Modeling and Simulation

Week# 01& 02
Introductory Lectures
 Summarized Contents of the Course

What about Analysis of the Afore-mentioned

• Introduction to Modeling and Simulation

Systems? (Helpful Material for CS-1)

 Importance of the Course
 Fundamental Terminologies (Would also be helpful in Control System-1)
 Insights for Modeling and Simulation.
• Models for the Dynamic Systems
 Formulation of the models (Certain Physical Laws).
 Transfer Function & State Space Representation (Most Important Content).
 Different Test Signals for any Physical Systems (Beneficial For Control System-1).
 Engineering Systems Similarities.
• Modeling of Mechanical Systems
 Translational Systems
 Rotational Systems
 Combined System(Trans.+Rot.).
 Cont..
• Modeling of Electrical Systems
 Basic Electrical Elements (Already Studied in Electric Circuits)
 Passive Electrical Systems
 Active Electrical Systems
• Modeling of Fluidic Systems
 Properties of Fluids (Fundamentals from Hydraulics & Pneumatics)
 What about modeling of Water Level Tanks?
• Modeling of Thermal Systems
 Basic Effects such Convection, Conduction, and Radiation
 Utilizing above-mentioned effects to model the thermal system.
• Mixed Discipline Systems.
 Electromechanical Systems
 Cont..
• System Response and Analysis.
 Time Response (Laplace Transform).
 Frequency Response(Modern Control).
• Methods of Simulation
 Additional Requirements of the Course

Apart from the advantageous nature of the Washington accord accreditation,

CLOS can also help you to crack the exams.
After successful completion of this course the students will be able to PLOs
Explain the fundamentals of system modeling including system states, inputs,
CLO 1 PLO1
outputs and representations.
Apply basic principles to model various types of mechanical components and
CLO 2 PLO3
systems
Apply basic modeling principles to represent and simulate different electrical
CLO 3 PLO3
components and systems.
Use mixed disciplinary systems modelling techniques to analyze the response
CLO 4 PLO2
of fluidic, electromechanical and thermal systems.
CLO 5 Assess the response of dynamical systems using differential equations. PLO2
Use standard simulation tools (e.g. MATLAB/Simulink) to simulate and analyze
CLO 6 PLO5
systems response for various types of inputs.
 Recommended/Reference Books

 Modeling and Simulation of  Modern Control Systems  Contents would

Dynamic Systems by by Richard C. Dorf & also be outside of
Robert L Woods & Kent L. Robert H. Bishop Ref Books
Lawrence
Lecture Hands Out

You have to attend

the lectures.

IF Attendance< 75%
{
Cout(“Not Allowed to
sit in the exam”);}
 Why Modeling & Simulation?

A Cantilever Beam for Structural Applications

Capable of Sustaining at least 20 N(Axially)

Design Refinements
Design Verification: Material for the beam, Whether
there is need of coating at the fixed end?

How Identifying the parameters of designed beam

under the given conditions?: Modeling Step

Rendering of the defined parameters?: Simulation

Step Failed

Design Verified: Start Building the Beam

 Why Modeling & Simulation?

COBOT comprises of 7 DOF(Multiple Components)

Payload should not be less than 2Kg

Design should be flexible for multipurpose applications

Design Refinements
Design Verification: Motors, Materials of Links, & End
Effector ?

How each DOF will be obtained by defining

Parameters?: Modeling Step

How Integration/togetherness of those parts perform

the desired functions?: Simulation Step Failed

Design Verified: Start Building the COBOT

Space Shuttle should be landed successfully Why Modeling & Simulation?

A common Space Shuttle contains 2.5 million parts

Acceleration from 0 Km/h to 28 e3 Km/h in ~ 9mins

Design Refinements
Survival Temp= -150 C & 1600 C
on MARS!

Why would NASA go without Design Verification?

How each of 2.5 million parts would work

efficiently?: Modeling Step

How Integration/togetherness of those parts perform

the desired functions?: Simulation Step Failed

Design Verified: Start Building the Shuttle

 System along with it’s Categories
 An interconnection of the components, elements, or objects to perform a specific
task (Function) is known as System (Concisely, we can say anything that has input
& Output is a system).
 A Series of actions or steps to achieve the above-defined function is known as

made physical systems are called

instruments, or event the gadgets.
Process.

tools, appliances, devices,

Categories of the System

Chemical System Physical System Biological System

Human-
Further comprises That can be A Complex network
system and modeled with the of the biologically
Surroundings. The laws of Physics. relevant entities. For
solution in a For example, A Example, our
beaker. Thermometer. digestive system
 Types of Physical System
 A system in which the output response does not change with the time is known as
static system. More concisely, in this type, system’s current output does not depend
on the past output.
 A system in which the output response changes with the time is known as dynamic
system. A dynamic system can respond input, disturbance signal as well as even
the initial conditions.
Disturbances
Input
Input Output
u(t) Output
u(t) System y(t)
System y(t)

