𝑥 . 0 − 𝑆 2 𝑥 .. 0 − S𝑥 (3) − 𝑥 (4)

FIND THE TRANSFER FUNCTION OF
T H E S E D I F F E R E N T I A L E Q U AT I O N S

𝑑2 𝑦 𝑑𝑦 𝑑𝑥
• + 11 + 24𝑦 𝑡 = 5 + 3𝑥 𝑡
𝑑𝑡 2 𝑑𝑡 𝑑𝑡

𝑑3 𝑦 𝑑2 𝑦 𝑑𝑦 𝑑2 𝑥 𝑑𝑥
• + 6 2+ 11 + 6𝑦 𝑡 = 3 2 + 7 + 5𝑥 𝑡
𝑑𝑡 3 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑4 𝑦 𝑑𝑦 𝑑𝑥
• +4 = 3 + 2𝑥 𝑡
𝑑𝑡 4 𝑑𝑡 𝑑𝑡

𝑑2 𝑦 𝑑𝑥
• −𝑦 𝑡 = −𝑥 𝑡
𝑑𝑡 2 𝑑𝑡
OPEN LOOP TRANSFER FUNCTION

The ratio of the feedback signal B(s) to the

actuating error signal E(s) is called the open-
loop transfer function.
CLOSED LOOP TRANSFER FUNCTION
TRANSFER
FUNCTION OF
MECHANICAL
SYSTEMS
T R A N S L AT I O N A L S Y S T E M S
 DERIVE THE
TRANSFER
FUNCTION
OF THE
FOLLOWING
MECHANICAL
SYSTEM
 FIND THE
TRANSFER
FUNCTION
OF THE
FOLLOWING
SYSTEM
FIND THE TRANSFER FUNCTION
OF THE FOLLOWING SYSTEM
 FIND THE TRANSFER FUNCTION OF
THE MECHANICAL SYSTEM.

θ(𝑠) 1
𝑇. 𝐹 = = 2
𝑎 (𝑠) 𝐽𝑆 + 𝐵𝑆 + 𝐾
 FIND THE TRANSFER FUNCTION OF
THE MECHANICAL SYSTEM.

θ1(𝑠)
𝑇. 𝐹 =
𝑎 (𝑠)
𝐾2
=
𝐽1 𝑆 2 + 𝐵1 𝑆 + 𝐾1 + 𝐾2 𝐽1 𝑆 2 + 𝐵1 𝑆 + 𝐾1 + 𝐾2 − 𝐾22
FIND THE TRANSFER FUNCTION OF
THE MECHANICAL SYSTEM.

θ1(𝑠) 𝑆+9
𝑇. 𝐹 = =
𝑇(𝑠) 15𝑆 4 + 35𝑆 3 + 35𝑆 2 + 99𝑆 + 27
TRANSFER FUNCTION OF
ELECTRICAL SYSTEMS
 FIND THE
TRANSFER
FUNCTION
OF THE
FOLLOWING
SYSTEM

𝐸𝑜 (𝑠) 1
𝐺 𝑠 = =
𝐸𝑖 (𝑠) 𝑅𝐶𝑆 + 1
FIND THE TRANSFER FUNCTION
OF THE FOLLOWING ELECTRICAL
CIRCUIT