MATHEMATICAL MODELING OF DYNAMIC SYSTEMS

Mechanical Translational System

1. Spring
FS(t)
x(t)
k
k

x(t)

xi(t) xo(t)
k

2. Damper

xi(t) xo(t)
x(t)

c
c
3. Mass

x(t)

F(t)
m

EXAMPLE I

Produce the block diagram for the mass-spring system shown below by considering
displacement xi as the input variable and displacement xo as the output variable.

xi(t) xo(t)

k
m
EXAMPLE II
Produce the block diagram for the mass-spring-damper system shown below by
taking force Fa as the input variable and displacement x as the output variable.

x (t)
k

m Fa(t)

Mechanical Rotational System

4. Shaft stiffness

Torque applied on the disc:

θo(t)

θi(t)
k
5. Viscous damper

B
θi(t) θo(t)

6. Mass inertia

τ(t) θ(t)

EXAMPLE I

Produce the block diagram for the mechanical rotational system shown below if
angular displacement θi is taken as the input variable and angular displacement θo is
taken as the output variable.

θo(t)
θi(t)
k
J

B
Leverage and Gearing System

Lever and gear are mechanical devices used to transfer energy from one section to
another by transformation the force, torque, velocity and displacement. The inertia
and friction effects are normally small and are neglected. “Walking lever” can be used
for summing up mechanical displacement signals.

1. Fixed lever

l1

l2

2. Walking lever

z
x l1

l2
b
y
3. Gear train

Gear ratio:
ωA,θA

τA ωB,θB

τB
C
rA
rB

EXAMPLE I

Produce the block diagram for the mechanical translational system shown below if
displacement xi is the input and displacement xo is the output.
xi
k2

xo
b
k1
m
EXAMPLE II

Produce the block diagram for the rotational system shown below considering torque
τa as the input variable and angular displacement θ as the output variable.

τa
θ,ω
r1
K r2

J
B

Liquid Level System

1. Fluid Resistance, R

The relation between liquid flow rate, q and system’s hydrostatic head, h is
not linear. For linear model approximation (if the change in head and flow rate
are small), the flow rate is considered proportional to the system head
multiply by a proportional constant, 1/R. R is known as fluid resistance in the
liquid level system.

h1
R h2

q
2. Capacitance, C

Changes in the volume inside the tank are equals to the difference between the
inflow rate and the outflow rate. Capacitance is the cross-sectional area of the
tank.

qi Therefore:

h C

qo

Consider the liquid level system shown below. The variables to be monitored are the
head, h and the flow rate, q. The system parameters are the fluid resistance, R and
capacitance, C.

qi

h C
R qo
EXAMPLE I

Produce the block diagram for the liquid level system shown below if inflow rate qi is
taken as the input variable and head h2 is taken as the output variable.

qi

C1

C2
h1
qo R1 R2 q h2
 Thermal System

pemanas
bendalir panas

bendalir dingin Thermal Resistance,

penebat

Heat Balance Equation, Where,

C – thermal capacitance (kcal/ºC)
R – thermal resistance (ºCsec/kcal)
hi – heat input rate (kcal/sec)
hi – heat output rate (kcal/sec)
θ - temperature of outflowing liquid (ºC)

Electrical System

1. Resistance, R

i R

VR

2. Inductance, L

L
i

VL
3. Capacitance, C

C
i

VC

EXAMPLE I

Produce the block diagram of the electrical system shown below by considering input
voltage Vi as the input variable and output voltage Vo as the output variable.

L C

R
Vi Vo
DETERMINATION OF TRANSFER FUNCTION USING BLOCK DIAGRAM
SIMPLIFICATION

Transfer Function

Transfer function for a linear system is the ratio of the Laplace transform of the output
variable (response function) to Laplace transform of the input variable (driving
function) under the assumption that all the initial conditions are ZERO. The transfer
function of a system represents the relationship which describes the dynamic
behaviour of the system under study; describing the relationship between the system’s
input and output. However the transfer function does not provides information about
internal structure and internal behaviour of the system.

EXAMPLE I

Construct the transfer function for a system represented by the following differential
equation:

d2x dx
m 2
+c + kx = FA (t)
dt dt

Block Diagram Simplification

A block diagram is regularly being used as pictorial representation of a control

system. Block diagram depicts the interrelationships that exist among various
components within the system. All system variables are linked to each other through
functional blocks. A complex block diagram can be simplified using block diagram
manipulation rules shown below. A system block diagram normally shows the
relationship of important variables only.
 Block Diagram Algebra

A + A-B + A-B+C
+ + A-B+C
_ A A+C
+
+ _
B C
C B

C
+ A + A-B + A-B+C
A + A-B+C
_
_ +
B C
B

G1 G2 G2 G1

G1G2

G1 G2 atau

G2G1

A A + C
+ C G
G _
_
B
B G
 A C
A C G
G

C C
G

A C
A C G
G
1 A
A
G

A + C
A + C G
G
±
±
1 B
B
G

A + C
G1
+ A C
G1 + G1

G2

A + C
G
± A G C
1 m GH
H
EXAMPLE II

Consider the mechanical translational system represented by the block diagram as

shown below. Produce the system transfer function using the block diagram
simplification method.

x (t)
k
Fa(t)
m

Fa + 1 x
_ _
mD 2

cD

k
EXAMPLE III

Produce the system transfer function using the block diagram simplification
method.

H1

_
R + + C
_ G1 G2

H2
 SIGNAL FLOW GRAPH AND MASON’S RULE

Beside block diagram, signal flow graph is another way of illustrating a control
system. For a complex system, signal flow graph has an advantage over block
diagram as Mason’s Rule can be used to determine the transfer function of the system.
However, block diagram is more popular for uncomplicated system as it has close
representation of the actual physical system.
Signal flow graph is consisting of nodes and branches to represent linear
relationships. Variables are represented by nodes and each transfer operator (internal
relationship function) is a branch which connecting all the nodes. In general, branch is
popularly known as gain which represents the relationship between two variables.

Some characteristics of the nodes are:

1. Variable at a node is the summation of all the incoming signals into the node and
the node variable is transferred to all outgoing branches.

2. The summing junction is just a node

3. Input node (source node) will only consist of outgoing branch.

4. Output node (sink node) will only consist of incoming branch

EXAMPLE I

Draw the signal flow graph for the control system represented by the block diagrams
shown below.

a)
R C
G1 G2

b) H1
_
R + + C
_ G1 G2

H2

c) G4
+
R + + + C
_ G1 _ G2 G3

H2

H1
Mason’s Rule

Transfer function of a control system can be obtained using Mason’s rule given
below:

Y(s)
=
∑PΔ i i

U(s) Δ

where,

Pi = ith forward path gain

Δ = 1 – (summation of all individual loops gain) + (product of two
non-touching loops) – (product of three non-touching loops) +
…..
Δi = the value of Δ with all loop gains touching path Pi are
discarded

EXAMPLE II

Construct the signal flow graph and derive the system’s transfer function by
employing Mason’s rule for the block diagram shown below.

G2
+
R + + C
_ G1

H1
EXAMPLE III

Using the Mason’s rule, determine the transfer function of each signal flow graphs
shown below.

G6
x G1 G2 G3 G4 G5 y

-H1 -H2
EXAMPLE IV

Construct the signal flow graph and derive the system’s transfer function using
Mason’s rule for the block diagram shown below.

G4

+
R + + + + C
G1 _ _ G2 G3

H1

H2