INC 693, 481 Dynamics System and Modelling:

Linear Graph Modeling II

Dr.-Ing. Sudchai Boonto

Assistant Professor

Department of Control System and Instrumentation Engineering

King Mongkut’s Unniversity of Technology Thonburi Thailand
State-Space System Representation
The modeling system is written in the form:

ẋ = Ax + Bu (1)
y = Cx + Du (2)

The matrices A ∈ Rn×n and B ∈ Rn×nu are properties of the system.

The output equation matrices C ∈ Rny ×n and D ∈ Rny ×nu are
determined by the particular choice of output variables.
ˆ System order n and selection of a set of state variables from the
linear graph.
ˆ Generation of a set of state equations and the system A and B
matrices.
ˆ Determination of a suitable set of output equation and derivation
of the appropriate C and D.
INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 2/28 I }
Simple RLC example

R R

+ C
Vs (t) − C L Vs (t) L

ˆ There are 6 possible variables : ic , vc , iL , vL , iR , vR and is

ˆ There are 3 constitute relations:

dvC i iL 1 1
= iC , = vL , iR = vR
dt C dt L R
Using a continuity equation and two compatibility equations

iC = iR − iL , v L = vC , vR = Vs − vC

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 3/28 I }
Simple RLC example
We have
dvC 1 1 1
=− v C + iL + Vs
dt RC C RC
diL 1
= vC
dt [L ] [ ]
−1/RC −1/C 1/RC
A= , B=
1/L 0 0

If the variables iR , vR , vL and iC are of interest as output variables:

1 1
iR = − vC + Vs , vR = −vC + Vs
R R
1 1
vL = vC , iC = − vC − iL + Vs
R R

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 4/28 I }
Simple RLC example
So if the output vector is defined to be
[ ]T
y = iR vR vL iC

The C and D matrices are

  
−1/R 0 1/R
 −1 0  1 
C=  1
, D= 
0  0 
−1/R −1 1/R

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 5/28 I }
Linear Graph
cutset

C2
f

2
L R1 1 3
2 b d
1 3
c e
+
Vs (t) − C1 R2 a

cutset is a set of branches in a graph, which when cut off, will divide
the graph into two disconnected pieces.

f f f

2 2 2
1 3 1 3 1 3
b d b d b d

c c c e
e e
a a a

0 0 0

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 6/28 I }
Linear Graph
basic cutset

f f f

2 2 2
1 3 1 3 1 3
b d b d b d

c c e c e
e
a a a

0 0 0

Figure: three possible basic cutsets

ˆ basic cutset is the cutset that contains only one tree branch and
several co-tree links.
ˆ the continuity equations are corresponding to the basic cutsets are
independent.
INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 7/28 I }
Linear Graph
basic loopset

f f f

2 2 2
1 3 1 3 1 3
b d b d b d

c e c e c e
a a a

0 0 0

Figure: three possible basic loopsets

ˆ basic loopset is a loop that contains only one co-tree link and
several tree branches.
ˆ the compatibility equations are corresponding to the basic loopsets
are independent.
INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 8/28 I }
Linear Graph
Identify the particular tree

A normal tree for a connected system graph is formed by the following

steps:
1. Draw the system graph nodes.
2. The tree should include all effort sources as tree branches.
3. The tree should include a maximum number of capacitors elements.
4. The tree should include a maximum possible number of resistor
elements.
5. The tree may then include the necessary number of inductor
elements to complete the tree.

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 9/28 I }
Linear Graph
Derivation of differential equations

ˆ if the variable is a capacitor element voltage, identify the basic

cutset containing that capacitor element voltage. The differential
equation is given by the continuity equation for that basic cutset.
ˆ if the variable is an inductor element current, identify the basic
loop containing that inductor element current. The compatibility
equation for that basic loop will yield the desired differential
equation.
Or
ˆ Select the state variables as effort variables on capacitor energy
storage elements in the normal tree branches, and flow variables on
inductor energy storage elements in the links.

