System dynamics

(MED 221)
Chapter One: Introduction to System Dynamics

Level 4

Mechatronics Department
Course instructor

Assos .Prof. Mohamed Abdelrahman

2022
Course content
Weeks Topics
1 Introduction to system dynamic
2 Mathematical Modelling
3 Linear Mechanical System
4 Rotational Mechanical System
5 Electrical System
6 System Analogy
7 Transfer Functions
8 Mid-Term Exam
9 Electronic System
10 Electromechanical Systems
11 Electromechanical Systems
12 Application and course Project
13 Application and course Project
14 Revision
15 Final Exam
 • Ogata, K. Modern Control Engineering, 5th ed . Prentice Hall, Upper
Saddle River, NJ, 2010.
• Ogata, K. system dynamics, fourth edition
References • Nise, N. S. Control System Engineering, 6th ed. John Wiley & Sons
Ltd., UK, 2011.

3
Scientific Understanding

THEORY MODELING & EXPERIMENTATION

SIMULATION
➢ Mathematical modeling

o Mathematical modeling can be broadly defined as a formulation or equation that expresses the essential
features of a physical system or process in mathematical terms.

Analysis
Physical system Equations
(mathematical modeling)
• Equation on motion (Newton ) Laws
• Mechanical • Ohm & Kirchhoff laws
• Electrical • continuity & momentum
• Hydraulic & • Energy equation
Pneumatic
• Thermal Differential equations

• Electromechanical Difference equations

• Chemical
Input / output relations
Simulation
Tools
Introduction to
system
 What is systems?
Most systems that surround us are :

• Multidimensional

• Extremely complex

• Time varying

• Nonlinear in nature

As they are comprised of large varieties of actively or

passively interacting sub-systems
Multidimensional
Complex
systems
 Linear and Nonlinear
Superposition Rules
• If a X = a Y , b X = b Y
• a X + b X = a Y + b Y , linear system
Input (X) System Output (Y)

• a X + b X≠a Y + b Y , Nonlinear system

Time varying system
What is systems?

➢System is derived from the Greek word systema , which means an

organized relationship among units or components.

• System : a collection of entities (people or machines) that act and

interact together toward the accomplishment of some logical end.

• System is a collection of interconnected components.

 What is systems?

System as collection of
interconnected components.
What is systems?
Some examples of the systems are:
• Medical / biological systems
• Socioeconomic systems
• Communication and information systems
• Planning systems
• Solar system
• Environmental systems
• Manufacturing systems
• Transportation systems
• Physical systems – electrical , mechanical , thermal , hydraulic systems , and
combination of them
What is systems?
Every system consists of subsystem or components at lower levels and supersystems at
higher levels.
What is systems?
• A system is characterized by the following
attributes:
1. System boundary
2. System components and their interactions
3. Environments
• System boundary
To study a given system, it is necessary to determine
what comprises (falls inside and what falls outside)
a system
 Environment
System
What is the systems?
It is partitioning line between the environment and the system.
System
boundary
System is inside the boundary and environment is outside the system.

A real or imaginary boundary separates the system from the rest of the
universe, which is referred to as the environment or surroundings.

System exchanges input-output from its environment.

This boundary might be material boundary (like the skin of a human body)
or immaterial boundary (like the membership to a certain social group).
What is the systems?
System Boundary

• It helps in identifying the system and its components.

• The interaction between a system and its environment takes place mainly at the boundaries.

• It determines what can enter or leave a system (input and output).

• System boundary may be crisp (clearly defined ) or fuzzy (ill defined).

➢ In crisp boundaries , it is quite clear that what is inside the boundary (i.e. Part of system) and what is
outside the boundary (i.e. Part of environment).

➢ In fuzzy boundaries , it is not very clear whether a particular component belongs to the environment or the
system.
 What is systems?

System components and their interaction

• System component is a fundamental building block.

