Dynamic System Analysis

State Variables
Input-Output Equations
 Input-Output Equations
• A second method of presenting the system models is in the form of input-output
differential equations.

• This is done by eliminating all variables except the inputs and outputs and their
derivatives.
𝑎𝑛 𝑦 (𝑛) + ⋯ + 𝑎2 𝑦ሷ + 𝑎1 𝑦ሶ + 𝑎0 𝑦 = 𝑏𝑚 𝑢(𝑚) + ⋯ + 𝑏1 𝑢ሶ + 𝑏0 𝑢

• Recall the equations in terms of state variables

• 𝑦 is the output and 𝑢 is the input, usually 𝑚 < 𝑛

𝑞ሶ 1 = 𝑎11 𝑞1 + ⋯ + 𝑎13 𝑞3 + 𝑏11 𝑢1 + ⋯ + 𝑏1𝑚 𝑢𝑚

𝑞ሶ 2 = 𝑎21 𝑞1 + ⋯ + 𝑎23 𝑞3 + 𝑏21 𝑢1 + ⋯ + 𝑏2𝑚 𝑢𝑚 𝑦1 = 𝑐11 𝑞1 + 𝑐12 𝑞2 + ⋯ + 𝑐1𝑛 𝑞𝑛 + 𝑑11 𝑢1 + ⋯ + 𝑑1𝑚 𝑢𝑚
⋮ ⋮
𝑞ሶ 𝑛 = 𝑎𝑛1 𝑞1 + ⋯ + 𝑎𝑛𝑛 𝑞𝑛 + 𝑏31 𝑢1 + ⋯ + 𝑏𝑛𝑚 𝑢𝑚 𝑦𝑝 = 𝑐𝑝1 𝑞1 + 𝑐𝑝2 𝑞2 + ⋯ + 𝑐𝑝𝑛 𝑞𝑛 + 𝑑𝑝1 𝑢1 + ⋯ + 𝑑𝑝𝑚 𝑢𝑚
 Input-Output Equations

• For a fixed linear system, all the coefficients of the above equation are constant.

• To solve such an equation, you need initial conditions for the outputs and their
derivatives as well as for the inputs for all t > 0. This might be a difficult task.

• For a system with multiple outputs we need a separate equation for each output.

𝑦ሷ1 + 2𝑦ሶ1 + 2𝑦1 = 3𝑢ሶ 1 + 2𝑢1 (𝑡) + 𝑢2 (𝑡) + 3𝑢ሶ 3

𝑦ሷ 2 + 2𝑦ሶ 2 + 2𝑦2 = 𝑢1 (𝑡) + 𝑢2 (𝑡) + 𝑢3 (𝑡)

 Input-Output Equations

• In general, in the input-output form each of the equations involves only one
unknown variable and its derivatives.

• Therefore, unlike state-variable equations, each equation can be solved

independently.

• Input-output equations can either be found from the state variable equations or
from the FBD.

• Label the FBD with the minimum number of variables.

 Example 3.10

𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡

Variable Input

Sketch Free body Diagram Model

• Here the free body diagram equation is already in the input-output from
• Output is 𝑥(𝑡)
• Input is 𝑓𝑎 (𝑡)

𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡
 Example 3.11
• Find the input-output model for this system.

• The input is the force 𝑓𝑎(𝑡) and the output is the displacement 𝑥2 of the
massless junction A.

EX 3.11
Video solution
attached
 Example 3.11

• Inspect the FBD at the mass M and the node A

𝑥1
𝑞 = 𝑣1
𝑥2

𝑥1 𝑥2

𝑓𝑎 (𝑡) 𝐵1 𝑣1 𝐵2 𝑥ሶ 2
𝑀𝑣ሶ 1
𝑀 𝐾2 𝑥2 𝐴
𝐾1 𝑥1 − 𝑥2 𝐾1 𝑥2 − 𝑥1

Needs two state variables Needs one state variables

𝑞 = 𝑥1 𝑣1 𝑞 = 𝑥2
 Example 3.11
𝑀𝑥ሷ 1 + 𝐵1 𝑥ሶ 1 + 𝐾1 𝑥1 − 𝑥2 = 𝑓𝑎 𝑡
• From the FBD equations 𝐵2 𝑥ሶ 2 + 𝐾1 𝑥2 − 𝑥1 + 𝐾2 𝑥2 = 0
𝑥1 𝑥2
𝑓𝑎 (𝑡) 𝐵1 𝑥ሶ 1 𝐵2 𝑥ሶ 2
𝑀 𝐾2 𝑥2 𝐴
𝑀𝑥ሷ 1 𝐾1 𝑥1 − 𝑥2 𝐾1 𝑥2 − 𝑥1