Initial Conditions

Throughout the course, u(t) will be used as notation of input and y(t) would be
the output. This u(t) can be any signal as opposed to the assumptions of
calculus (step function).
 Insights for the System
Physical System

Static System Dynamic System

Examples:
 y(t)=u(3(t))
Memory Less System with Put t=1:
System Memory y(1)=u(3(1))=u(3)
 y(t)=u(t)
Put t=1: y(1)=u(1)=u(1)
Output depends on Output depends on Present Which one is dynamic
the input only at or future values of the input system?
present time at any instant

The association between the input and output defines the characteristics of the
system.
 Categories of the Physical System
Physical System

Mechanical Electrical Fluidic Thermal Mixed

Systems Systems Systems Systems Systems

Contain Resistors, Orifices, Provide Utilize at least

Mass, Inertia, Capacitors, & Restrictions, resistance or two of the
Spring, and Inductors, Control Valves capacitance previous
Energy excited by excited by when excited described
Dissipated voltage or pressure or by heat flow or systems
Components current. fluidic flow. temperature

Automobile, TV Tuning A water Tower A heating Motor, Hydraulic

Suspension Circuits, being used by system, POT Pump, Speaker,
System of Switching Off/On citizens is a of Water on Electric Water
Vehicle of lights dynamic one. the Burner Heater.
 Modeling
 Modeling is a process of creating a ‘model’ which represents an object or system
with its all or subset of properties. A model may be exactly the same as the original
system or sometimes approximations make it deviates from the real system.
Models

Physical Mathematical Computer Should I

Models Models Model assume that
now you are
able to define
Looks Mathematical Used to solve the process
Like the Interpolations the Complex
actual to describe Engineering model?
Product the system Problems

https://www.differencebetween.com/difference-between-modelling-and-vs-simulation/
 How can we study a system?
 We can primarily study the system in two different ways.
 What does study mean?

System

Experimenting with Experimenting with the

the actual system model of the system

A Complete Physical Mathematical

hardware Model Model

A simplified Fundamental
Version laws
 Mathematical Model
 A set of mathematical equations that interpolates the characteristics of the system.
 What does characteristics of the system mean?

Mathematical
Model

Linear vs Deterministic Static vs Discrete vs Black Box vs

Non-Linear vs Stochastic Dynamic Continuous Gray Box Vs
Model Model Model Model White Box

Can be Deterministic Present Input 1st Reading

interpolated Output & (Output) & Past Assignment
through Involvement of Outputs
graph Randomness
 Black Box Vs Grey Box Vs White Box

 A model in which only the input and output are

given is known as black box model.
 In black box, we don’t care about the internal
dynamics and therefore, it’s much easier to
model.
 A grey box is a black box plus the information
about the internal dynamics(To Certain Extent).
 Should have complete Knowledge of the
system to derive a white box model.
 Approaches of the Mathematical Modeling
 Transfer-Function Approach: A transfer function (also known as system function or
network function) of a system, sub-system, or component is:
• A mathematical function which theoretically models the system's output for each
possible input.
• Interlinked to Classical Control Approach.
• Highly Applicable for LTI Systems and Why not for Non-LTI’s (2nd Reading
Assignment) ?
 State-Space Approach: The basic idea with a state space approach is to define the
inputs, define the outputs, and a set of equations to represent the behavior of the
system.
https://en.wikipedia.org/wiki/Transfer_function https://www.sciencedirect.com/topics/engineering/state-space-approach
 Mathematical Modeling of a Dynamic System
Mathematical model can be established by considering the :
 Input-Output of the system A race car driver sits at the starting
line. When the gun fires, he fully
 Fundamental Parameters and Assumptions. accelerates at “a” m/s2 for “t”
seconds. How fast are the car and
 Applicable Physical Laws. driver going when the driver stops
pushing the gas pedal to the floor?
 Differential Equations describing the Model.
 Any one approach for the desired output of the system.
 Analyze the solution by tuning the variables along with the assumptions.

What about the complex system? Is it really possible to analyze the system by
considering only the mathematical model?
Absolutely Not!
 Simulation
 Computer-based model that mimics the functionality of the actual system.
 A numerical simulation is a calculation that is run on a computer following a
program that implements a mathematical model for a physical system.
 Numerical simulations are required to study the behavior of systems whose
mathematical models are too complex to provide analytical solutions, as in most
nonlinear systems (Modeling of Brain or Heart?).

