Lecture 2-System Modeling-2021-AE 308 - AE 775-AM

AE 308: Control Theory
AE 775: System Modelling, Dynamics and Control

Lecture 2: System Modeling and Dynamics - I
Dr. Arnab Maity

Department of Aerospace Engineering
Indian Institute of Technology Bombay
Powai, Mumbai 400076, India
Lecture 2: System Modeling and Dynamics - I 2 / 48
Big Picture - System Identification Problem

System identification problem
As a practising engineer, a model of the system is not always readily
available.
The process of determining a mathematical model is called system
identification.
Relevant questions regarding the system identification are
How to model the system that we are trying to control?
What is relevant dynamics for the system?
What are mathematical equations that convert known inputs to mea-
sured outputs?
These can be answered in two ways as the following.
The first is referred as black box method. Imagine that you do not
know anything about the system.
One can subject the material in box to various inputs and measured
outputs, and infer what is in the box based on the relationship between
inputs and outputs.
Dr. Arnab Maity (Aerospace Engg. Dept., IIT Bombay) AE 308 and AE 775
Big Picture - System Identification Problem

The second way is to perform through white box method.
Imagine you know all the components inside the box.
This is exactly similar to the Newton’s method or determining equations
of motion based on energy in the system.
Figure: Source - “The Fundamentals of Control Theory” by B. Douglas
System Modeling
People did not know to model/ pre-

dict the dynamic behaviour of things.
Then, this happened.
Figure: Source - “Cartoon Tour

Of Control Theory” by S. M.
Joshi
System Modeling
Science of math modeling was born

in 17th century.

Joshi
System Modeling
The art of analyzing physical sys-

tems through math models was
introduced in 18th centuries.
M : mass, V : Velocity, F : Force,
K: spring constant, B: damping
coefficient

Joshi
Basics of Modeling
Role of Modeling
In order to proceed with control design, we need to estimate the defi-
ciencies that exist in the Plant/Process.
Examine the behavior of the plant under operating conditions
Requires a methodology for generating relevant responses
Basics of Modeling
What is a Model?
Model is a view of the

system that captures the
objectives to be satisfied
by the system.
Model represents an imi-
tation of reality, in terms
of those features that de-
scribe the operation of
any system.
Types of Models
Sketch
Most common, easy to understand

Useful for explaining concepts
Types of Models
Drawing
Drives the manufacturing process

Types of Models
Design Data
Model is in the form of data points corresponding to system behavior.
Types of Models
Schematic
Provides overview of system process/components

Includes data/information flow
Types of Models
Analogy
Figure: Left image: Mechanical system, Right image: Electrical system
Brings equivalence between different disciplines

Helps in quick assessments of performance at low costs
Types of Models
Mathematical
Newton’s second law:
F = M acm
Spring-mass-damper system:
d2 x dx
F (t) = m 2 + c + kx
dt dt
RLC circuit:
dV d2 I R dI I
= 2 + +
dt dt L dt LC
Tries to capture system features

in mathematical framework
Types of Models
Mockup
Provides full scale size feel
Types of Models
Cut Section
Provides internal layout

Helps in re-engineering
Types of Models
Scaled Test
Important aid in verifying designs

Concepts through less expensive lab level tests
Choice of Model Type
In the context of control, models are generally mathematical or exper-

imental.
The choice depends on knowledge base and resources.
Mathematical model is used when
Valid solvable theory exists
Necessary computational resources exist
Experimental model is used when
Mathematical techniques are inadequate
Comparison of Model Types
Mathematical Model
Easy to build
Less expensive
Less accurate
Experimental Model
More realistic
Difficult to synthesis
Expensive
As a first step, the models employed for control analysis and design are
mathematical in nature.
Mathematical Model
A control system may be composed of various components

Mechanical
Thermal
Fluid
Pneumatic
Electrical
Sensors
Actuators
Computers
Model must capture all the dynamics of these components.
In general, such models can be created from First Principles.
Mathematical Model
First Principles
We can employ basic laws of
physics.
All of the components/ processes
involve
Mechanics
Thermodynamics
Fluid dynamics
Electrical
Magnetism
This method gives idealized be-
havior, and ignores non-essential
features (as certain assumptions
are made).
Mathematical Model
First principle models are inaccurate.
Figure: Source - “Cartoon Tour Of Control Theory” by S. M. Joshi
Mathematical Model
Mathematical models are inaccurate due to

Neglecting less essential parameters
Temperature effect on resistance
Higher-order terms of Cl in calculating Cd
Measurement errors
Mass cannot be measured accurately.
Theories based on assumptions
Assumption in Bernoulli’s theorem like - Fluid is incompressible, non-
viscous and steady.
Mathematical Model - Mechanical System
Translational Motion
Linear Spring
The force acting on the spring is directly proportional to the displace-
ment/deformation
f (t) = ky(t)
Linear Damper
The force acting on the damper is directly proportional to the velocity
dy(t)
f (t) = b
dt

Two-mass system: Suspension model
Two-mass system: Suspension model (cont...)