• Manipulate the equations to eliminate 𝑥1

𝐵2 𝐾1 + 𝐾2
𝐵2 𝑥ሶ 2 + 𝐾1 𝑥2 − 𝑥1 + 𝐾2 𝑥2 = 0 ⇒ 𝑥1 = 𝑥ሶ 2 + 𝑥2
𝐾1 𝐾1
𝑀𝑥ሷ 1 + 𝐵1 𝑥ሶ 1 + 𝐾1 𝑥1 − 𝑥2 = 𝑓𝑎 𝑡
⇓
𝐵2 𝐾1 + 𝐾2 𝐵2 𝐾1 + 𝐾2 𝐵2 𝐾1 + 𝐾2
𝑀 𝑥ഺ + 𝑥ሷ 2 + 𝐵1 𝑥ሷ + 𝑥ሶ 2 + 𝐾1 𝑥ሶ + 𝑥2 − 𝑥2 = 𝑓𝑎 𝑡
𝐾1 2 𝐾1 𝐾1 2 𝐾1 𝐾1 2 𝐾1
⇓
𝑀𝐵2 𝑥ഺ2 𝑀𝐾1 + 𝑀𝐾2 + 𝐵1 𝐵2 𝑥ሷ 2 + 𝐵1 𝐾1 + 𝐵1 𝐾2 + 𝐾1 𝐵2 𝑥ሶ 2 + 𝐾1 𝐾2 𝑥2 = 𝐾1 𝑓𝑎 (𝑡)
 Example 3.7 Versus Example 3.11
• From the FBD equations 𝑀𝑥ሷ 1 + 𝐵1 𝑥ሶ 1 + 𝐾1 𝑥1 − 𝑥2 = 𝑓𝑎 𝑡 𝑥2
𝑥1 𝐵2 𝑥ሶ 2 + 𝐾1 𝑥2 − 𝑥1 + 𝐾2 𝑥2 = 0

𝑓𝑎 (𝑡) 𝐾2 𝑥2 𝐵2 𝑥ሶ 2
𝐵1 𝑥ሶ 1 𝐴
𝑀𝑥ሷ 1 𝑀 𝐾1 𝑥1 − 𝑥2
𝐾1 𝑥2 − 𝑥1

• There are THREE state variable equations and the output 𝑥2

𝑥1 𝑥ሶ 1 = 𝑣1
𝐵1 𝐾1 1
𝑞 = 𝑣1 𝑢 = 𝑓𝑎 (𝑡) 𝑣ሶ 1 = − 𝑣1 − 𝑥1 − 𝑥2 + 𝑓𝑎 𝑡 𝑦 = 𝑥2
𝑥2 𝑀 𝑀 𝑀
𝐾1 𝐾2
𝑥ሶ 2 = − 𝑥 − 𝑥1 − 𝑥2
𝐵2 2 𝐵2

• The input-output equation is THIRD order

𝑀𝐵2 𝑥ഺ2 𝑀𝐾1 + 𝑀𝐾2 + 𝐵1 𝐵2 𝑥ሷ 2 + 𝐵1 𝐾1 + 𝐵1 𝐾2 + 𝐾1 𝐵2 𝑥ሶ 2 + 𝐾1 𝐾2 𝑥2 = 𝐾1 𝑓𝑎 (𝑡)

 Systematic Way to Manipulate Equations
• Use the p-operator to eliminate all the derivatives
𝑦ሶ → 𝑝𝑦
𝑦ሷ → 𝑝2 𝑦
⋮
𝑦 (𝑛) → 𝑝𝑛 𝑦
• The differential equations become algebraic equations; this allows one to solve
for the output.

• Use the p-operator to convert from powers of 𝑝 back to derivatives

𝑝𝑦 → 𝑦ሶ
𝑝2 𝑦 → 𝑦ሷ
⋮
𝑝𝑛 𝑦 → y (𝑛)
 Reducing Simultaneous Differential eq.

• Use the p operator method to find the input-output equation for y1

and y2,

𝑦ሶ 1 + 2𝑦1 + 𝑦2 = 3𝑢(𝑡)
2𝑦ሶ1 + 5𝑦1 − 2𝑦ሶ 2 + 2𝑦2 = 0
 Reducing Simultaneous Differential eq.
𝑦ሶ 1 + 2𝑦1 + 𝑦2 = 3𝑢 𝑝 + 2 𝑦1 + 𝑦2 = 3𝑢
2𝑦ሶ1 + 5𝑦1 − 2𝑦ሶ 2 + 2𝑦2 = 0 2𝑝 + 5 𝑦1 + −2𝑝 + 2 𝑦2 = 0

• Replace the derivatives using the 𝑝 operator

2𝑝 + 5 𝑝 + 2 𝑦1 + 𝑦2 = 3𝑢 2𝑝 + 5 𝑦2 − 𝑝 + 2 −2𝑝 + 2 𝑦2 = 3 2𝑝 + 5 𝑢
−
𝑝 + 2 2𝑝 + 5 𝑦1 + −2𝑝 + 2 𝑦2 = 0 2𝑝2 𝑦2 + 4𝑝𝑦2 + 𝑦2 = 6𝑝𝑢 + 15𝑢

• Use the two equations to solve for the unknown 𝑦2 , treat 𝑝 as a constant

2𝑦ሷ 2 + 4𝑦ሶ 2 + 𝑦2 = 6𝑢ሶ + 15𝑢

• Replace 𝑝 with derivatives to get the desired input-output equation