ME 413 University of Hafr Al Batin

College of Engineering
Department of Mechanical Engineering

System Dynamics
&
Control
Lecture#1
Course Instructor:
Dr. Tajammal Imran.
UHB Main Campus Room #2307,
[email protected]
 Introduction
to
System Dynamics
and

Control
Lecture#1
 Overview to System Dynamics and Control
• Course introduction
• What is expected? Course objectives & outcomes!
• University Rule (& DN Rule)
• Course Rule
• Grading and assessment policy with Exam Schedule
• Lecture duration: [2 Session/Week]
• Week wise syllabus

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 Course Objectives (what I should do in this course)
1. To demonstrate the basic modeling methodologies for
dynamic systems.
2. To explain the methods for analyzing dynamic responses.
3. To clarify the classical control techniques using basic
control actions.
4. To deliver the techniques for analyzing systems’ stability.
5. To expose to experimental laboratory applications of
control to various dynamic systems.
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 Course Overview
Course code Title Credit Hour
ME 413 System Dynamics and Control 2-3-3
Lecture Lab
Location: Room 0313 Location: Room 0313/0508
Time: 12.00 noon to 01.40 pm (Monday) Time: 02.00 pm to 05.20 pm (Tuesday)
12.00 noon to 12.40 am (Tuesday)

Number of unexcused absences Total absences (excused* & unexcused)

Warning I Warning II DN DN
Lecture of course with 30
2 4 8 10
lectures /semester
Laboratory session 1 2 3 4

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 UHB & Course Rules
• The following should be noted
➢Students must bring textbook, notebook, calculator and pen to the class
➢Attendance in the classes will be taken within five minutes of the
beginning of the class.
i) Any student who arrives class within 5 minutes from the start of class will be
marked as late.
ii)If the student is marked late 3 times, then this is equivalent to 1 unexcused
absence.
iii)Student who arrives after 5 minutes is considered absent with no excuse.
*Note:
Officially authorized excuse of absences must be obtained from Deanship of
Student Affairs and presented to the instructor not later than two days
following the resumption of class attendance.
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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.
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 Course Rules
• Late Submission of Assignments/Homework/Lab Reports:
• It is your responsibility to solve the HW as soon as the material is covered in the class.
• Homework solution will be posted on blackboard or given in the class.
• I will not accept late submission of HW.
• All assignments (graded or non-graded) should be submitted in time as per weekly
plan/or as agreed in the class.
• No assignments/reports will be accepted after Two Days from due date.

• Schedule of Exams for ME 413

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Assessment Plan for the Course
Assessment Policy %
Quizzes 10
Homework 10
Midterm exam 20
Lab Report 10
Individual Lab Project 20
Final examination 30
Total 100%

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Weekly lecture scheme
Week # Date Topic Section/Ref # Assessment

Introduction to course and introduction to systems dynamics

1
Lab1: General Introduction and Introduction to MATLAB
Introduction to systems dynamics 1-1:1-4
2
Lab2: General Introduction and Introduction to MATLAB

Laplace transform 2-1, 2-2, 2-3 HW: B-2-2, B-2-6, B-

3 2-15
Lab3: General Introduction and Introduction to MATLAB
Laplace transform 2-4, 2-5 HW: B-2-18, B-2-21,
B-2-24, B-2-25
4
Quiz1
Lab4: Laplace Transform
Mechanical systems 3-1, 3-2, 3-3, 3-4 HW: B-3-9, B-3-12,
B-3-13, B-3-14, B-3-
15, B-3-18, B-3-19, B-
5
3-20
Lab5: Mechanical Systems (1):
Harmonic Oscillations - Experiment: The Mass-Spring System
Transfer function approach to modeling dynamic systems 4-1, 4-2, 4-3, 4-4 HW: B-4-1, B-4-3, B-
4-4, B-4-7, B-4-8, B-
4-12, Quiz2
6 Exam: M1

