3.

Mathematical Modeling of Dynamic Systems

3.1. Introduction

â A model is a simplified representation or abstraction of reality, and reality

is generally too complex to copy exactly.
â A model used for simulation, prediction/forecasting, prognostics/diagnostics,
performance evaluation and control system design.

â A mathematical model of a dynamic system is defined as a set of equations

that represents the dynamics of the system.
â A system may be represented in many different ways and, therefore, a
mathematical model is not unique to a given system.
â The most popular mathematical models are:
X Differential equations
X Transfer functions
X Impulse response
X State equations
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3. Mathematical Modeling of Dynamic Systems
3.1. Introduction

â Deriving reasonable mathematical models is the most important part of the

entire analysis of control systems.
â Throughout our discussion, we assume causal systems, i.e. the current
output of the system depends on the past input but does not depend on
the future input.

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3. Mathematical Modeling of Dynamic Systems
3.2. Differential Equations

â The dynamics of many systems, such as mechanical, electrical, thermal,

economic, biological, can be described in terms of differential equations.
â These differential equations may be obtained by using physical laws gov-
erning a particular system, for example,
X Newton’s laws for mechanical systems and
X Kirchhoff’s laws for electrical systems.

â To illustrate this modeling approach, we consider the case of linear, time

invariant systems.
â A system is called linear if the principle of superposition applies:
Superposition principle: the response produced by the simultaneous application
of two different forcing functions is the sum of the two individual responses.

â Hence, for the linear system, the response to several inputs can be calcu-
lated by treating one input at a time and adding the results.
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3. Mathematical Modeling of Dynamic Systems
3.2. Differential Equations

â A differential equation is linear if the coefficients are constants or functions

only of the independent variable.
â Systems that are represented by differential equations whose coefficients
are not functions of time are called linear time invariant systems.

â For a LTI system, the physical variables such as voltage, current, force,
velocity are related via a linear operator.

Component v − i relation i − v relation symbol

vR (t)
Resistor vR (t) = iR (t)R iR (t) =
R
C dvC (t)
Z
1
Capacitor vC (t) = ic (τ )dτ iC (t) =
C Z dt
LdiL (t) 1
Inductor vL (t) = iL (t) = vL (τ )dτ
dt L

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3. Mathematical Modeling of Dynamic Systems
3.2. Differential Equations

â Similarly for mechanical systems, we have the following relations for the
physical variables. Translational:

Component F − v relation v − F relation Symbol

F
Translation

Damper F = bv v=
b Z
dv 1
Mass F =m v= F dτ
dt m
R 1 dF
Spring F = k v dτ v=
kτ dt
Rotational

Damper τ = bω ω=
bZ
dω 1
Mass τ =J ω= τ dτ
dt J
R 1 dτ
Spring τ = k ωdτ ω=
k dt

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3. Mathematical Modeling of Dynamic Systems
3.2. Differential Equations

â When these components are interconnected to form a system, the system

model is obtained by using:
X Kirchhoffs current law(KCL) states that the algebraic sum of current at node
in an electronic circuit is equal to zero.
X
i =0 (1)

X Kirchhoff’s voltage law(KVL) states that, the algebraic sum of the voltage
in a closed loop is equal to zero.
X
v =0 (2)

X Newton’s second law of motion states that the magnitude of acceleration

is directly proportional to the net force acting on the body and inversely
proportional to its mass. X
F = ma (3)

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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 1

Example 1: For the following parallel RLC circuit, find the mathematical
model in DE.

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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 1

Example 1: For the following parallel RLC circuit, find the mathematical
model in DE.

Solution: Applying KCL at node a:

X
i =0 (4)
r (t) − iR − iL − iC = 0 (5)
dvC (t) 1 t
Z
vR
+C + vL (τ )dτ = r (t) (6)
R dt L 0
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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 1

â For given configuration, vR = vC = vL . Thus:

dvL (t) 1 t
Z
vL
+C + vL (τ )dτ = r (t) (7)
R dt L 0

â If the inductor current is taken as output, then:

d 2 iL (t) 1 diL (t)

LC + + iL (t) = r (t) (8)
dt 2 R dt

â The solution of the differential equation can be solved by classical methods

such as Integrating factors and undetermined coefficients.

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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations

Exercise 1: For the following series RLC circuit, find the mathematical
model in DE and find its solution in time domain.

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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 2

Example 2: For the following mass-spring-damper system, find the math-

ematical model in DE. [Input: Force r (t), Output: displacement y (t)]

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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 2

Example 2: For the following mass-spring-damper system, find the math-

ematical model in DE. [Input: Force r (t), Output: displacement y (t)]

Solution: By applying Newtons second law of motion for the free body
diagram:
X
F = Ma (9)
r (t) − b ẏ (t) − ky (t) = Ma (10)
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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 2

Using the relation in the above table and rearranging:

d 2 y (t) dy (t)
M +b + ky (t) = r (t) (11)
dt 2 dt
Example 3: Consider the rotational system shown in Fig. that consists of
a disk mounted on a shaft that is fixed at one end. Find the mathematical
model in DE.

