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Mathematical Models of Systems

Mathematical Model
 Use quantitative mathematical models of physical  The scalar version of Newton’s second law
systems to design and analyze control systems states that, if a force of magnitude f is applied
 A set of mathematical equations (e.g., differential to a mass M units, the acceleration a of the
equations) that describes the input-output behavior of mass is related to f by equation
a system
 Since most physical systems are non-linear f=Ma f = M (dv/dt)
 Linearization approximations allow us to use Laplace transform
methods
 Obtain the input–output relationship for components The velocity v = v(t) and force f = f(t) are dependent
and subsystems in the form of transfer functions variable, the time t is the independent variable.

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Mathematical Models of Systems

System Described by Equation
Ohm’s law states that, if a voltage of
magnitude v is applied across a resistor
of R units, the current i through the Electrical System Describing Equation
resistor is related to v by the equation Electrical Inductance

v=Ri v = R (dq/dt) Electrical Capacitance

The charge q = q(t) and the voltage v = v(t) are Electrical Resistance
dependent variable, the time t is the
independent variable.

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System Described by Equation

Mechanical System Describing Equation
System Described by Equation
Translational Spring

Mechanical System Describing Equation

Rotational Spring

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Modelling a simple Translational 9 10

System Example-2
 Example-1: Consider a simple horizontal spring-mass  Consider the following system (friction is
system on a frictionless surface, as shown in figure below. negligible)
k
x
F
M

• Free Body Diagram

fk
mx  kx M fM
or
F
mx  kx  0
• Where f k and f M are force applied by the
spring and inertial force respectively.

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Example-2 Example-3
fk  Consider the following system
M fM
F k
x
F  fk  fM F
M

• Then the differential equation of the system is:

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• Free Body
F  M x  kx Diagram
fk fC
• Taking the Laplace Transform of both sides and M fM
ignoring initial conditions we get F

F ( s )  Ms 2 X ( s )  kX ( s ) F  f k  f M  fC

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Example-3 Example-8
 Find the transfer function of the mechanical
Differential equation of the system is: translational system given in Figure-1.
F  M x  C x  kx Free Body Diagram
fk fB
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get Figure-1

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

f (t ) fM
X (s) 1

F (s) 2
Ms  Cs  k X (s) 1
f (t )  f k  f M  f B 
F (s) 2
Ms  Bs  k

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Exercise

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Solution RLC Circuit

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Series RLC Circuit Parallel RLC Circuit

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Analogous Quantities

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Force (Torque) - Voltage Analogy Force (Torque) - Current Analogy

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Analogy Conversion from Electrical to

Mechanical (Force-Current)
 Important relationship when converting from a circuit to the
Mechanical 1 analog is that between Kirchoff's Current Law and
D'Alemberts Law (with inertial forces included)
Start with an electrical circuit. Label all
node voltages

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Conversion from Electrical to

Conversion from Electrical to
Mechanical (Force-Current)
Mechanical (Force-Current)
 Re-write the equations using analogs (make making
Write a node equations for each node substitutions from the table of analogous quantities),
with each electrical node being replaced by a
voltage position.

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Conversion from Electrical to Conversion from Electrical to

Mechanical (Force-Current) Mechanical (Force-Current)
Draw the mechanical system that Draw the mechanical system that
corresponds with the equations corresponds with the equations

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Mechanical (Force-Current) to
Mechanical (Force-Current) to Electrical Conversion
Electrical Conversion  Draw over circuit,
replacing mechanical
Label all positions elements with their
analogs; force
generators by current
sources, friction
elements by resistors,
springs by inductors, and
masses by capacitors
(which are grounded).
Each position becomes
a node.

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Mechanical (Force-Current) to
Verification
Electrical Conversion
 Label nodes and
electrical elements as
they were in the original
mechanical system.

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Verification Electrical to Mechanical (Force-

Voltage)

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Electrical to Mechanical (Force- Electrical to Mechanical (Force-

Voltage) Voltage)
Write loop equations for each loop Re-write the equations using analogs

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