Mathematical Models of Systems

Introduction
Differential Equations of Physical
Systems
The Laplace Transform
Transfer Function of Linear Systems
 A mathematical model is a set of equations (usually
differential equations) that represents the dynamics
of systems.
In practice, the complexity of the system requires
some assumptions in the determination model.
The equations of the mathematical model may be
solved using mathematical tools such as the Laplace
Transform.
Before solving the equations, we usually need to
linearize them.
 How do we obtain the
equations?
Physical law of the process Differential
Equation
Examples:
i. Mechanical system (Newtons laws)
ii. Electrical system (Kirchhoffs laws)
 Example: Springer-mass-damper system

The time function

of r(t) sometimes
called forcing
function

Assumption: Wall friction is a viscous force.

Linearly
f (t ) bv(t ) proportional to
the velocity
 Example: Springer-mass-damper system

Newtons 2nd Law:

bv(t ) ky (t ) r (t ) Ma(t )

d 2 y (t ) dy (t )
M 2
b ky (t ) r (t )
dt dt
 Example: RLC Circuit

v(t ) VR VL Vc 0

t
di (t ) 1
L Ri (t ) i ( )d v(t )
dt C0
Thermal System: Thermal Capacitance
Linearization of a Nonlinear function (contd)
Primary variables: pressure, mass and mass flow rate
Conservation of mass:

Conservation of volume:

Fluid density

Fluid capacitance
Liquid Level Systems (2)
 The differential equations are transformed into
algebraic equations, which are easier to solve.
The Laplace transformation for a function of time, f(t)
is:

F ( s ) f (t )e st dt L{ f (t )}
0

dy dy
f (t ) L{ f (t )} L sL{ y (t )} y (0)
If, dt , then, dt
d 2 y (t ) dy (t ) dy (0)
L sL
Similarly, dt 2 dt dt
d 2 y (t ) dy (0)
L
Thus, dt 2 s 2
L{ y (t )} sy ( 0 )
dt
 Example: Spring-mass-damper dynamic equation
d 2 y (t ) dy (t )
M 2
b ky (t ) r (t )
dt dt
Laplace Transform for the equation
above: 2
M [ s Y ( s ) sy (0) y (0)] b[ sY ( s ) y (0)] kY ( s ) R( s )

When r(t)=0, y(0)= y0 yand (0)=0:

Ms 2Y ( s ) Msy0 bsY ( s) by0 kY ( s ) 0

( Ms b) y0 p( s)
Y (s)
Ms bs k q ( s)
2
 Example: Spring-mass-damper dynamic equation

( Ms b) y0 p( s)
Y (s)
Ms bs k q ( s )
2

Some Definitions
i.q(s) = 0 is called characteristic
equation (C.E.) because the roots of
this equation determine the character
of the time response.
ii.The roots of C.E are also called the
poles of the system.
iii.The roots of numerator polynomial
p(s) are called the zeros of the system.
 Transform table:
f(t) F(s)

1. (t) 1 Impulse function

1
2. u(t) Step function
s
1
3. t u(t) Ramp function
s2
n!
4. t u(t)
n
s n 1
1
5. e-at u(t)
sa

6. sin t u(t)
s2 2
s
7. cos t u(t)
s2 2
 Transform
Properties
 Example: Find the Laplace Transform for the
following.

i. Unit function: f (t ) 1

ii. Ramp function: f (t ) t

iii. Step function:

f (t ) Ae at
 Transform Theorem
i. Differentiation Theorem
df (t )
L{ } sF ( s ) f (0)
dt
d 2 f (t ) ( 0)
L{ } s 2
F ( s ) sf ( 0) f
dt 2
ii. Integration Theorem:
t
F (s)
L


0
f ( )d
s
iii. Initial Value Theorem: f (0) lim sF ( s )
t

iv. Final Value Theorem: lim f (t ) lim sF ( s )

t s 0
 The inverse Laplace Transform can be obtained using:
j
1

st
f (t ) F ( s ) e ds
2j j
Partial fraction method can be used to find the inverse
Laplace Transform of a complicated function.
We can convert the function to a sum of simpler terms for
which we know the inverse Laplace Transform.