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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 3

Solution: By applying Newtons second law of motion rotational motion for

the free body diagram:
X
τ = Jα (12)
τ − b θ̇(t) − kθ(t) = Jα (13)

Using the relation in the above table and rearranging:

d 2 θ(t) dθ(t)
J +b + kθ(t) = τ (14)
dt 2 dt

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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 4

Example 4: For armature controlled DC motor, find the DE that relates the
input armature voltage va (t) and the output angular displacement θ(t).

Solution: The torque developed on the motor shaft is directly proportional

to the field flux and armature current.

τm = km φf ia = kτ ia (15)

The back emf is proportional to shaft velocity

dθ
vb = kb ω = kb (16)
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dt
3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 4

The differential equation for armature circuit is:

dia (t)
va (t) = La + Ra ia (t) + vb (17)
dt
The torque equation for rotational motion is:

d 2 θ(t) dθ(t)
τm = J +b (18)
dt 2 dt
Rearranging Eq. (15), and substituting the above equation for τm
 2 
τm 1 d θ(t) dθ(t)
ia = = J +b (19)
kτ kτ dt 2 dt

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3. Mathematical Modeling of Dynamic Systems
3.3. Differential Equations: Example 4

Finally, substituting Eq. (19) into Eq. (17)

 2   2 
d 1 d θ(t) dθ(t) 1 d θ(t) dθ(t) dθ
va (t) = La J +b + Ra J +b + kb
dt kτ dt 2 dt kτ dt 2 dt dt
(20)
d 3 θ(t) d 2 θ(t)
 
1 dθ
= La J + (La b + Ra J) + (Ra b + kb kτ )
kτ dt 3 dt 2 dt
(21)

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Assignment 1
1. Drive the differential equation given on Figure EM1, below shows an electromagnetic
relay whose armature is loaded with spring K, damper B, mass M and a force generator F.

Figure EM1, electro-mechnical system

2. Explain the difference between electromagnetic principle and electro mechanical principle
with examples and application
3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function

The transfer function of a LTI, DE 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.
â Consider the linear time-invariant system defined by the following differen-
tial equation: (n > m)

dn y (t) dn−1 y (t) dy (t)

+ an−1 + . . . + a1 + a0 y (t) =
dt dt n−1 dt
dm u(t) dm−1 u(t) du(t)
bm + bm−1 m−1
+ . . . + b1 + b0 u(t) (22)
dt dt dt
where y (t) is the output of the system and u(t) is the input.
â Taking the Laplace transform of both sides of Eq. (22) with zero initial
conditions:

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function

s n Y (s)+an−1 s n−1 Y (s) + . . . + a1 sY (s) + a0 Y (s) =

bm s m U(s) + bm−1 s m−1 U(s) + . . . + b1 sU(s) + b0 U(s) (23)
n n−1
(s +an−1 s + . . . + a1 s + a0 )Y (s) =
(bm s + bm−1 s m−1 + . . . + b1 s + b0 )U(s)
m
(24)

â Finally the TF will be:

Y (s) bm s m + bm−1 s m−1 + . . . + b1 s + b0

= (25)
U(s) s n + an−1 s n−1 + . . . + a1 s + a0

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function

â From the above result, the following types of TF are available based on the
degree of numerator m and denominator n:
X Proper transfer function: (n > m)
X Bi-proper transfer function: (n = m)
X Improper transfer function: (n < m)

â The basic properties of transfer function are:

X It is defined only for LTI system.
X All initial conditions are set to zero.
X It is independent of the input of the system.
X It relates the output and input variable.

â Steps to find TF of a given system:

X Write the DE that describe the system
X Take the LT of the DE with zero initial condition.
X Take the ration of the output to the input.
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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Example 1: For the parallel RLC circuit given in page 10, find the mathe-
matical model in TF [Input: Current source; output: inductor current].

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Example 1: For the parallel RLC circuit given in page 10, find the mathe-
matical model in TF [Input: Current source; output: inductor current].
Solution: The DE model was derived as:
d 2 iL (t) 1 diL (t)
LC + + iL (t) = r (t) (26)
dt 2 R dt
Taking the LT of both sides in the above equation with zero IC:
1
LCs 2 IL (s) + sIL (s) + IL (s) = R(s) (27)
R

1
(LCs 2 + s + 1)IL (s) = R(s) (28)
R

IL (s) 1
= (29)
R(s) 1
LCs 2 + s +1
R
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3. Mathematical Modeling of Dynamic Systems
3.4. Laplace Transform: Example

Example 2: For the mass-spring-damper system in page 12, find the math-
ematical model in TF. [Input: Force r (t), Output: displacement y (t)]

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3. Mathematical Modeling of Dynamic Systems
3.4. Laplace Transform: Example

Example 2: For the mass-spring-damper system in page 12, find the math-
ematical model in TF. [Input: Force r (t), Output: displacement y (t)]
Solution: The DE for the above system is:

d 2 y (t) dy (t)
M +b + ky (t) = r (t) (30)
dt 2 dt
Taking Laplace transform of the above equation with zero IC:

Ms 2 Y (s) + bsY (s) + kY (s) = R(s) (31)

(Ms 2 + bs + k)Y (s) = R(s) (32)

Y (s) 1
= 2
(33)
R(s) Ms + bs + k
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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Example 3: Find the transfer function of the following circuit.