Lab6: Mechanical Systems (2):

Translational Systems - Simulation: Modeling of a Suspension Car Sys.
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Weekly lecture scheme
Electrical and electromechanical systems 6-1, 6-2, 6-3, 6-4, HW: B-6-4, B-6-7,
B-6-10,
7
Lab7: Mechanical Systems (3):
Rotational Systems - Simulation: Modeling of Coupled Disks Assembly
Electrical and electromechanical systems plus Fluid & Thermal systems 6-5, 6-6, 7-1, 7-2 HW: B-6-11, B-6-19,
B-7-2, B-7-3,
8 Quiz3,
Lab8: Transfer Function Approach Using SIMULINK
Fluid & Thermal systems 7-3:7-6 HW: B-7-4, B-7-5
9
Lab9: Electromechanical Systems
Time-domain analysis of dynamic systems 8-1, 8-2 HW: B-8-3, B-8-4
Exam: M2
10
Lab10: Undamped Dynamic Vibration Absorbers
Time-domain analysis of dynamic systems 8-3, 8-4, 8-5 HW: B-8-7, B-8-8 B-
8-9, B-8-14 Quiz4
11

Frequency-domain analysis of dynamic systems 9-1, 9-2, 9-3, 9-4, 9-5, HW: B-9-1, B-9-2,
9-6 B-9-3, B-9-6, B-9-7,
12 B-9-12, Quiz5

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Weekly lecture scheme
Time & Frequency domain analysis and design of control systems 10-1, 10-2, 10-3, HW: B-10-2, B-10-
10-4, 10-5, 10-6, 3, B-10-4, B-10-9,

13

Time & Frequency domain analysis and design of control systems 10-7, 10-8, 10-9, HW: B-10-11, B-
10-10, 11-1, 11-2, 10-12, B-10-12, B-
14 11-3, 11-4 11-2, B-11-4 Quiz6

Time & Frequency domain analysis and design of control systems 11-5, 11-6 HW: B-11-8, B-11-
15 9
Quiz7
16 Final Exam (comprehensive)

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Motivation for the Course
Car steering system as a dynamic system

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Motivation for the Course
Washing machine system as a dynamic system

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Motivation for the Course
Washing machine system as a dynamic system

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 WHAT IS DYNAMIC SYSTEM?
• A dynamic system is a system that is
constantly changing, like the human
body.
• Dynamic systems tend to become
static or attain a state of equilibrium.
• For example, if a car is assumed to be a
dynamic system, then it requires fuel
to continue moving forward or else it
would come to a stop and become
static.
• Dynamic systems' output depends
upon future and past values.
What quantities are changing constantly in these systems that makes them dynamic systems???????
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 WHAT IS SYSTEM DYNAMICS?
• System dynamics deals with the mathematical modeling of
dynamic systems and response analyses of such systems
with a view toward understanding the dynamic nature of
each system and improving the system's performance.
• Think about working with
• automated furnace, hardness/tensile
machine
• Human being as system
• Airplane
• Robot
• Computer
• Instrument, tools and equipment

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 WHAT IS CONTROL?
• Dynamic systems require a control system to perform properly
• Control involves writing set of rules that commands what a dynamic system
must do. A good example is a robot arm and the mechanical control
mechanism and conveyor system

