Introduction to Engineering
0 System Dynamics
0.1 INTRODUCTION
The objective of an engineering analysis of a dynamic system is prediction of its behaviour
or performance. Real dynamic systems are quite complex and an exact analysis of the system is
often not possible. However, simplifying assumptions can be made to reduce the system model
to an idealized version whose behaviour or performance approximates that of the real system.
The process by which a physical system is simplified to obtain a mathematically tractable
situation is called modeling. The simplified version of the real system thus obtained is called
the mathematical model or quite simply the model of the system.
System dynamics deals with the mathematical modelling of dynamic systems and
performance analyses of such systems in order to understand the dynamic nature of the system
and improving system performance.
The definition of several terms, classification of dynamic systems, modeling of dynamic
systems, and analysis and design of dynamic systems are presented in this chapter.
In order to deal in an efficient and systematic way with problems involving time dependent
behaviour, we must have a description of the objects or processes involved and such a description
2 SOLVING ENGINEERING SYSTEM DYNAMICS PROBLEMS WITH MATLAB
is called a model. The model used most frequently is the mathematical model, which is a
description in terms of mathematical relations, and represents an idealization of the actual
physical system. For describing a dynamic system, these relations will consist of differential or
difference equations. Predicting the performance from a model is called analysis. The model's
purpose partly determines its form so that the purpose influences the type of analytical techniques
used to predict the dynamic systems behaviour. There are many types of analytical techniques
available and their applicability depends on the purpose of the analysis. The physical properties,
or characteristics, of a dynamic system are known as parameters. In general, real systems are
continuous and their parameters distributed. However, in most cases, it is possible to replace
the distributed characteristics of a system by discrete ones. In other words, many variables in a
physical system are functions of location as well as time. If we ignore the spatial dependence by
choosing a single representative value, then the process is called lumping, and the model of a
lumped element or system is called a lumped-parameter model. In a dynamic system the
independent variable in the model then would be time only. The model will be an ordinary
differential equation, which includes time derivatives but not spatial derivatives. If spatial
dependence is included then the resulting model is known as a distributed-parameter model in
which the independent variables are the spatial coordinates as well as time. It consists of one or
a set of partial differential equations containing partial derivatives with respect to the
independent variables. Discrete systems are simpler to analyse than distributed ones.
Dynamic systems are classified according to their behaviour as either linear or non-
linear. If the dependent variables in the system differential equation(s) appear to the first power
only and there are no cross products thereof, then the system is called linear. If there are
fractional or higher powers, then the system is non-linear. On the other hand, if the systems
contain terms in which the independent variables appear to powers higher than one or two
fractional powers, then they are known as systems with variable coefficients. Thus, the presence
of a time varying coefficient does not make a model non-linear. Models with constant coefficients
are known as time-invariant or stationary models, while those with variable coefficients are
time-variant or non-stationary. If there is uncertainty in the value of the models coefficients or
inputs then often, stochastic models are used. In a stochastic model, the inputs and coefficients
are described in terms of probability distributions involving their means and variances, etc.
In a discrete time-system, one or more variables can change only at discrete instants of
time. In a continuous-time system, the signals involved are continuous in time. The mathematical
model of continuous systems often results in a system of differential equations.
A simplified mathematical model of the physical system can determine the overall complex
behaviour of the dynamic system. The analysis of a physical system may be summarised by the
following four steps:
(a) Mathematical Modeling of a Physical System
The purpose of the mathematical modeling is to determine the existence and nature of
the system, its features and aspects, and the physical elements or components involved in the
physical system. Necessary assumptions are made to simplify the modeling. Implicit assumptions
are used that include:
INTRODUCTION TO ENGINEERING SYSTEM DYNAMICS 3
0.6.1 Analysis
System analysis means the determination of the behaviour, performance, or response of
a system to a given set of inputs that are applied to a given configuration of defined parts,
elements or components.
The analysis of a dynamic system requires often the development of a mathematical
model for each component and combining these models in order to build a model of the complete
system. The model should be sufficiently sophisticated to show the significant outputs in order
to make use of available methods of analysis. The system parameters in the model can then be
varied systematically to obtain a number of solutions in order to make the interpretations and
the establishing valuable conclusions.
0.6.2 Synthesis
By system synthesis we mean the establishment of the composition or combination of
parts or elements or components such that the system behaves, performs, or responds according
to a given set of desired system characteristics or specifications. In analysis, the only unknowns
are the system outputs, while in the synthesis the outputs are known and most of the system
parts or elements or components are unknown. In general, synthesis procedure is totally
mathematical form from the beginning to the conclusion of the design process.
0.6.3 Design
Systems are designed to perform specific tasks. Synthesis is the establishment of the
system configuration given the performance specifications while design is the determination of
dimensions and other numerical parameters for a given system configuration. System design is
the process of determining a system that accomplishes a given task. In general, the design
procedure is a trial and error process.
SUMMARY
A brief introduction to engineering system dynamics and the definition of several terms
used in dynamic systems, classification of dynamic systems, modeling of dynamic systems, and
analysis and design of dynamic systems are presented in this chapter.