Force balance provides
b(ẏ − ẋ) + ks (y − x) − kw (x − r) = m1 ẍ
−ks (y − x) − b(ẏ − ẋ) = m2 ÿ
Some rearrangement gives

b ks kw kw
ẍ + (ẋ − ẏ) + (x − y) + x= r
m1 m1 m1 m1
b ks
ÿ + (ẏ − ẋ) + (y − x) = 0
m2 m2
Rotational motion - Pendulum

The moment of inertia about
pivot point is
I = ml2
The equation of motion can be

obtained using torque balance
Tc − mgl sin θ = I θ̈
On rearranging
g Tc
θ̈ + sin θ =
l ml2
Mathematical Model - Electrical System
Elements of electrical circuits:

dv
i=c
dt
di
v=L
dt
v = Ri
i: current (Amperes), v: volt-

age (volts), R: resistor (ohms),
c: capacitor (Columbs), L: in-
ductance (Henries)
Figure: Source - “Cartoon Tour Of
Control Theory” by S. M. Joshi
Input: f (force) & Output: x2
m1 ẍ1 = k1 x1 + k2 (x2 − x1 )
m2 ẍ2 = f + k2 (x1 − x2 )
Input: vin & Output: vc
dv
i=c
dt
vc = vin + ri
Figure: Source - “Cartoon Tour Of
dv
Control Theory” by S. M. Joshi vc = vin + rc
dt
System is represented by block or

box which has inputs and out-
puts.
Systems can be connected to
each other in series to form a new
Figure: Source - “Cartoon Tour Of system.
Control Theory” by S. M. Joshi

Electrical Circuit
v1 dv1 dv2 v2 diL

i3 = i1 = C1 i2 = C2 i4 = v1 − v2 = L
R1 dt dt R2 dt
v1 dv1 dv2 v2 diL

i(t) = + C1 + iL i L = C2 + v1 = L + v2
R1 dt dt R2 dt
Mathematical Model - Fluid System
Water Tank 1
Assuming incompressible flow

1
ḣ = (win − wout )
Aρ
Water Tank 2
Water Tank 2 (cont...)

Resistance of Liquid level system
change in level difference, m dH
R= 3
=
change in flow rate, m /sec dQ
The steady state flow rate (for turbulent flow) is given by

√
Q=K H
The resistance Rt for turbulent flow is

2H 2H
Rt = →Q=
Q Rt

Water Tank 2 (cont...)
Capacitance of Liquid level system
change in liquid stored, m3 (qi − qo )dt
C= =
change in head, m dh
We see that,
Cdh = (qi − q0 )dt
From definition of resistance
2h
q0 =
R
The differential equation for this system for a constant value of R
becomes
dh
RC + h = Rqi
dt
Mathematical Model - Thermal System
Conductive or convective heat transfer coefficient
q = K∆θ
where,
q = heat flow rate, kcal/sec
∆θ = temperature difference, 0 C
K = coefficient, kcal/sec 0 C
The coefficient K is given by

kA
K= , for conduciton
∆x
= HA, for convection
where,
k = thermal conductivity, kcal/m sec 0 C
A = area normal to heat flow, m2
∆x = thickness of conductor, m
H = convection coefficient, kcal/m2 sec 0 C
Assume that the temperature of the inflowing liquid is kept constant.

Let the heat input rate to the system (heat supplied by the heater) is
changed from Q0 to Q0 + qi .
The heat outflow rate then changes gradually to Q0 + qo .
The temperature of the outflow liquid also be changed from θ0 to θ0 +θ.
Hence, the change in temperature is θ and the change in output heat
flow rate is qo .
As per definition of the thermal resistance,
θ
R= .
q0

Thermal resistance R is defined by
change in temperature difference,0 C ∆θ ∆θ

R= = =
change in heat flow rate, kcal/sec q K∆θ
R = 1/K
Thermal capacitance C is defined by
change in heat stored, kcal mc∆θ (qi − qo )dt

C= = =
change in temperature,0 C ∆θ dθ
C = mc
where,
m = mass of substance considered, Kg
c = specific heat of substance, kcal/Kg 0 C
The heat balance equation for this system is
Cdθ = (qi − qo )dt.
R can be obtained as
θ
R= .
q0
Rearranging the equations gives
dθ
RC + θ = Rqi .
dt
Mathematical Model - State Space
State - Minimum set of variables, known as state variables, that fully

describe the system and its response to any given set of inputs

State Space Representation Principles
1 Identify the states of the system such as
position
velocity
inductor current
capacitor voltage
dx1 dx2 dxn
2 Use physics to find dt , dt , . . . , dt
3 Organize as
dx
= f (x, u)
dt
where, T
x= x1 x2 · · · xn is the state vector
T
u= u1 u2 · · · um is the control input vector

