SYSTEM DYNAMICS

AND

CONTROL

Chapter 2
Mathematical Modeling of
Physical Systems I
Prof.Dr. Fatih Mehmet Botsalı

Chapter Learning Outcomes

Upon completion of Chapter 2, students should:

Determine differential equations that describe the dynamic
behavior of physical systems,

Be able to utilize linearization approximations through the
use of Taylor series expansions,

Understand the application of Laplace transforms and their
role in obtaining transfer functions,

Be aware of block diagrams (and signal-flow graphs) and
their role in analyzing control systems,

Understand the important role of modeling in the control
system design process.

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 Chapter Learning Outcomes

Modeling of Physical Systems

To understand and control complex systems, one must
obtain quantitative mathematical models of these systems.

Because the systems under consideration are dynamic in
nature, the descriptive equations are usually differential
equations.

If these equations can be linear or linearized, then the
Laplace transform can be used to simplify the method of
solution.

In practice, the complexity of systems necessitate the
introduction of some assumptions concerning the system
operation.

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 Modeling of Physical Systems

Therefore we will often find it useful to consider the physical
system, express any necessary assumptions, and linearize the
system. Then, by using the physical laws describing the
linear equivalent system, we can obtain a set of linear
differential equations.

Finally, using mathematical tools, such as the Laplace
transform, we obtain a solution describing the operation of
the system.

Modeling of Physical Systems

In summary, the approach to dynamic system modeling can be
listed as follows:
1. Define the system and its components.
2. Formulate the mathematical model and fundamental
necessary assumptions based on basic physical principles.
3. Obtain the differential equations representing the
mathematical model.
4. Solve the equations for the desired output variables.
5. Examine the solutions and the assumptions.
6. If necessary, reanalyze or redesign the system.

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 Modeling of Physical Systems
The differential equations describing the dynamic performance
of a physical system are obtained by:
1. Utilizing the physical laws of the process
◦ Newton’s laws (Translational mechanic system)
◦ Newton’s laws (Rotational mechanic system)
◦ Kirchoff’s law, Ohm’s Law (Electrical System)
◦ Continuity Equation/conservation of mass (Fluid Systems)
◦ Conservation of energy (Thermal system)
2. Energy Methods (Hamiton’s Principle,Lagrange’s
Equation,Virtual Work)
3. Topological methods (Bond graphs, linear graphs)
4. Approximate methods (System identification, etc.)

Modeling of Physical Systems

Physical Systems

Translational Mechanic Systems

Rotational Mechanic Systems

Electrical Systems

Fluid Systems

Thermal systems

And combinations of above..

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Which type of system?

Which type of system?

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Which type of system?

Which type of system?

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 Which type of system?

Spring-Mass-Damper System

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RLC Circuit

Summary of Through and

Across Variables

Across variables are defined between two ends of the
element
◦ Examples: Voltage difference, temperature difference,
pressure difference, velocity difference, angular velocity
difference

Through variables are constant through the element
◦ Examples: current, force, volume flow rate, heat flow,
torque

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 Summary of Through and
Across Variables

Governing Equations of Ideal

Elements

Stores energy in
terms of across
variable

Dissipates energy
in terms of across
variable

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 Governing Equations of Ideal
Elements

Stores energy in
terms of through
variable

Two port
elements

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Two port
elements

Mass-Spring-Damper System

k b

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Inertia (capacitive element)

Is the resistive characteristics of the body
against motion

Inertia (capacitive element)

It is most commonly defined by using Sir Isaac Newton's
essay “Philosophiae Naturalis Principia Mathematica”
which states:

“The vis insita, or innate force of matter is a power of

resisting, by which every body as much as in it lies,
continues in its present state, whether it be of rest, or
of moving uniformly nor a measure of mass. “

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 Inertia (capacitive element)

is a non-quantifiable property of matter by which it
remains at rest or in uniform motion in the same
straight line unless acted upon by some external force.

The principle of inertia is used to describe the motion of
matter and how it is affected by applied forces.

Mass (capacitive element)

Mass is a fundamental concept in
physics.

Answer of the "how much matter is
there in this object“ question

Types: relativistic, Newtonian

Newtonian mass is invariant.

In the theory of relativity, mass
changes wrt the observer.

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Mass Moment of Inertia
(capacitive element)

The rotational analog of mass.

The moment of inertia plays the
same role in rotational dynamics as
mass does in basic dynamics,

It decribes the inertia of a rigid
body against rotational motion.

It is also called as “moment of
inertia” and sometimes “ angular
mass”,

Mass Moment of Inertia

(capacitive element)

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Mass Moment of Inertia
(capacitive element)

Mass Moment of Inertia

(capacitive element)

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Spring (inductive element)
•a mechanical device, which is typically
used to store energy and subsequently
release it, to absorb shock, or to maintain
a force between contacting surfaces.
•Springs are made of elastic materials so
as to return to its natural length when
unloaded.

Damper(Dashpot)
(dissipative element)

A device which resists the motion via
viscous friction

Shock absorber (British: damper), a
mechanical device designed to smooth
out or damp a sudden shock impulse
and dissipate kinetic energy

A device that eliminates or
progressively diminishes vibrations or
oscillations

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Equations of Motion

Physics Laws (Newton, Kirchoff)

Energy Methods (Lagrange, Hamilton, Virtual work)

Physic laws

∑F = m.x&&
x

∑T = I.α

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Equation of motion???

EQUATIONS OF MOTION

δ
m x
m

∑F = m.x&&
x

−k.(x) = m.x
&&
&& + k x = 0
mx

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 LAGRANGE’S EQ’N OF
MOTION

T: Kinetic Energy,

V: Potantial Energy,

qi: i. Generalized coordinate,

Qi: i. Generalized force in the direction of i. generalized
coordinate,

L: Lagrange operator

L=T-V

Simple Pendulum

A pendulum is a mass
hanging from a fixed point
by a rope as shown.

When the pendulum is
pulled back and released it
makes a swinging motion
under the action of gravity"

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Simple pendulum

∑F =mx&&
x

&&
-m.g.sinθ=m.L.θ

Simple pendulum
g
θ+
&& sin θ = 0
g
L ω2n =
L
g
θ+
&& θ=0
L
1 1 g
fn = ωn =
2.π 2.π L

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 Obtain the mathematical model..

Obtain the mathematical model..

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