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 10/28 I }
Linear Graph
Example
C2
f

2
L R1 1 3
2 b d
1 3
c e
+
Vs (t) − C1 R2 a

f
The continuity equation
2
1 3
b d
ib − ic − id = 0
c e
dvC1 1
a
= (ib − id )
dt C1
0

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 11/28 I }
Linear Graph
Example

First ib = iL , which is a state variable. And id can be expressed as

follows:

id = vd /R1

The basic loop that involves R1 (loop cafd)

vd = vc − va + vf = vC1 − E + vC2

Then
dvC1 1 vd
= (iL − )
dt C1 R1
1 1 1 1
= iL − vC1 − vC 2 + E
C1 R1 C1 R1 C1 R 1 C1

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 12/28 I }
Linear Graph
Example

2
1
b d
3 The continuity equation gives
c e
a
if + id + ie = 0

0
which in turn gives,
dvC2 1
= (−id − ie )
dt C2
( ) [ ]
1 vd ve 1 vC 1 − E + vC 2 vC2 − E
= − − = − −
C2 R1 R2 C2 R1 R2
( ) ( )
1 1 1 1 1 1 1
=− vC − + vC2 + + E
R1 C2 1 C2 R1 R2 C2 R1 R2
INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 13/28 I }
Linear Graph
Example

2
1
b d
3 The compatibility equation gives
c
a
e vb + vc − va = 0

0
which in turn gives,
diL 1
= (−vc + va )
dt L
1 1
= − vC1 + E
L L

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 14/28 I }
Linear Graph
Mechanical System 1

k1 b1
1 2
3

k2
b2
m
Fs (t)

v
0

k1
b1 (a) linear graph

F (t) m k1 b1
b2
1 2
3
k2
k2
b2
m
Fs (t)

(b) normal tree

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 15/28 I }
Linear Graph
Mechanical System 1

the state variables are vm (capacitor element of the branch) and Fk1 (inductor element of
the link) and

dvm 1 dFk1
= Fm , = k1 vk1 , Fb2 = b2 vb2
dt m dt
1 1 dFk2
vb1 = Fb , vk2 =
b1 1 k2 dt

There are two compatibility equations:

vk1 = vk2 − vb1 , vb2 = vm

and three continuity equations:

Fk2 = Fs (t) − Fk1 , Fb1 = Fk1 , Fm = Fs (t) − Fb2

The result is
[ ] [ b2 ][ ] [1] [ ]
v̇m −m 0 vm 0
= k1 k2 + m Fs (t) + k1 Ḟs (t)
Ḟk1 0 − b (k Fk1 0 k1 +k2
1 1 +k2 )

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 16/28 I }
Linear Graph
Mechanical System 1

The result showing the dependence on the derivative of the input Fs (t). The output
equation for vb1 is:

1
vb1 = Fk
b1 1

or in matrix form
[ ][v ]
[ ]
1 m
vb1 = 0 b1 + 0 Fs (t)
Fk1

The state variables may be transformed as x̃˙ = Ax̃ + (AE + B)u or:
 
[ ] [ b2 ][ ] 1
x̃˙ 1 −m 0 x̃1 m
= k1 k2 + 2  Fs (t)
x̃˙ 2 0 −b x̃2 k1 k1
1 (k1 +k2 ) b1 (k1 +k2 )2

the corresponding output vb1 = C x̃ + (CE + D)u + F u̇

1 k1
vb1 = x̃2 + Fs (t)
b1 b1 (k1 + k2 )
INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 17/28 I }
Linear Graph
Mechanical System (In class work)

k2 b2
1 2
3
Fs (t) v2
b1 m2
m2 Fs (t)
m1 k1

0
b2
(c) linear graph
k2 v1
k2 b2
m1 1 2
3

b1 k1 b1 m2
Fs (t)
m1 k1

(d) normal tree

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 18/28 I }
Linear Graph
Mechanical System (In class work)

At a basic cutset 1:

im1 + ib1 + ik1 + ik2 = 0

cut set 2 dvm1 b1 1
cut set 1 k2 b2
=− vm1 − Fk
1 2
3
dt m1 m1 1
1
− Fk
b1 m2 m1 2
Fs (t)
m1 k1
At a basic cutset 2:
0
im2 − iFs − iFk2 = 0
dvm2 1 1
= Fk + Fs
dt m2 2 m2

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 19/28 I }
Linear Graph
Mechanical System (In class work)

At a basic loop set 1:

vk1 = vm1
dFk1
k2 b2 = k1 vm1
dt
1 2
3
At a basic loop set 2:
b m2
1 1 2
m1 k1
Fs (t) −vm1 + vk2 + vb2 + vm2 =0
1 dFk2 1
0 −vm1 + + Fb2 + vm2 =0
k2 dt b2
Fb2 = F k2
dFk2 k2
= − Fk2 − k2 vm2 + k2 vm1
dt b2

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 20/28 I }
Linear Graph
Mechanical System (In class work)

The state-space system is

   b1    
v̇m1 − m1 0 − m11 − m11 vm1 0
       
v̇m2   0 0 0 1    1 
   m2  vm2   m2 
 =   +   Fs
 Ḟk   k1 0 0 0   Fk   0 
 1   1  
Ḟk2 k2 −k2 0 − kb22 F k2 0