DC Motor

DC Motor (cont...)
The states are:
x1 = θ − motor angle
x1 = θ̇ − motor angular velocity
x3 = ia − armature current
Equations of motion:
dθ
x˙1 = = θ̇ = x2
dt
dθ̈1
x˙2 = = θ̈
dt
Balancing the torque from the free body diagram:
J θ̈ = −bθ̇ + T
−bθ̇ = viscous drag on rotor
T = torque due to current = Kt ia

DC Motor (cont...)
So, the following can be written as
b Kt
θ̈ = − θ̇ + ia
J J
b Kt
x˙2 = − x2 + x3
J J
The power supplied to the motor is
P = ia e = T θ̇ = Kt ia θ̇ =⇒ e = Kt θ̇
Now we can find dia /dt using the Kirchhoff’s voltage law
dia 1
= (va − ia Ra − e)
dt L
1
= (va − ia Ra − Kt θ̇)
L
DC Motor (cont...)
Therefore,
kt Ra 1
x2 −
x˙3 = −+ va
L L L
The state space form is represented by
   
0 1 0  0
 
 
 b Kt   
ẋ = 0 − 0
 
x+   va
 
J J 

   
−Kt −Ra  1
 

0 − −
L L L
References I
Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini: “Feed-

back Control of Dynamic Systems”, Pearson Education, Inc., Upper
Saddle River, New Jersey, Seventh Edition, 2015.
Katsuhiko Ogata: “Modern Control Engineering”, Pearson Education,
Inc., Upper Saddle River, New Jersey, Fifth Edition, 2010.
Brain Douglas: “The Fundamentals of Control Theory ”, 2019.
Farid Golnaraghi and Benjamin C. Kuo: “Automatic Control Systems”,
John Wiley & Sons, Inc., New Jersey, Ninth Edition, 2010.
Karl Johan Åström and Richard M. Murray: “Feedback Systems - An
Introduction for Scientists and Engineers”, Princeton University Press,
Second Edition, 2019.
Norman S. Nise: “Control Systems Engineering”, John Wiley & Sons,
Inc., New Jersey, Sixth Edition, 2011.
References II
S. M. Joshi: “Cartoon Tour of Control Theory: Part I - Classical Con-

trols”, 1990-2015.
Ashok Joshi: “System Modeling Dynamics and Control”, Lecture Notes,
IIT Bombay, Mumbai, 2019.

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AE 308: Control Theory

AE 775: System Modelling, Dynamics and Control

Dr. Arnab Maity

Big Picture - System Identification Problem

Big Picture - System Identification Problem

Figure: Source - “The Fundamentals of Control Theory” by B. Douglas

People did not know to model/ pre-

Figure: Source - “Cartoon Tour

Science of math modeling was born

Figure: Source - “Cartoon Tour

The art of analyzing physical sys-

Figure: Source - “Cartoon Tour

Model is a view of the

Most common, easy to understand

Drives the manufacturing process

Model is in the form of data points corresponding to system behavior.

Provides overview of system process/components

Figure: Left image: Mechanical system, Right image: Electrical system

Brings equivalence between different disciplines

Tries to capture system features

Provides full scale size feel

Provides internal layout

Important aid in verifying designs

Choice of Model Type

In the context of control, models are generally mathematical or exper-

Comparison of Model Types

A control system may be composed of various components

First principle models are inaccurate.

Figure: Source - “Cartoon Tour Of Control Theory” by S. M. Joshi

Mathematical models are inaccurate due to

Mathematical Model - Mechanical System

Mathematical Model - Mechanical System

Mathematical Model - Mechanical System

Two-mass system: Suspension model (cont...)

Some rearrangement gives

Mathematical Model - Mechanical System

Rotational motion - Pendulum

The equation of motion can be

Mathematical Model - Electrical System

Elements of electrical circuits:

i: current (Amperes), v: volt-

Mathematical Model - Electrical System

Input: f (force) & Output: x2

Input: vin & Output: vc

Mathematical Model - Electrical System

System is represented by block or

Mathematical Model - Electrical System

v1 dv1 dv2 v2 diL

v1 dv1 dv2 v2 diL

Mathematical Model - Fluid System

Assuming incompressible flow

Mathematical Model - Fluid System

Mathematical Model - Fluid System

Water Tank 2 (cont...)

The steady state flow rate (for turbulent flow) is given by

The resistance Rt for turbulent flow is

Mathematical Model - Fluid System

Mathematical Model - Thermal System

Conductive or convective heat transfer coefficient

Mathematical Model - Thermal System

The coefficient K is given by

Mathematical Model - Thermal System