A robot arm Conveyor system

Mechanical system for controlling robot arm
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 Mechanical Systems
• Systems that have significant mass, inertia and spring and
energy dissipation (damper) components which are driven by
forces, torques, or by specified displacements are known as
mechanical systems.
• An automobile is a good example of a dynamic mechanical
system.
• It has a dynamic response as it speeds up, slows down, or rounds a
curve in the road.
• The body and the suspension system of the car have a dynamic
response of the position of the vehicle as it goes over a bump.
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DYNAMICAL MECHANICAL SYSTEM
Spring-mass-damper system mounted on a cart
• Consider the spring-mass-damper
system mounted on a massless
cart
• u(t) is the displacement of the cart
and is the input to the system.
• The displacement y(t) of the mass
is the output.
• In this system, m denotes the
mass, b denotes the viscous-
friction coefficient, and k denotes
the spring constant.
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 Electrical Systems
• Electrical systems include circuits with resistive, capacitive,
or inductive components excited by voltage or current.
• Electronic circuits can include transistors or amplifiers.
• Example are;
1. A television receiver has a dynamic response of the beam that
traces the picture on the screen of the set.
2. The TV tuning circuit, which allows you to select the desired
channel, also has a dynamic response.

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 Fluid Systems
• Fluid systems employ orifices, restrictions, control
valves, accumulators (capacitors), long tubes
(inductors), and actuators excited by pressure or
fluid flow.
• Example;
• A city water tower has a dynamic response of the height
of the water as a function of the amount of water
pumped into the tower and the amount being used by
the citizens.

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 Thermal Systems
• Thermal systems have components that provide resistance
(conduction, convection or radiation) and a capacitance
(mass a specific heat) when excited by temperature or heat
flow.
• Example;
• A heating system warming a house has a dynamic response as
the temperature rises to meet the set point on the thermostat.
• Placing a pot of water over a burner to boil has a dynamic
response of the temperature.
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 Mixed Systems
• Real life dynamic systems use two or more of the engineering
disciplines, with energy conversion between various components.
• Figure given below shows several examples.

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 Electro-Mechanical Systems
• Systems employing electromagnetic component that converts a current into
a force generally have a dynamic response.
• Examples are
• a loudspeaker in a stereo system,
• a solenoid actuator,
• and electric motors.
• In a loudspeaker, electrical current from the amplifier is transformed into
movement of the speaker cone and the subsequent air pressure fluctuations
that cause us to hear the amplified sound.
• Fluid-Mechanical Systems?????????
• Thermo-Mechanical Systems???????
• Electro-thermal Systems???????????
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 Analogues Systems
• The liquid level system is analogous to the electrical and mechanical systems with
resistance-capacitance (electrical) & damper-spring (mechanical) as shown below.

 

deo
RC
dh
+ h = Rqi RC + eo = ei
dt dt b dxo
+ x o = xi
k dt
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Systems of units

• Absolute system – mass is a primary dimension

• Metric system - International System (S.I.), mks (m, kg, s), cgs (cm, g, s)
• British system

• Gravitational system – force is a primary dimension

• Metric Engineering system
• British Engineering system (BES)

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Basic difference btw
absolute and
gravitational system

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EXAMPLE OF DYNAMIC SYSTEM
Spring-mass-damper system mounted on a cart
• Consider the spring-mass-damper
system mounted on a massless
cart
• u(t) is the displacement of the cart
and is the input to the system.
• The displacement y(t) of the mass
is the output.
• In this system, m denotes the
mass, b denotes the viscous-
friction coefficient, and k denotes
the spring constant.
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MODELLING OR MATHEMATICAL MODELLING
• Modeling is simplifying the problem sufficiently and applying the appropriate
fundamental principles.
• The resulting mathematical description is called a mathematical model, or just a model

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MODELLING A DYNAMICAL SYSTEM
• In Dynamical Systems the main objective is to understand
behaviour of states in a system, by using a rule for how the state
changes.
• Given the state variable a dynamical system needs a rule which
defines the dynamics or how the system changes.
• For example, Newton's Laws are incredibly accurate under known
situations and formulate a well-defined dynamical system.
• Position and velocity of a particle are the state variable and Newton's
Laws used as the updating rule.
• In this case, a dynamical system is written as a system of differential
equations.
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DIFFERENTIAL EQUATIONS
• Linear differential equations: Linear differential equations may be classified
as linear, time-invariant differential equations and linear, time varying
differential equations.
• A linear, time-invariant differential equation is an equation in which a
dependent variable and its derivatives appear as linear combinations. An
example of such an equation is:

