Tutorial

Ten
Systems Dynamics &
Control Components
Input - output equation

• Represent the system using differential equations of the

inputs, outputs and their derivatives.
• Each equation relates a single output variable and its
derivatives to the inputs and their derivatives.

• ∴ Number of outputs = number of equations

p operator

• Applying p operator on the previous example we get:

• 𝑝2𝑦1+2𝑝𝑦1+2𝑦1=3𝑝𝑢1+2𝑢1+𝑢2+3𝑝𝑢3
• 𝑝2𝑦2+3𝑦2=𝑢1+2𝑝𝑢2+𝑢3
Sheet 3
Solution
1. F.B.D

Note: don’t reduce the spring

And damper as we made the
Reduction only with similar
Types (dampers with dampers
, springs with springs)
2. Modelling equations

3. Using p-operator + taking common factors together +

reshape equations
First Solution:
4. Simplify equations
Let C1 = Mp2 + B1p+K1
C2 = B2p + K1 + K2
∴ C1x1 – K1x2 = fa(t) 1
-K1x1 + C2x2 = 0 2
5. i/o equation for x2
𝐶2
from 2 => x1 = 𝑥2
𝐾1
subs in 1:
𝐶1𝐶2
𝑥2 − 𝐾1𝑥2 = 𝑓𝑎 𝑡 ∗ 𝐾1
𝐾1
(C1*C2 – K1) x2 = K1*fa(t)
Subs with the original value of C1 and C2 we will get
6. i/o equation for x1
𝐾1
from 2 => x2 = 𝑥1
𝐶2
subs in 1:
𝐾12
C1x1 − 𝑥1 = 𝑓𝑎 𝑡 ∗ 𝐶2
𝐶2
(C1*C2 – K12) x1 = C2*fa(t)
Subs with the original value of C1 and C2 we will get
• Another Solution using Cramer’s method (faster):
a11 x1 + a12 x2 = b1
a21 x1 + a22 x2 = b2
inputs Coeff. of x2

b1 a12 a11 b1
∴ x1 = ab2 a22 = b1a22 − b2a12 x2 = aa21 b2 = b2a11 − b1a21
11 a12 a11a22 − a12a21 11 a12 a11a22 − a12a21
a21 a22 a21 a22
Coeff.
Determinant (D)
Coefficient of x1
5. i/o equation for x1
fa(t) −K1
0 B2p + K1 + K2
x1 =
Mp2 + B1p+K1 −K1
−K1 B2p + K1 + K2

we will calculate the coefficients determinant first “ it is common

for x1 and x2
 Mp2 + B1p+K1 −K1
•
−K1 B2p + K1 + K2

= MB2p3 + (MK1 + MK2 + B1B2) p2+ (B1K1 + B1K2 + B2K1)p + K12

+ K1K2 – K12

= MB2p3 + (MK1 + MK2 + B1B2) p2+ (B1K1 + B1K2 + B2K1)p + K1K2

 fa(t) −K1
• = (B2p + K1 + K2)(fa(t))
0 B2p + K1 + K2

(B2p + K1 + K2)(fa(t))
• ∴x1 = MB p3 + (MK + MK + B B ) p2+ (B K + B K + B K )p + K K
2 1 2 1 2 1 1 1 2 2 1 1 2

• ∴ MB2𝑥ഺ1 + (MK1 + MK2 + B1B2) 𝑥1ሷ + (B1K1 + B1K2 + B2K1) 𝑥1ሶ +

ሶ
K1K2x1 = B2𝑓𝑎(𝑡)+ (K1 + K2)∗fa(t)
• The same steps for x2 we will get

• ∴ MB2𝑥ഺ2 + (MK1 + MK2 + B1B2) 𝑥2ሷ + (B1K1 + B1K2 + B2K1) 𝑥2ሶ +

K1K2x2 = K1 ∗fa(t)
Note solving 3*3 system by Cramer's is as
follows
a11 x1 + a12 x2 + a13 x3 = b1
a21 x1 + a22 x2 + a23 x3 = b2
a31 x1 + a32 x2 + a33 x3 = b3
+ - +
a11 a12 a13
D= a21 a22 a23 = a11 * (a22*a33 - a23*a32 ) - a12 * (a21*a33 - a23*a31 )
a31 a32 a33
+ a13 * (a21*a32 - a22*a31 )
 b1 a12 a13
• Dx1 = “x1 = Dx1/D”
b2 a22 a23
b3 a32 a33
a11 b1 a13
• Dx2 = “x2 = Dx2/D”
a12 b2 a23
a13 b3 a33
a11 a12 b1
• Dx3 = “x3 = Dx3/D”
a12 a22 b2
a13 a32 b3
• We could covert between State space and Input-Output
Equations
Sheet 2
Solution
• One output => one equation
1. Getting state space representation (solving matrix form):
• 𝑥1ሶ = 𝑥2 + 𝑢
• 𝑥2ሶ = 𝑥3 + 𝑢
• 𝑥3ሶ = 𝑥1 − 3𝑥2 + 3𝑥3 + 𝑢
• y = x1
2. p-operator:
• px1= 𝑥2 + 𝑢 px1 − 𝑥2 = 𝑢
• px2 = 𝑥3 + 𝑢 px2 − 𝑥3 = 𝑢
solve
• px3 = 𝑥1 − 3𝑥2 + 3𝑥3 + 𝑢 - 𝑥1 + 3𝑥2 + (𝑝 − 3)𝑥3 = 𝑢
• y = x1 x1 = y
 𝑝 −1 0
•D= 0 𝑝 −1 = p(p2-3p+3)-1 = p3 -3p2+3p-1
−1 3 𝑝−3

𝑢 −1 0
• Dx1 = 𝑢 𝑝 −1 = u(p2-3p+3)+u(p-3)+u = (p2-2p+1)*u
𝑢 3 𝑝−3
 𝐷𝑥1 (p2−2p+1)∗u
• y = x1 = = 3
𝐷 p −3p2+3p−1

• (p3 −3p2+3p−1)*y = (p2−2p+1)∗u

• 𝑦ഺ − 3𝑦ሷ + 3𝑦ሶ − 𝑦 = 𝑢ሷ - 2𝑢ሶ + u

• Matrix form if needed

𝑥1ሶ 0 1 0 𝑥1 0
• 𝑥2ሶ = 0 0 1 𝑥2 + 0 u
𝑥3ሶ −6 −11 −6 𝑥3 6

𝑥1
•y= 1 0 0 𝑥2 + [0] u
𝑥3
Rotational systems
Sheet 3
Solution
• The output equation of angular acceleration of J2 is given by

In Matrix Form
Solution