UNIVERSIDAD TECNOLÓGICA EL RETOÑO “UTR”

BIS-UNIVERSITIES

ENGINEERING IN MECHATRONICS

MATHEMATICS FOR ENGINEERING II

INVESTIGATION PARTIAL 1

TEACHER: CRISTIAN ALEXIS CALVILLO ARELLANO

TEAM MEMBERS:

GABRIELA ALEJANDRA VALADEZ LÓPEZ - 3784

JIMENA GARCIA MACIAS - 3573

PAOLA SARAÍ LUEVANO GOMEZ - 3425

MARYA ANDREA MARTÍNEZ CARREÓN - 3533

ANGEL GABRIEL SERRANO VILLALPANDO - 3510

GROUP: IMT8A

EL RETOÑO AGS., JUNE 2ND, 2024

INDEX

FIGURE INDEX........................................................................................................... 2
INTRODUCTION......................................................................................................... 1
I. CONCEPTUAL FRAMEWORK................................................................................2
1.1. Differential equations.......................................................................................2
1.2. Mathematical model........................................................................................ 2
1.3. Dynamic equilibrium........................................................................................ 2
1.4. RLC circuit.......................................................................................................2
1.5. PID controller...................................................................................................3
II. IDENTIFICATION AND ANALYSIS OF APPLICATION AREAS............................ 4
2.1. Mechanical Systems....................................................................................... 4
Figure 1. Example of mechanic system............................................................ 5
2.2. RLC Circuit...................................................................................................... 5
Figure 2. Schematic diagram of an RLC circuit................................................ 6
2.3. PID Controller Design......................................................................................6
Figure 3. Block diagram of a PID control system..............................................6
III. PERSONAL CONCLUSIONS................................................................................ 7
IV. SOURCES CONSULTED.......................................................................................9
FIGURE INDEX

Figure 1. Example of mechanic system.......................................................................5

Figure 2. Schematic diagram of an RLC circuit........................................................... 6
Figure 3. Block diagram of a PID control system.........................................................6
 1

INTRODUCTION

Differential equations are a fundamental tool in applied mathematics, with

applications that extend to virtually all branches of science and engineering. Their
importance lies in their ability to model the dynamic behavior of complex systems,
allowing researchers and practitioners to understand and predict how such systems
evolve over time. This predictive power is crucial in areas as diverse as physics,
biology, economics and engineering, among many others. Throughout this paper we
will be reviewing several of the applications of differential equations in various areas
of daily life or work life, as well as the importance of each of these. We will also be
analyzing problems related to differential equations and how to solve them.
Differential equations are a cornerstone of modern science and engineering. Their
ability to model and predict the behavior of dynamic systems makes them an
essential tool for research, development and practical application in a wide range of
disciplines. Understanding and mastering differential equations not only enables
scientists and engineers to tackle complex problems with greater accuracy, but also
opens up new frontiers in knowledge and technology.
 2

I. CONCEPTUAL FRAMEWORK

1.1. Differential equations

Differential equations are equations that relate a function with one or more of its
derivatives. This means their solution is a function.

1.2. Mathematical model

A representation of a biological process, system, or relationship by means of a

mathematical equation or set of equations, often involving several random variables.
The model usually consists of a mixture of variables and one or more associated
constants or parameters. A model that does not involve random variables is
deterministic.

1.3. Dynamic equilibrium

Many physical and chemical processes are reversible. A reversible process is said to
be in dynamic equilibrium when the forward and reverse processes occur at the
same rate, resulting in no observable change in the system. Once dynamic
equilibrium is established, the concentrations or partial pressures of all species
involved in the process remain constant.