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Example 3: Find the transfer function of the following circuit.

Solution: Applying KVL at loop 1:

di1 (t)
vi (t) = L1 + R(i1 (t) − i2 (t)) (34)
dt
Similarly, applying KVL for loop2:

di2 (t)
0 = L2 + R(i2 (t) − i1 (t)) + vo (t); i2 (t) = iC (t) (35)
dt

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Rearranging the above equation and solving for i1 (t) yields:

L2 C d 2 vo (t) dvo (t) 1

i1 (t) = +C + vo (t) (36)
R dt 2 dt R
Then substitute Eq. (36) into Eq. (34) to obtain:

d L2 C d 2 vo (t)
 
dvo (t) 1
vi (t) = L1 +C + vo (t) +
dt R dt 2 dt R
L2 C d 2 vo (t) dvo (t) 1 dvo (t)
R( 2
+C + vo (t) − C )
R dt dt R dt
L1 L2 C d 3 vo (t) d 2 vo (t) L1 dvo (t)
= + (L 1 + L2 )C + + vo (t)
R dt 3 dt 2 R dt
(37)
L1 L2 C 3 L 1
=⇒ Vi (s) = s Vo (s) + (L1 + L2 )Cs 2 Vo (s) + sVo (s) + Vo (s)
R R
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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

L1 L2 C 3 L1
Vi (s) = ( s + (L1 + L2 )Cs 2 + s + 1)Vo (s) (39)
R R
Finally,the transfer function is
Vo (s) 1
∴ = (40)
Vi (s) L L
1 2 C L1
s 3 + (L1 + L2 )Cs 2 + s + 1
R R

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Example 4: For armature controlled DC motor given in page 16, find the
TF that relates the input armature voltage Va (s) and the output angular
displacement Θ(s).

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Example 4: For armature controlled DC motor given in page 16, find the
TF that relates the input armature voltage Va (s) and the output angular
displacement Θ(s).
Solution: Taking the LT of eeach equations with zero IC:

τm = km φf ia = kτ ia =⇒ τm (s) = kτ Ia (s) (41)

dθ
vb = kb ω = kb =⇒ Vb (s) = kb sΘ(s) (42)
dt

dia (t)
va (t) = La + Ra ia (t) + vb =⇒ Va (s) = La sIa (s) + Ra Ia (s) + Vb (s)
dt
(43)

d 2 θ(t) dθ(t)
τm = J 2
+b =⇒ τm (s) = Js 2 Θ(s) + bsΘ(s) (44)
dt dt
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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

1
Js 2 Θ(s) + bsΘ(s)


Ia (s) = (45)
kτ
   
1 2

1 2


Va (s) =La s Js Θ(s) + bsΘ(s) + Ra Js Θ(s) + bsΘ(s)
kτ kτ
+ kb sΘ(s) (46)

1
La Js 3 + (La b + Ra J)s 2 + (Ra b + kτ kb )s Θ(s)


Va (s) = (47)
kτ

Θ(s) kτ
= (48)
Va (s) La Js 3 + (La b + Ra J)s 2 + (Ra b + kτ kb )s

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Example 5: Figure below shows an electrical circuit involving an op-

erational amplifier. Obtain the output eo , and the transfer function.

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Example 5: Figure below shows an electrical circuit involving an op-

erational amplifier. Obtain the output eo , and the transfer function.
Define:
ei − e 0
i1 = (49)
R1
d(e 0 − eo ) The
i2 = C (50)
dt
e 0 − eo
i3 = (51)
R2
current flowing into the amplifier is negligible, we have

i1 = i2 + i3 (52)
ei − e 0 d(e 0 − eo ) e 0 − eo
=C + (53)
R1 dt R2

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

Since e 0 = 0
ei deo eo
= −C − (54)
R1 dt R2
Taking the Laplace transform of this last equation, assuming the zero initial
condition, we have
Ei (s) 1
= −(Cs + )Eo (s) (55)
R1 R2
Which can be written as:
Eo (s) R2 1
=− (56)
Ei (s) R1 R2 Cs + 1

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3. Mathematical Modeling of Dynamic Systems
3.4. Transfer function: Example

The impedance approach can be applied to op-amp circuits to obtain their

transfer functions.
Define:
Ei (s) − E 0 (s) d(e 0 − eo )
=C
Z1 dt
Eo (s) Z2 (s)
=−
Ei (s) Z1 (s)
Where
R2
Z1 (s) = R1 Z2 (s) =
R2 Cs + 1
Then the transfer function will be:
Z2 (s) R2 1
TF = − =−
Z1 (s) R1 R2 Cs + 1

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