MATHEMATICAL

MODELING

ESE439 Chapter 2

Why Modeling?
We use quantitative mathematical models of physical systems to design and
analyze control systems. The dynamic behavior is generally described by
ordinary differential equations. We will consider a wide range of systems,
including mechanical, hydraulic, and electrical. Since most physical systems are
nonlinear, we will discuss linearization approximations, which allow us to use
Laplace transform methods.
We will then proceed to obtain the inputoutput relationship for components and
subsystems in the form of transfer functions. The transfer function blocks can be
organized into block diagrams or signal-flow graphs to graphically depict the
interconnections. Block diagrams (and signal-flow graphs) are very convenient
and natural tools for designing and analyzing complicated control systems

Introduction
Six Step Approach to Dynamic System Problems
Define the system and its components
Formulate the mathematical model and list the necessary
assumptions
Write the differential equations describing the model
Solve the equations for the desired output variables
Examine the solutions and the assumptions
If necessary, reanalyze or redesign the system

Transfer Function
The transfer function of the plant is ratio of Laplace
transform of output to the Laplace transform of input
considering initial conditions to zero.
X(S)

G(S)

Y(S)

Y ( S ) Output
G( S )

X (S )
Input

Transfer Function
Transfer function helps us to check

The stability of the system

Time domain and frequency domain characteristics of the

system

Response of the system for any given input

Outline of this Lecture

Part-I:

Electrical System

Part-II: Translational Mechanical System &

Rotational Mechanical System

Part-III: Electro-Mechanical Linkages

In electrical type of systems we have three variables Voltage which is represented by V.

Current which is represented by I.
Charge which is represented by Q.
And also we have three parameters which are active and
passive elements
Resistance which is represented by R.
Capacitance which is represented by C.
Inductance which is represented by L.

Example 1 : Find the transfer function of the

Vo(s) / Vi(s) in fig 1.
(i) Differential Equation :
(1)
(2)
(ii) Laplace Transform:
(3)

(4)

Example 1 :
From eqn. (4) :
(iii) Transfer function :

(5)

Draw the block diagram :

Draw the block diagram :

(3)

Draw the block diagram :

(4)

Complete block diagram :

Example 2 : Find the transfer function Vo(s) / Vi(s) for

the following circuit.

(Fig. 2a)

(Fig. 2b)

Example 2a : Find the transfer function of the

Vo(s) / Vi(s) in fig 2a.
(i) Differential Equation :
(1)

(2)
(ii) Laplace Transform:
(3)

(4)

Example 2a : Find the transfer function of the

Vo(s) / Vi(s) in fig 2a.
From equation (3) :

From equation (4) :

Complete block diagram

Example 2b : Find the transfer function of the

Vo(s) / Vi(s) in fig 2b.
(i) Differential Equation :
(1)

(2)
(ii) Laplace Transform:
(3)

(4)

Example 2b : Find the transfer function of the

Vo(s) / Vi(s) in fig 2b.
From equation (3) :

From equation (4) :

Complete block diagram

Example 3 : Find the transfer function of the

I2(s) / V(s) .(refer teks book Noman S.Nise)

Solution :
(i) Around Mesh 1, where I1(s) flows.

(1)
(ii) Around Mesh 2, where I2(s) flows.

(2)

Solution :
(1)
(1a)

(2)

(2a)

We can use Cramers rule to solve Esq..( 1a & 2a)

for I2 (s).

Solution :

 Part-I:

Electrical System

Part-II: Translational Mechanical System &

Rotational Mechanical System

Part-III: Electro-Mechanical Linkages

Basic Types of Mechanical

Systems
Translational
Linear Motion
3 passive linear components

Rotational

Rotational Motion

29

 The motion of Mechanical elements can be described in

various dimensions as translational, rotational, or

combinations of both.
Mechanical systems, like electrical systems have three
passive linear components.
Two of them, the spring and the mass, are energy-storage
elements; one of them, the viscous damper, dissipate energy.
The motion of translation is defined as a motion that takes
place along a straight or curved path. The variables that are
used to describe translational motion are acceleration,
velocity, and displacement.

Translational Mechanical Systems

Translational Mechanical Systems

Translational Mechanical Systems

Translational Mechanical Systems

Find the transfer function, X2(s) / F(s), for the system

given.
We write the differential equation of motion using
Newton's law to sum to zero all of the forces shown on
the mass :

Taking the Laplace transform, assuming zero initial

conditions:

Transfer function two degrees of freedom

Find the transfer function, X2 (s) / F(s), for the system
given.

Transfer function two degrees of freedom

Transfer function two degrees of freedom

Transfer function two degrees of freedom

Transfer function two degrees of freedom

Transfer function two degrees of freedom

Transfer function two degrees of freedom

Case study :

Schematic quarter car

model

Automobile Suspension

44