1.4. RLC circuit

An RLC circuit consists of three key components: resistor, inductor, and capacitor, all
connected to a voltage supply. These components are passive components,
meaning they absorb energy, and linear, indicating a direct relationship between
voltage and current.
 3

1.5. PID controller

Proportional integral derivative (PID) control is the most common control algorithm
used in industry and has been universally accepted in industrial control. The
popularity of PID controllers can be attributed in part to their robust performance over
a wide variety of operating conditions and in part to their functional simplicity, which
allows engineers to operate them in a simple and straightforward manner. The PID
algorithm consists of three basic coefficients; proportional, integral and derivative
that are varied to obtain an optimal response.
 4

II. IDENTIFICATION AND ANALYSIS OF APPLICATION

AREAS

2.1. Mechanical Systems

An equation can be derived from Newton's second law of motion (which is

formulated for translation), expressing the dynamic equilibrium of a body of constant
mass moment of inertia J rotating about a fixed axis:

𝐽θ¨ = ∑𝑗 = 1𝑛𝑚𝑡𝑗

Where 𝑚𝑡𝑗 are the torques acting on the rotating body and the rotary acceleration is
θ¨ = 𝑑2θ(𝑡)/𝑑𝑡2 .

This equation enables deriving mathematical models formed of the differential

equation(s) connecting the input and the output through system component
parameters. The equations based on Newton's second law of motion and the
free-body diagrams are utilized to determine the free and forced responses of
mechanical systems.
An equation can be derived from Newton's second law of motion (which is
formulated for translation), expressing the dynamic equilibrium of a body of constant
mass moment of inertia J rotating about a fixed axis:

𝐽θ¨ = ∑𝑗 = 1𝑛𝑚𝑡𝑗

Where 𝑚𝑡𝑗 are the torques acting on the rotating body and the rotary acceleration is
θ¨ = 𝑑2θ(𝑡)/𝑑𝑡2 .

This equation enables deriving mathematical models formed of the differential

equation(s) connecting the input and the output through system component
parameters. The equations based on Newton's second law of motion and the
free-body diagrams are utilized to determine the free and forced responses of
mechanical systems.
 5

Figure 1. Example of mechanic system

2.2. RLC Circuit.

Differential equations are used in RLC (resistor-inductor-capacitor) circuits because

they provide a mathematical description of how voltages and currents change with
respect to time in these circuits. In an RLC circuit, the behavior of the circuit is
governed by the relationships between voltage, current, resistance, inductance, and
capacitance. These relationships can be described using differential equations
derived from Kirchhoff's laws, which are fundamental principles in electrical circuit
analysis. By solving these differential equations, engineers can analyze and predict
the behavior of RLC circuits under different conditions, such as when a voltage
source is applied or when the circuit is in a steady state. This analysis helps in
designing and optimizing circuits for specific applications, such as filters, oscillators,
amplifiers, and power supplies.

2
𝑑𝑖 𝑑𝑡 1
𝐿 2 +𝑅 𝑑𝑖
+ 𝐶
​𝑖 = 𝑉(𝑡)
𝑑𝑡
 6

Figure 2. Schematic diagram of an RLC circuit.

2.3. PID Controller Design

The PID controller is based on differentiation and integration, so we can implement

the control system even without a deep understanding of control theory. Further,
even though the compensator is simple, it is quite sophisticated in that it captures the
history of the system (through integration) and anticipates the future behavior of the
system (through differentiation).

The output of a PID controller, which is equal to the control input to the plant, is
calculated in the time domain from the feedback error as follows:

𝑑𝑒
𝑢(𝑡) = 𝐾𝑝​𝑒(𝑡) + 𝐾𝑖​∫​𝑒(τ)𝑑τ + 𝐾𝑝 𝑑𝑡
​

Figure 3. Block diagram of a PID control system

 7

III. PERSONAL CONCLUSIONS

Angel Gabriel Serrano Villalpando: In conclusion, differential equations allow

modeling and simulating the dynamic behavior of complex systems in robotics and
automation. For example, in robotics, differential equations are used to describe the
motion of robots and the interaction of their mechanical, electrical and electronic
components. These equations allow engineers to predict and analyze how a robot
will respond to different commands and environmental conditions, which is essential
for designing efficient and safe robots. In addition, in control systems, differential
equations allow the simulation of systems before their physical implementation,
reducing costs and development time.

