System Modeling

Lecture-2

Emam Fathy
Department of Electrical and Control Engineering
email: emfmz@yahoo.com

1
 Types of Systems
• Static System: If a system does not change
with time, it is called a static system.
• Dynamic System: If a system changes with
time, it is called a dynamic system.

2
 Static Systems
A system is said to be static if its output y(t) depends only on the
input u(t) at the present time t.

• Following figure gives an

example of static systems, which
is a resistive circuit excited by an
input voltage u(t).

• Let the output be the voltage

across the resistance R3, and
according to the circuit
theory, we have
𝑅2 𝑅3
𝑦 𝑡 = 𝑢 𝑡
𝑅1 𝑅1 + 𝑅3 + 𝑅2 𝑅3
3
 Dynamic Systems
• A system is said to be dynamic if its current output may depend on
the past history as well as the present values of the input variables.
• Mathematically,

y(t )  [u( ),0    t ]

u : Input, t : Time
Example: A moving mass
y
u
M
Model: Force=Mass x Acceleration

𝑀 𝑦ሷ = 𝑢
 Dynamic Systems
examples: RC circuit, Bicycle, Car, Pendulum (in motion)

5
 Ways to Study a System

System

Experiment with actual Experiment with a

System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

6
 Model
• A model is a simplified representation or
abstraction of reality.
• Reality is generally too complex to copy
exactly.
• Much of the complexity is actually irrelevant
in problem solving.

7
 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Diagnostics
• Design/Performance Evaluation
• Control System Design
 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or
unknown.

Input Output

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 Grey Box Model
• When input and output and some information
about the internal dynamics of the system is
known.

u(t) y(t)
y[u(t), t]

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 White Box Model
• When input and output and internal dynamics
of the system is known.

dy(t ) du(t ) d 2 y(t )

u(t) 3  y(t)
dt dt dt 2

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 Transfer Function
• Transfer Function G(S) is the ratio of Laplace transform
of the output to the Laplace transform of the input.
Assuming all initial conditions are zero.

u(t) Plant y(t)

Y (S )
G( S ) 
U (S )

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Electrical Systems
 Example: RC Circuit
Find out the transfer function of the RC network shown in figure.
Assume that the capacitor is not initially charged.
𝑅

• u is the input voltage applied at t=0

+
𝑢 𝑖 𝐶 𝑦 • y is the capacitor voltage
_

1
𝑢 = 𝑅𝑖 + න 𝑖𝑑𝑡
𝐶

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 Example
Find the transfer function relating the capacitor
voltage, Vc(s), to the input voltage, V(s)
 Example

Differential equation
t


di (t ) 1
L  Ri (t )  i ( )d  v(t )
dt C
0
 Example
Redraw the circuit using Laplace transform.

 1 
V (s)   L * s  R   I (s)
 c*s 
1
VC ( s )  I ( s )
c*s
I ( s )  VC ( s ) * c * s
  1 
V ( s )   Ls  R   I (s) …….. (1)
 c*S 
1
VC ( s )  I ( s ) I ( s )  VC ( s ) * c * s …….. (2)
c*s
From (1) & (2)

 1 
V ( s )   Ls  R  VC ( s ) * c * s
 c*s 

VC ( s ) 1 1
 
V (s)  1  cLs 2  Rcs  1
c * s L * s  R  
 c * s 
1/ L * c

R 1
s2  s
L L*c
Electric Network Transfer Functions
We can also present our answer in block
diagram
Electric Network Transfer Functions
• Solution summary

laplace

Using mesh analysis

 HW
• Find the transfer function, I2(s)/V(s)

Output I2(s)
Input V(s)
Mechanical Systems
 Translational Mechanical System Transfer
Function
• We are going to model translational
mechanical system by a transfer function.
• In electrical we have three passive elements,
resistor, capacitor and inductor. In mechanical
we have spring, mass and viscous damper.
 Example
• Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are force applied by the spring and

inertial force respectively.
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 Example
fk
M fM
F

F  fk  fM
• Then the differential equation of the system is:

𝐹 = 𝑀𝑥ሷ + 𝑘𝑥
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get

F ( s )  Ms 2 X ( s )  kX ( s )
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 Example
F ( s )  Ms 2 X ( s )  kX ( s )
• The transfer function of the system is

X (s) 1

F(s) Ms 2  k

• if
M  1000kg
k  2000 Nm 1

X (s) 0.001
 2
F(s) s 2
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 Example-2
• Find the transfer function X2(s)/F(s) of the following system.

Free Body Diagram

f k1 f k f B f k1 fB
2

M2 M1
k2
F (t ) f M 2 f M1

F (t )  f k1  f k 2  f M 2  f B

0  f k1  f M 1  f B
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End Of Lec 2

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 Example-3
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
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 Example-3
Differential equation of the system is:

F  Mx  Cx  kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get

F ( s )  Ms 2 X ( s )  CsX ( s )  kX ( s )

X (s) 1

F(s) Ms 2  Cs  k

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 Example-3
X (s) 1

F(s) Ms 2  Cs  k

• if 2
Pole-Zero Map

1.5
M  1000kg 1

k  2000 Nm 1

Imaginary Axis
0.5

1
C  1000 N / ms
0

-0.5

-1

X (s) 0.001
-1.5

 2 -2
F(s) s  s  1000 -1 -0.5 0
Real Axis
0.5 1

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 Example
• Consider the following system

• Free Body Diagram (same as example-3)

fk fB
M
F fM X (s) 1

F(s) Ms 2  Bs  k
F  fk  fM  fB
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 Example
• Find the transfer function of the mechanical translational
system given in Figure-1.
Free Body Diagram
fk fB

Figure-1

f (t ) fM

X (s) 1
f (t )  f k  f M  f B 
F(s) Ms 2  Bs  k
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34
Example: Automobile Suspension

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Automobile Suspension

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 Automobile Suspension

mxo  b( xo  xi )  k ( xo  xi )  0 (eq .1)

mxo  bxo  kxo  bxi  kxi (eq. 2)

Taking Laplace Transform of the equation (2)

ms 2 X o ( s )  bsX o ( s )  kX o ( s )  bsX i ( s )  kX i ( s )

X o (s) bs  k

X i ( s ) ms 2  bs  k
37
 Example: Train Suspension

Car Body
Bogie-2
Bogie-1
Secondary

Suspension
Bogie

Frame
Primary
Wheelsets
Suspension

38
Example: Train Suspension

39
40
 Translational Mechanical System Transfer
Function
Example:

Find the transfer function, X(s)/F(s), for the system in Figure (a).
 Translational Mechanical System
Transfer Function

• Draw the free body diagram

• Place on the mass all forces felt by the mass.
• Assume the mass is travelling toward the right.
• Use Laplace transform.
 Translational Mechanical System
Transfer Function

• How do we get the equation?

• Answer:
– [sum of impedances]X(s) = [sum of applied forces]
– Movement to the left is positive
 Translational Mechanical System
Transfer Function

• The equation in Laplace form is

( Ms  f v s  K ) X ( s)  F ( s)
2
 Translational Mechanical System
Transfer Function

Solving for the transfer function

X ( s) 1
G( s)  
F ( s) Ms 2  f v s  K