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 TERMS AND DEFINITIONS
• System: combination of elements that guarantee harmonious working relationship.
• Static element: element’s output value depends only on its input value e.g., the current
flowing through a resistor depends only on the present value of the applied voltage (V=IR)
• Dynamic element: element’s output value depends on past input value e.g., the present
position of a bike depends on what its velocity has been from the start (v = u + at)
• Static system: one whose output at any given time depends only on the input at that
time. The output of a static system remains constant if the input does not change.
Independent of time.
• Dynamic system: one whose present output depends on past inputs. In a dynamic
system, the output changes with time if the system is not in a state of equilibrium.
• System dynamics: the study of systems that contain dynamic elements
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CONTINUOUS-TIME AND DISCRETE-TIME SYSTEMS
• Continuous-time systems are systems in
which the signals involved are continuous
in time. These systems may be described by
differential equations. Think about
analogue clock

• Discrete-time systems are systems in which

one or more variables can change only at
discrete instants of time. Think about
digital clock

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SUMMARY AND CONCLUSIONS

• Why knowledge of system dynamics is important

• Types of differential equations

• Procedure for mathematical modeling

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Laplace Transform
Complex Algebra
• Review textbook pages from page 8-13 to refresh the following;
• Equality of complex numbers
• Addition of complex numbers or complex with real number

• Subtraction of complex numbers or complex and real number

• Multiplication of complex numbers or complex and real number or j

• Division of complex numbers or complex and real number or j

• Multiplication and division in polar form

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Complex Number & Complex Plane presentation

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Complex Conjugate of Complex Number

Complex conjugates are 90 degree apart

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Multiplication & Division by Imaginary
Number “j “ & its Graphical Representation

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Complex Variable & Complex Function
• Complex variable – both real and imaginary components are variables

• Complex function – a function with real and imaginary parts

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Overview to Laplace Transformation
•What is Laplace transformation and why
it is needed?
•Overview of Differential and Algebraic
equations
•Overview of Complex Numbers
•Different input functions
•Application of Laplace transformation
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 What is Laplace Transformation?
1. The Laplace transform method is an operational method that can be
used beneficially in solving linear, time-invariant differential equations.
2. Its main advantage is that differentiation of the time function links to
multiplication of the transform by a complex variable “ s ”, and thus
the differential equations in time become algebraic equations in “ s ”.
3. The solution of the differential equation can then be found by using a
Laplace transform table or the partial-fraction expansion technique.
4. Another advantage of the Laplace transform method is that, in solving
the differential equation, the initial conditions are automatically taken
care of, and both “the particular and the complementary” solution can
be obtained simultaneously.

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Why Laplace Transform?
•Helps transform model from time-domain (t)
to frequency domain (s)
•It helps reduce complex differential
equations into simpler algebraic equations
•Final solution can be easily converted to
time-domain

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 Differential and Algebraic Equations
Algebraic equations: Differential equations:
(linear, quadratic, polynomial, complex) (first, second and multiple order
or partial)

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Zeros & Poles of a Laplace Transfer Functions
• Poles and Zeros of a transfer function are the frequencies for which the value
of the denominator and numerator of transfer function becomes zero
respectively.
• The values of the poles and the zeros of a system determine whether the
system is stable, and how well the system performs
• Zeros ; when F(s) =0; in which numerator is zero
• Poles; when F(s) =; in which denominator is zero (division by zero)
• Simple and multiple poles may exist in a function

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 Find Zeros & Poles of the following:

Zeros are s = -2 & s = -10

&
Poles are s = 0, s = -1, s = -5, & s = -15
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Definitions & symbols of Laplace Transform

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Definitions & Symbols of Laplace Transform

Inverse Laplace transform

Note:
The Laplace transform of a function is a
complex function of a complex variable.

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Laplace Transforms: Practice
What is the Laplace Transforms of the following?