Simulation

Live Virtual Constructive

Simulation Simulation Simulation
 Advantages & Disadvantages of Simulation

 Help the Engineers in iterating and  No Compromise on the skills of the

testing designs without developing the modeler.
actual system.  The quality is highly influenced by
 Behavior (Characteristics) of the system wrong interpretations of the model.
before delving into the actual product.  The outcomes are sometimes hard to
 Solve Complex Engineering problems interpret.
quickly.
 A flexible environment where we can
“ Simulation develops the Theoretical
check the endurance limits of the Hypothesis”
system.
 Linear Dynamic Systems (Models for Dynamic System with
Similarity)
 How can we define the Linearity of the system?
In circuit design, we often
Linear strive for linearity because it
System leads to desirable output
characteristics.

Principle of Principle of
Homogeneity Additivity What about Resistive
Heater? Whether it’s
linear system or not?
Scalar rule X1=Y1 &
or the X2=Y2:
scaling Xc=X1+X2 so Linear Dynamic Systems
property Yc=Y1+Y2
are easy to interpret!

https://www.allaboutcircuits.com/technical-articles/what-is-a-linear-system/
 Reduction of the Modeling Equations (Linear)
Design Refinements NO!

Check Whether
System with Conservative or A group of
all the
identification of the Physical Simultaneous
parameters are
its Parameters Laws Equations
available

Linear Non
Reduced Form of the
System Linear
Differential Equation System

Classical Form of the Transfer Function State-Space

Differential Equation Notation Representation
 Typical Inputs to the System
 Three things are usually needed to obtain the future response of the system.
 Initial Conditions
 The Differential Equation
 Test or Input Signals.

Test
Signals

Step Ramp Impulse Ramped Harmonic

Input Input & Pulse Step Input Inputs
Inputs

 Doublet and Quadratic inputs are not primarily utilized for the analysis of the
dynamic systems but for most of the academic tests, they have significant
importance.
 Dynamic Model (Mathematical Modeling)
 Will share the link for modeling using classical method (You already studied in your
calculus Course).
 Laplace Transform will be used to find the transfer function of any dynamic system.
 Inverse Laplace will be used to find the time-domain solution to any dynamic problem.
 Transfer Function Approach
Write in the
Start with LDE Make use of the Apply Laplace general form of
that describes differential & factor out the required
the system operator Y(s) and U(s) Transfer
Function
𝒅𝒚 𝒕 𝒅𝒚𝟐 𝒅𝒙 𝒕
𝒂𝟎 𝒚 𝒕 + 𝒂𝟏 + 𝒂𝟐 𝟐 +……=𝒃𝟎 𝒙 𝒕 + 𝒃𝟏 +……
𝒅𝒕 𝒅𝒕 𝒅𝒕
Find the transfer function of the following Dynamic Systems:

dy(t)2 dy t dx t Let’s take any volunteer

 2 2 -4 +3y(t)=5 -2x t
dt dt dt example either from block box,
 𝑦 ሸ𝑡 +2𝑦(𝑡)-3
ሷ ሶ − 𝑦(𝑡)=4𝑥ሶ − 7𝑥
𝑦(𝑡) grey box, or even white box
model.
What about finding the parametric relationship or the characteristics of
the system?

Formulate the
Relate the
Follow the Apply inverse equation in terms
equation with
previous Laplace of output variable
the output &
procedure of TF transform on one side &
Input variables
vice-versa

 Given the following differential

equation, solve for y(t) if all General form of the 1st order and
initial conditions are zero. second order transfer function
𝐝𝐲(𝐭)𝟐 𝐝𝐲 𝒕 (One of the main/fundamental
+12 +32y(t)=𝟑𝟐𝒖 𝒕 contents of the control system-1)
𝒅𝒕𝟐 𝒅𝒕

𝒚 𝒕 = (𝟏 − 𝟐𝒆−𝟒𝒕 +𝒆−𝟖𝒕 )𝒖(𝒕)

 State Space Approach
 Why we need state space approach if it’s easy to interpret T.F.
 A mathematical model of a physical system as a set of input, output
and state variables related by first-order differential equations or
difference equations.
𝑿ሶ = 𝑨𝑿ሶ + 𝑩𝑼
𝒀 = 𝑪𝑿 + 𝑫𝑼

 Order of the Matrices: State Matrix (A)= n by n; B=Input Matrix=n

by 1; C= Output Matrix=1 by n; D=Feedthrough Matrix; X will be
representing the state vector (n by 1)
𝑌(𝑆) 10
= 3
𝑈(𝑆) 𝑆 + 4𝑆 2 + 2𝑆 + 1