MEE41103 Automatic Control

Lecture 02: Mathematical Models of Systems

Dr. Amin A. M. Fadlalla

University of Khartoum
amin.amf@hotmail.com
First Semester 2021-2022

October 4, 2022

Dr. Amin A. M. Fadlalla (UofK) MEE41103, Lecture02: Mathematical Models October 4, 2022 1/2
 AUTOMATIC CONTROL
CHAPTER 2
Mathematical Models of Systems

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 CHAPTER OUTLINES
 Background
 Differential Equations of Physical Systems
 The Transfer Function of Linear Systems
 Block Diagram Models
 Signal-Flow Graph Models

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 Background
• Mathematical models of physical systems are key elements in the
design and analysis of control systems.
• To understand and control complex systems, one must obtain
quantitative mathematical models of these systems, and analyze the
relationships between the system variables.
• The systems under consideration are dynamic in nature. Their dynamic
behavior is generally described by ordinary differential equations.
• If these equations can be linearized, then the Laplace transform can be
used to simplify the method of solution.
• In practice, the complexity of systems and our ignorance of all the
relevant factors necessitate the introduction of assumptions concerning
the system operation.

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Background-Dynamic System Modeling
The approach to dynamic system modeling can be
summarized :
1) Define the system and its components.
2) Formulate the mathematical model and fundamental
necessary assumptions based on basic principles.
3) Obtain the differential equations representing the
mathematical model.
4) Solve the equations for the desired output variables.
5) Examine the solutions and the assumptions.
6) If necessary, reanalyze or redesign the system.

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The Design Process

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 Definition- Differential Equations
• What is an Differential Equation?
– An equation that consists of derivatives is called a
differential equation.
• Differential equations are of two types
– Ordinary differential equation (ODE)
– Partial differential equations (PDE).
• An ordinary differential equation is that in
which all the derivatives are with respect to a
single independent variable such as:
d2y dy d3y d2y dy
2  y 0  3  5  y  sin x,
dx 2
dx dx 3 dx 2 dx
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 Differential Equations Of Physical
Systems
• Mathematical models for many systems can
be derived from first principles/laws:
– Using Newton’s Laws of motion for mechanical
systems and
– Kirchoff’s voltage and current laws for electrical
systems (KCL and KVL)
• Many physical systems are inherently
continuous-time, and thus their models would
involve systems of differential equations.
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 Differential Equations Of Physical
Systems- Torsional spring
• Suppose we want to measure the
torque transmitted to the mass (m).
• Since the spring is massless, the sum
of the torques acting on the spring
itself must be zero.
• the external torque applied at the
end of the spring is transmitted Ta( t ) - Ts ( t) 0

through the torsional spring we refer

Ta( t ) Ts ( t )
to the torque as a through-variable
• The angular rate difference is w( t ) ws ( t ) - wa( t)

measured across the torsional spring Ta( t ) = through - variable

element and is referred to as an angular rate difference = across-variable

across-variable. 8
 Variables of Dynamic Systems
• A summary of the through- and across-variables
of dynamic systems is given in Table 2.1

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Differential Equation for ideal
Elements (1)

d
w
dt

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Differential Equation for ideal
Elements (2)

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 Mathematical Models Example
• Mechanical systems
System shown in is described by
Newton’s second law of motion.

Force=M*accelatartion

Summing the forces acting on M and utilizing

Newton’s second law yields

where k is the spring constant of the ideal

spring and b is the friction constant.
Equation is a second-order linear constant-
coefficient differential equation
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 Chapter 2 Dynamic Models

A Simple System: Cruise Control Model

Write the equations of motion for the speed and forward
motion of the car shown below, assuming that the engine
imparts a force u, and results the car velocity v, as shown.
Using the Laplace transform, find the transfer function
between the input u and the output v.

u
(Force)

x (Position)
v (Velocity)

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 Chapter 2 Dynamic Models

A Simple System: Cruise Control Model

Applying the Newton’s Law for MATLAB (Matrix Laboratory) is
translational motion yields: the standard software used in
control engineering:
u - bv  ma
u - bx  mx
u - bv  mv
b u
v v 
m m

V (s  b m)  U m
V ( s) 1m

U ( s) s  b m
By the end of this course, you
are expected to be able to use
MATLAB for basic applications.
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 Chapter 2 Dynamic Models

A Simple System: Cruise Control Model

With the parameters: Response of the car velocity v
to a step-shaped force u:
m  1000 kg
b  50 Ns/m
u  500 N
In MATLAB windows:

V ( s) 1m

U ( s) s  b m
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Please read Chapter 2 Ref. 2 [ Nise N., Control Systems Engineering, Wiley and Sons]

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For Spring

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TRANSFER FUNCTIONS
Note that :
• Transfer function is a property of a
system and is independent of the input.
• Transfer functions of physically different
systems may be identical.
• If the transfer function of a system is
known its dynamic response to various , its
dynamic response to various
different inputs can be studied.
• Transfer function of a system can be
experimentally determined by applying
known inputs and examining the
resulting input-output relationships.
 The End

Dr. Amin A. M. Fadlalla (UofK) MEE41103, Lecture02: Mathematical Models October 4, 2022 2/2