University of Bahrain

College of Engineering
Department of Mechanical Engineering

MENG 485

SYSTEM AND CONTROL

Introduction To Dynamic System Modeling

And Analysis
(1)
SYSTEM DYNAMICS AND CONTROL
• Credits: Cr-Lt-Lb: 3-3-1
• Prerequisite:

• Textbook: Ogata, K.,

“System Dynamics,”
4th Ed., Prentice-Hall
Publishing, 2004 or
later.
SYSTEM DYNAMICS AND CONTROL
Lecture::
Sec1: Monday and Wednesdays
9:30am-10:45am, Lab 3:00pm-3:50pm
Sec2: Monday and Wednesdays
1:00pm-2:15pm, Lab 4:00-4:50
SYSTEM DYNAMICS AND CONTROL
Grade Distribution
Quizzes/Home Work/Labs 30%
2 Tests 30%
Final Exam 40%
The passing Marks 60%
SYSTEM DYNAMICS AND CONTROL
Course Policies
• According to department and college
requirements and policy, absence is 25% of
the total credit hours.
• Homework should be submitted on time, late
submission is not acceptable.
SYSTEM DYNAMICS AND CONTROL
Course Description
• Dynamics of mechanical, fluid, electrical and thermal systems.
• Equations of motion.
• Dynamic response of elementary systems.
• Transfer functions and pole-zero diagrams.
• Simulation of dynamics of complex systems.
• Dynamic stability of systems.
• Open and closed-loop systems.
• Basic control actions.
• Laboratory sessions involving use of computers for simulation
of dynamic systems and analysis of control systems.
SYSTEM DYNAMICS AND CONTROL
Course Objectives
At the completion of this course, students will be able to:
– Use Laplace Transform for solving linear, time-invariant
differential equations
– Model mechanical, electrical, fluid and thermal systems
– Generate transfer functions and block diagrams of
dynamical systems
– Analyze response of dynamic systems, including
determining system stability, time-domain and frequency-
domain response
– Apply computer software for dynamic system simulation
– Design basic control systems and controllers
SYSTEM DYNAMICS AND CONTROL
Week No Lecture Topic
Week 1 ……………………………………………………………………..

Week 2 Introduction to dynamic system modeling and analysis

Laplace transform, Solving linear-time-invariant
differential equations
Week 3 Mechanical system
Transfer function approach to modeling dynamic
systems
Assignment
Week 5 State-space approach to modeling dynamic systems
1
Assignment
Electrical and electromechanical systems, fluid systems 2
and thermal systems

Week 8 Time-domain analysis of dynamic systems

SYSTEM DYNAMICS AND CONTROL
Week 9 Frequency domain analysis of dynamic systems

Time-domain analysis, Block diagrams simplification

Week 11 Design of control systems (P, PD and PID controllers)

Transient-response specifications. Quiz1

Week 12 Stability analysis

Root-locus analysis Test2

Bode diagram representation of the frequency
Week 14 Quiz2
response
Week 15 Review

Final Exam
SYSTEM DYNAMICS AND CONTROL
Control Systems
• Control Systems are an integral part of a modern
society. Many devices ranging from home appliances to
automobiles to sophisticated aerospace systems use
some forms of feedback control.
• Control Systems are not limited to “man-made”
technologies. Biological species cannot function and
survive without feedback control, e.g., regulating
temperature, hormones, heart-rate, etc.
• Micro-processors are a vital component of most
modern control systems and have changed the way
control systems are built.
Examples of Modern Control Systems

(a) Automobile
steering control
system.
(b) The driver uses
the difference
between the actual
and the desired
direction of travel
to generate a
controlled adjustment
of the steering wheel.
(c) Typical direction-
of-travel response.
SYSTEM DYNAMICS AND CONTROL
Temperature Control (Example)
Feedback controller automatically adjusts the
input based on the sensed output in order to
make the output to follow the desired output.
SYSTEM DYNAMICS AND CONTROL
Two Main Approaches
Control theory has been approached from two main
directions:
1) Classical approach (1930): Transfer functions and
frequency domain techniques
2) Modern approach(1950): State Space models and
time domain techniques
Classical techniques are suited for SISO systems.
Modern control was introduced to deal with large scale MIMO
systems, mostly encountered in aerospace applications.
SYSTEM DYNAMICS AND CONTROL
Mathematical Modeling (MM)
• A mathematical model represent a physical
system in terms of mathematical equations
• It is derived based on physical laws (e.g.,
Newton’s law, Hooke’s, circuit laws, etc.) in
combination with experimental data.
• It quantifies the essential features and behavior
of a physical system or process.
• It may be used for prediction, design modification
and control.
SYSTEM DYNAMICS AND CONTROL
Engineering Modeling Process
SYSTEM DYNAMICS AND CONTROL
Contemporary Applications
• Aerospace Industry
– aircrafts, satellites, missiles
• Manufacturing & Robotics
– NC machine tools, robots, automated assembly
• Automotive’s Industry
– Anti-Lock Break Systems (ABS), active suspension
– power-train (engine, transmission) control
SYSTEM DYNAMICS AND CONTROL
• A system is a combination of components
acting together to perform a specific
objective.
• A component is a single functioning unit of a
system.
 System – An interconnection of elements and devices for a desired purpose.

Control System – An interconnection of components forming a system configuration

that will provide a desired response.

Process – The device, plant, or system

under control. The input and output
relationship represents the cause-and-
effect relationship of the process.
SYSTEM DYNAMICS AND CONTROL
System Variables

•Input variables originate outside the system and are not

affected by what happens in the system.
•Output variables are the internal variables that are used to
monitor or regulate the system. They result from the
interaction of the system with its environment and are
influenced by the input variables
SYSTEM DYNAMICS AND CONTROL
Static vs. Dynamic Systems
• A system is said to be static if its output at time t,
y(t), is a function of the input at time t, u(t). In
another words, a change in input causes an
instantaneous change in output.
SYSTEM DYNAMICS AND CONTROL
Static vs. Dynamic Systems
• A system is said to be dynamic if its current output
may depend on the past history as well as the
present values of the input variables.
• In a dynamic system, the output changes with time if
the system is not in a state of equilibrium.
SYSTEM DYNAMICS AND CONTROL
For many physical systems, useful Mathematical
Models are described in terms of Differential
Equations.

In this course, we consider Single Input Single Output

(SISO) dynamic systems whose input-output
relationship governed by an Ordinary Differential
Equation (ODE)
SYSTEM DYNAMICS AND CONTROL
Linear vs. Nonlinear Differential Equations
Linear, time-invariant DE:

Linear, time-varying DE:

It is important to remember that, in order to be linear, the

equation must contain no powers or other functions or
products of the dependent variables or its derivatives.

Hint: x: dependent variable ; t: independent variable

SYSTEM DYNAMICS AND CONTROL
Linear vs. Nonlinear Differential Equations

A differential equation is called nonlinear if it is not

linear.
SYSTEM DYNAMICS AND CONTROL
Linear Systems vs. Nonlinear Systems

The principle of superposition is applicable for ONLY

linear systems.

For nonlinear systems, a linearization is performed near

the operating condition.

Laplace Transform technique is a powerful tool for

solving linear (constant-coefficient) differential
equations.
SYSTEM DYNAMICS AND CONTROL
• Complex numbers
– Euler's theorem
– Complex algebra
• Complex variable
• Complex function