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 21/28 I }
Linear Graph
Mechanical System (In class work)
b
ω
1 1

τs (t) θ τs (t) τs (t)

k b J k b J
l m

mg 0 0

(a) Nonlinear
(b) Linear graph (c) Normal graph
pendulum

The state-space variables are τk , ωJ . By continuity equation, we have

ik + ib + iJ = is ⇒ τk + τb + τJ = T s
dωJ dωJ b 1 1
τk + bωb + J = Ts ⇒ = − ωJ − τk + Ts
dt dt J J J
Note: ωJ = ωb
INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 22/28 I }
Linear Graph
Mechanical System (In class work)

The compatibility equation in the basic loop containing τk we have

vk = vJ ⇒ ωk = ωJ

Since τk = mgl sin θ then

dτk dθk
= mgl cos θ = (mgl cos θ)ωJ
dt dt
The nonlinear state-space equation is
b 1 1
ω̇J = − ωJ − τk + Ts
J J J
τ̇k = (mgl cos θ)ωJ

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 23/28 I }
Linear Graph
Fluid System (In class work)
Qs (t)

l
r = r1 + kC h
1
2
h

r1 long pipe: l
C
R2
orifice orifice Qs (t) R1
R1 R2

(a) Fluid distribution (b) Linear graph

system
l

1
2

C
R2
Qs (t) R1

(c) Normal graph

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 24/28 I }
Linear Graph
Fluid System (In class work)
√
The fluid flow through an orifice is Q = C0 |∆P |sgn(∆P ). The tank is shaped as the
frustum of a cone, therefore has a volume which is a nonlinear functin of the height of the
fluid in the tank.
∫ ∫ ∫
h h h ( )
V = πr2 dh = π(r1 + kC h)2 dh = π r12 + 2r1 kC h + kC
2 2
h dh
0 0 0
∫ ( 3)
h ( ) 2 h
= 2 2
π r12 + 2r1 kC h + kC h dh = π r12 h + r1 kC h2 + kC
0 3

For an open tank the pressure at the base is PC = ρgh, then

2
πr12 πr1 kC 2 πkC
V = PC + P + P3
ρg (ρg)2 C 3(ρg)3 C
Kt1 2 Kt2 3
= Kt0 PC + P + P
2 C 3 C

where
2
πr12 2πr1 kC πkC
Kt0 = , Kt1 = , and
ρg (ρg)2 (ρg)3

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 25/28 I }
Linear Graph
Fluid System (In class work)

There are two state-space variables, Ql and Pc . The continuity equation around node 1 is

iQs − iR1 − iC − il = 0 ⇒ Qs − QR1 − QC − Ql = 0

Since PR1 = PC and

dV dPC [ ]
2 dPC
= QC = C = Kt0 + Kt1 PC + Kt2 PC
dt dt dt
√
QR1 = K1 |PR1 |sgn(PR1 ),
PR1 = PC
[ ]
dPC 1
= 2
QC
dt Kt0 + Kt1 PC + Kt2 PC
[ ]
1 [ √ ]
= 2
Qs − K1 |PC |sgn(PC ) − Ql
Kt0 + Kt1 PC + Kt2 PC

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 26/28 I }
Linear Graph
Fluid System (In class work)
dQl
The compatibility is Pl = PC − PR2 and Pl = Il then
dt
Il dQl 1
= PC − PR2 , PR2 = 2 QR2 |QR2 |, Q R2 = Q l
dt K2
[ ]
dQl 1 1
= PC − 2 Ql |Ql |
dt Il K2

The nonlinear state-space equation is

[ ]
dQl 1 1
= PC − 2 Ql |Ql |
dt Il K2
[ ][ ]
dPC 1 √
= Q s − K 1 |PC |sgn(PC ) − Q l
dt Kt0 + Kt1 PC + Kt2 PC2

INC 693, 481 Dynamics System and Modelling: , Linear Graph Modeling II J 27/28 I }
Reference

1. Wellstead, P. E. Introduction to Physical System Modelling,

Electronically published by:
www.control-systems-principles.co.uk, 2000
2. Banerjee, S., Dynamics for Engineers, John Wiley & Sons, Ltd.,
2005
3. Rojas, C. , Modeling of Dynamical Systems, Automatic Control,
School of Electrical Engineering, KTH Royal Institute of
Technology, Sweeden
4. Fabien, B., Analytical System Dynamics: Modeling and Simulation
Springer, 2009

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