F ( s) F1 ( s) F2 ( s ) Fn ( s )

f (t ) L1 F1 ( s ) L1 F2 ( s ) L1 Fn ( s )
f1 (t ) f 2 (t ) f n (t )
 We will consider three cases and show that F(s) can
be expanded into partial fraction:
i. Case 1:
Roots of denominator A(s) are real and distinct.
ii. Case 2:
Roots of denominator A(s) are real and repeated.
iii. Case 3:

Roots of denominator A(s) are complex

conjugate.
 Case 1: Roots of denominator A(s) are real and
distinct.
Example: 2
F (s)
( s 1)( s 2)

Solution: A B It is found that:

F ( s)
s 1 s 2 A = 2 and B = -2

2 2

s 1 s 2

f (t ) 2e t 2e 2t
 Case 1: Roots of denominator A(s) are real and
distinct.

Problem: Find the Inverse Laplace Transform for the

following. s3
F (s)
( s 1)( s 2)
 Case 2: Roots of denominator A(s) are real and
repeated.
Example: 2
F ( s)
( s 1)( s 2) 2

Solution: A B C It is found that:

F ( s)
s 1 s 2 ( s 2) 2 A = 2, B = -2 and C =
-2
2 2 2

s 1 s 2 ( s 2) 2

f (t ) 2e t 2e 2t 2te 2t
 Case 3: Roots of denominator A(s) are complex
conjugate.
Example: 3
F (s)
s ( s 2 2s 5)

Solution: A Bs C It is found that:

F (s) 2 A = 3/5, B = -3/5
s s 2s 5 and C = -6/5
3 5 3 s2
2
s 5 s 2s 5
3 5 3 ( s 1) (1 2)(2)

s 5 ( s 1) 2 2 2
 Case 3: Roots of denominator A(s) are complex
conjugate.
Example: 3
F (s)
s ( s 2 2s 5)

Solution:
3 3 t 1
f (t ) e (cos 2t sin 2t )
5 5 2
 Problem: Find the solution x(t) for the following
differential equations.

i. x 3 x 2 x 0, x(0) a, x (0) b

ii. x 2 x 5 x 3, x(0) a, x (0) b

 The transfer function of a linear system is the ratio of the
Laplace Transform of the output to the Laplace Transform
of the input variable.
Output ( s )
G (s)
Input ( s)
Consider a spring-mass-damper dynamic equation with
initial zero condition.

Ms 2Y ( s ) bsY ( s ) kY ( s) R( s )
 1
R(s) Y(s)
Ms 2 bs k
The transfer function is given by the following.

Y (s) 1
G ( s)
R( s ) Ms 2 bs k
 Electrical Network Transfer Function

Component
Component V-I
V-I I-V
I-V V-Q
V-Q Impedanc
Impedanc Admittan
Admittan
e
e ce
ce
 Problem: Obtain the transfer function for the following RC
network.
 Problem: Obtain the transfer function for the following
RLC network.

Answer:
 Op-Amp Circuit Transfer Function
Frequently used to amplify signal
in sensor circuits.
e1 and e2 are relative to ground.
e1 to the -ve terminal of the
amplifier is inverted, and e2 to the
+ve terminal.
The total input to the amplifier is e2-e1. So, we have:

e0 K (e2 e1 )

The operating conditions for ideal op-amp:

i. i1 = i2 = 0 ( input impedance)
ii. e1 = e 2
 Inverting Amplifier
e1 e' e'eo

R1 R2

Assuming ideal condition,

e' 0

The transfer function for the circuit above is obtained as:

e0 R2

e1 R1

Problem: Find the transfer function for a non-inverting

amplifier.
 Mechanical System Transfer Function

The external force u(t) is the input to the

system, and the displacement y(t) of the
mass is the output.
The displacement y(t) is measured from the
equilibrium position.
The transfer function of the system.
my by ky u (t )

Problem: Find the transfer function for the mechanical

system below.
 A block diagram of a system is a practical representation
of the functions performed by each component and of the
flow of signals.
Inpu Transfer Function Outpu
t G(s) t

Cascaded sub-systems:
DC Servomotor (2)
DC Servomotor (4)
DC Servomotor (3)
The whole of science is nothing more than a
refinement of everyday thinking