CHAPTER 2

MATHEMATICAL
MODELS OF DYNAMIC
SYSTEMS

In this chapter, we will discuss

about
Introduction to Mathematical Models
Classifications of Systems
Mathematical Models of Physical
Systems
State Space Modeling

INTRODUCTION TO
MATHEMATICAL
MODELS

 To analyze and design control systems, physical

systems must be modeled
Physical model must describe the dynamic
characteristics of the real system adequately
Mathematical models are derived from the laws
of physics that applies to the real system
- The dynamics of mechanical systems are
modeled by Newtons Laws
- The dynamics of electrical systems are
modeled by Kirchhoffs Laws and Ohms Law

 Mathematical model of a system is a group of

mathematical equations describing the dynamics
of an actual system
Mathematical models accuracy can be increased
by modeling the real system in more details, if
further analysis is needed
Compromises must be made between the
simplicity of a model and the accuracy of the
analysis

 Simplicity of a model can be achieved by only

concerning major factors in modeling process
- Modeling in differential equations would reduce
certain nonlinearity and distributed parameters
that probably exist in a system
- Modeling a component in low frequency is not
applicable in high frequency
Systems which have the same mathematical
model is not always the same system physically
(example : the analogous of electrical systems
and mechanical systems)

 Two approach in analysis:

- Transfer function (traditional, applicable for
SISO systems)
- State Space (modern, used in MIMO systems)

CLASSIFICATIONS
OF SYSTEMS

Linear vs Non-Linear

Physical system is generally nonlinear in certain

level

For a very narrow range observation field,

nonlinear systems can be considered linear
(piece-wise linearization)

Linear area

Superposition theorem is implied in linear

system :
- System response to several inputs are
combination of each inputs response

Linearity testing of a system is done by giving a

sinusoidal inputs

In some cases, nonlinear elements is included in

control system for the purpose of performance
optimization
- On-off relay is used in time-optimized control
system, aircraft control, and missile guidance
system

Time-Invariant vs Time-Varying

Time-Invariant systems have constant, timeindependent parameters

Its response is not dependent on when the input
is given
Time varying systems have at least one or more
time dependent parameters
Its response is dependent on when the input is
given
Example of a time-varying system:
Space shuttle control, the weight of the ship
reduces as fuel is consumed

Continuous-Time vs Discrete-Time

Continuous-time systems have all variables or

signals that are continuous time

Discrete-time systems have one or more

variables that is discrete time

Deterministic vs Stochastic

Deterministic systems have responses that can

be previously predicted and repeated or
consistent

Stochastic systems have different responses to

the same input

Lumped-Parameters vs
Distributed-Parameters

Simple component can be modeled into a single

node (lumped) if all parameters is lumped
Lumped-parameters systems identified by usual
differential equations
Distributed parameter modeling is more precise,
for example in transmission systems
Distributed-parameters systems identified by
partial differential equations

Transfer Function vs State Space

The analysis of simple systems, SISO systems

with linear characteristics, continuous, timeinvariant, lumped-parameters, deterministic, can
be done approached using traditional approach
(transfer function) that is a complex frequency
domain. Analysis and design tools are Root
Locus (time domain), Bode Plot or Nyquist
(frequency domain)

Modern systems which are complex and high

accuracy (noted with MIMO, non-linear, timevarying, optimum, and robust characteristics )
must use state space approach in time domain

MATHEMATICAL
MODELS OF
PHYSICAL SYSTEMS

Mathematical Model for Electrical

Circuit (1)
R

L
e

Physical Law : Kircchoff

Differential equations

c
i

di
1
L Ri idt ei
dt
c
1
idt eo

Laplace Transform (consider initial condition = 0)

1
sLI ( s ) RI ( s )
I ( s ) Ei ( s )
Cs
1
I ( s)
I ( s ) Eo ( s )
sEo ( s )
sC
C
I (s)
s 2 LI ( s ) RsI ( s )
sEi ( s )
c

Transfer Function :

Eo ( s )

E i (s)

I (s)
C
1
s L Rs I ( s )
C

LCs 2 RCs 1

Mathematical Model for Electrical

Circuit (2)
R
e(t)

i 1 (t)

C +-

Differential equations
di1
e(t ) Ri1 L1
e0
dt
di2
e0 L2
dt

i 2 (t)

(1)
(2)

e 0 (t)

ic i1 i2
de0 (t )
ic C
dt

de0
i1 i2 C
dt

Laplace Transform
(2) E0 ( s ) sL2 I 2 ( s )I 2 ( s )
(3)

I1 ( s ) I 2 ( s ) sC E0 ( s )

(1)

E ( s ) R sL1 I1 ( s ) E0 ( s )
E ( s ) E0 ( s )
I1 ( s )
R sL1

E0 ( s )
sL2

(3)

Substitute equation (1) and equation (2) into equation (3)

E ( s ) E0 ( s ) E0 ( s )

sC E0 ( s )
R sL1
sL2
SL2 E ( s ) sL2 E0 ( s ) R sL1 E0 ( s)
sC E0 ( s )
R sL1 sL2

sL E ( s ) s L C R sL s L L R E ( s)

sL 2 E s R s L1 L2 E0 s R sL1 s 2 L 2 C E0 ( s )
2

E0 ( s )
sL2
2
E ( s) s L2C R sL1 s L1 L2 R

Transfer Function :
E0 ( s )
sL2
3
E ( s ) s L1 L2C s 2 L2CR s L1 L2 R

Mathematical Model for Electrical

Circuit (3)
R

i2
R
e

i1

i0

Ideal Op Amp : Zin = ~

i0 = 0

ex ~0 virtual ground
i1 = i 2

ei ex ex eo
ei eo

R1
R2
R1
R2

R2
eo ei
R1

Mathematical Model for Mechanical

System : Translation (1)
u input
y output
k
m
b

t < 0 : system doesnt

move
t = 0 : system moves
with constant speed
du
constant
dt
y = output relative to
ground

d 2 y dy du
m 2 b
k y u 0
dt
dt dt
d2y
dy
du
m 2 b ky b
ku
dt
dt
dt

Laplace Transform

ms

bs k Y ( s ) bs k U ( s )
Y (s)
bs k
2
U ( s) ms bs k
2

Mathematical Model for Mechanical

System : Translation (2)
x
k
m

External force f

Newtons second law :

ma F

d 2x
dx
m 2 b kx f
dt
dt

Laplace Transform

ms 2 X ( s ) bs X ( s ) kX ( s ) F ( s )
Transfer Function

X (s)
1
2
F ( s ) ms bs k