Gabriela Alejandra Valadéz López: Through this research I learned that in the field
of robotics, differential equations are fundamental to model and predict the behavior
of complex dynamic systems. Robots, both mobile and manipulative, are subject to
various forces and moments that must be described mathematically to understand
how they will move and react in different situations. Differential equations allow these
dynamics to be represented accurately, incorporating factors such as inertia, friction
and external forces, which is essential for designing robots that can perform tasks
with high accuracy and reliability. Without these mathematical tools, it would be
impossible to predict how a robot will respond to specific commands or changes in
its environment, which is crucial for its safe and efficient operation.

Marya Andrea Martínez Carreón: While researching I realized that in control

systems, differential equations play a vital role in the design and optimization of
controllers that regulate the behavior of different systems. PID
(Proportional-Integral-Derivative) controllers, for example, use differential equations
to tune system responses in real time, ensuring stability and optimal performance. In
industrial automation, where precision and efficiency are critical, controllers based on
differential equations make it possible to maintain the operation of machines and
processes within specific parameters, reducing error and improving the quality of the
final product. The ability to model and simulate the behavior of these systems prior to
 8

their practical implementation is indispensable to avoid costly failures and ensure

optimal performance.

Paola Sarai Luevano Gomez: In my view, differential equations are very important
in the simulation and analysis of complex systems. These simulations allow
engineers to evaluate the behavior of automated systems under various operating
conditions without the need for expensive physical tests. For example, in the
automotive industry, differential equations are used to simulate vehicle dynamics and
engine control systems, helping to optimize design and improve energy efficiency.
Similarly, in automated manufacturing, these mathematical tools make it possible to
predict how production lines will react to variations in demand or changes in
processes, facilitating planning and decision making.

Jimena García Macías: In conclusion, differential equations are not only used in
branches such as engineering, but are also used in the field of assistive technologies
and advanced prosthetics. The biomechanics of modern prostheses and robotic
exoskeletons are based on mathematical models that describe motion and forces in
joints and muscles. These models allow engineers to design control systems that
replicate the body's natural movements, improving the comfort and functionality of
prostheses. Furthermore, in rehabilitation, automated devices can use differential
equations to adjust their operation in response to the specific needs of each patient,
speeding up the recovery process and improving therapeutic outcomes.
 9

IV. SOURCES CONSULTED

Differential equations introduction. (s. f.). [Vídeo]. Khan Academy. Retrieved June 2,
2024, from
https://www.khanacademy.org/math/differential-equations/first-order-differential-equa
tions/differential-equations-intro/v/differential-equation-introduction

mathematical model. (n.d.). Oxford Reference. Retrieved June 2, 2024, from

https://doi.org/10.1093/oi/authority.20110803100139955

Dynamic equilibrium. (n.d.). [Video]. Khan Academy. Retrieved June 2, 2024, from
https://www.khanacademy.org/science/ap-chemistry-beta/x2eef969c74e0d802:equili
brium/x2eef969c74e0d802:introduction-to-equilibrium/v/dynamic-equilibrium

Electrical4U. (2024, May 7). RLC Circuit Analysis (Series and Parallel). Electrical4U.
Retrieved June 2, 2024, from https://www.electrical4u.com/rlc-circuit/

Teoría PID explicada. (2006, August 31). NI. Retrieved June 2, 2024, from
https://www.ni.com/es/shop/labview/pid-theory-explained.html

ScienceDirect. (n.d.). Newton's Second Law of Motion applied to mechanical

systems modeling. Retrieved June 2, 2024, from
https://www.sciencedirect.com/topics/engineering/newtons-second-law-of-motion

Quora. (n.d.). Why are differential equations used in RLC circuits? Retrieved June 2,
2024, from
https://www.quora.com/Why-are-differential-equations-used-in-RLC-circuits

University of Michigan. (n.d.). Introduction: PID Controller Design. Retrieved June 2,

2024, from
https://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=Contr
olPID