• It is quite easy to find the input – output relations for the system components using

fundamental laws of physics, which is called the mathematical model for

components.

• It may be written in the form of difference or differential equations.

 What is systems?
Business System

Customers
+
Suppliers
Inputs + Ouputs
Other industries
• Materials Services + • Product
• New Equipment's
Government • Waste Materials
• New Employees
• Money
• Facilities
 System components and their interactions

• It is static or dynamically changing with time , input , or state

of the system.

• Interaction may be constrained or non-constrained type.

What is the
system? • The component interaction may be unidirectional or
bidirectional.

• Interaction strength may be 0 , 1 , or between 0 and 1.

 What is the system?
Environment

• It represents everything that is important to understand the functioning

of the system but is not a part of the system.

• It is that part of the world that can be ignored in the analysis except for
its interaction with the system

Black Box System White Box System

Classification of systems
❑ System can be classified on the basis of :

➢Time frame ,

➢Type of measurements taken ,

➢Type of interactions ,

➢Nature,

➢Type of components.
Classification of systems
According to the Time Frame
❖ Systems can be categorized on the basis of time frame as
➢Discrete
➢Continuous
➢Hybrid
 Classification of systems
➢ Discrete system : in which the state variables change instantaneously at separated points in time .

❖ Ex. queuing system (bank , telephone network m traffic lights).

❖In a bank system , state variable are the number of customers in the bank , whose value changes only when
a customer arrives or when a customer finishes being served and departs.
Classification of systems
➢ Continuous system : in which the state variables change continuously with respect to time .

❖ Ex. Solar system , spread of pollutants , charging a battery .

❖ Ex. An airplane moving through the air , since state variable such as position and velocity
can change continuously with respect to time.

➢ Hybrid system : is a combination of and discrete dynamic system behavior .

➢ Hybrid system has the benefit of encompassing a larger class of systems within its structure ,
allowing more flexibility in modeling continuous and discrete dynamic phenomena.
Classification of systems
❑According to the complexity of the system.
System can be classified on the basis of complexity
➢ physical systems
➢Conceptual systems
➢Esoteric systems
 Classification of systems
➢Physical system ; variables can be measured with physical devices

Ex. Electrical system , mechanical systems , computer systems , hydraulic systems , thermal
systems , or a combination of theses systems.

Physical system is a collection of components , in which each component has its own
behavior , used for some purpose .

These systems are relatively less complex.

 Classification of systems
Conceptual systems : in which all the measurements are conceptual or
imaginary.

Ex. Psychological systems , social systems , health care systems , and

economic systems.

Conceptual systems are those systems in which the quantity of interest

cannot be measured directly with physical devices.
These are complex system
 Classification of systems
Esoteric systems : in which all the measurements are not possible
with physical measuring devices.

The complexity of these systems is of highest order. (Black box)

Classification of systems

❑According to the Interactions , may be ;

▪ Unidirectional or bidirectional ,
▪ Crisp or fuzzy ,
▪ Static or dynamic
➢ System will be divided into three classes according to the degree of interaction of events ,
✓ Independent – systems
✓ Cascade – systems
✓ Couples – systems
Classification of systems
➢Independent – if the events have no effect upon one another.,

➢Cascaded – if the effects of the events are unilateral (that is , part A affects part B , B
affects C , C affects D , and not vice versa ).

➢Coupled – if the events mutually affect each other.

Classification of systems
❑According to the Nature and Type of Components

➢Static or dynamic components.

➢Linear or nonlinear components.

➢Time – invariant or Time – variant components

➢Deterministic or stochastic components.

Classification of systems
❑According to the Uncertainties Involved

➢Deterministic No uncertainty in any variables (model of pendulum).

✓System that will always produce the same output for a given input.

➢Stochastic : some variables are random , (airplane in flight with random wind gusts ,
mineral – processing and phone network with random arrival and call lengths).

✓System that will produce different outputs for a given input