7t

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Laplace Transform of an Exponential Function

Repeat the procedure for positive alpha although – (alpha) indicates an exponential decay

Practice Exercise: Find Laplace transform for f(t) = 4 e-7t

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 Laplace Transform of Step Function

Repeat the procedure for unit-step function

Unit step function

Practice Exercise: Find Laplace transform for f(t) = 7

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Laplace Transform of Ramp Function

Recall that integration by part is evaluated as:

Practice problem: Solve for f(t) = A  t2

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Laplace Transform of Sinusoidal Function

Recall:

Now show that

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Laplace Transform of Translated Function
One definition of "to translate" is "to change from one place, state, form, or appearance to
another". When we take a function and pull its axis so that its graph is moved to another spot on
the axis system, yet remains visibly the same graph, we are said to be "translating" the function.

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 Laplace Transform of Pulse Function:
Combine Unit Step Functions Impulse
Function

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 Exercise: Find Laplace transform for f(t) = 8  t  e-2t

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 Integration theorem

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Inverse Laplace transform
Find the inverse Laplace transform for the following
𝟑
𝟏 𝟐
𝒔+𝟒
𝒔
𝒔
𝑨 𝒔 𝟐 + 𝟏𝟔
𝒔𝟐

𝒔+𝟐
𝑨
𝒔 + 𝟐 𝟐 + 𝟏𝟔
𝒔𝟑

𝟑
𝒔+𝟒

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 Inverse Laplace transformation:
Transformation from s-domain to t-domain
Inverse Laplace transform

• Two ways of doing inverse Laplace transformation

1. Using the Table of Laplace transformation

2. Using partial fraction expansion

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 1. Based on Laplace table

2. Based on partial fraction

• Where A and B are polynomials, hence partial fraction must be used

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Partial expansion when F(s) involves distinct poles

If the highest degree of the denominator is higher than numerator, then:

Take LCM of the RHS to eliminate the denominator.

Then substitute s = -1 to obtain a1 or s = -2 to obtain a2.

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• If the order of numerator is higher, then we must factor the polynomials
e.g. {use: conv, deconv in MATLAB}

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Initial and Final Value Theorem

Initial Value Theorem:

To find the value of f(t) at t = 0+ directly
from the Laplace transform of f(t).

Final Value Theorem:

To find the value of f(t) at t =  directly from
the Laplace transform of f(t).

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 Initial and Final Value Theorem
• What are initial and final value theorems?
• How, the initial and final values of a function can be, found by using IVT & FVT?
• Example 1 : Initial Value Theorem
Find the initial value for the function f (t) = 2 u (t) + 3 cost u (t)

Solution:

By initial value theorem

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 Initial and Final Value Theorem
• How the initial and final values of a function can be, found by using IVT & FVT?
• Example 2 : Final Value Theorem
1
Find the final value for the function F (s) =
𝑠 𝑠+4
Solution: By final value theorem, If f(t) and f'(t) both are
Laplace transformable and s F(s) has no pole in j axis and in
the R.H.P. (Right half Plane) then

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 Differential theorem

𝒅𝟒 𝟐 ሶ ሷ
L[ 𝟒 𝒇(𝒕)] = 𝒔𝟒
𝑭(𝟎) − 𝒔𝟑
𝒇(𝟎) − 𝒔 𝒇(𝟎) − 𝒔𝒇(𝟎) −ሸ
𝒇(𝟎)
𝒅𝒕

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 Complex roots

Recall:

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 Partial expansion for multiple poles

Find the Laplace transform of :

For partial fraction of multiple poles, recall :

Take LCM of the RHS to eliminate the denominator.

Then substitute s = -1, 0 and 1 to obtained b1, b2 and b3

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Solution:

[Use partial fraction]

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 Practice Problems

Recall:

The eq. becomes:

Collect the like terms:

Express as partial equation:

Take inverse of Laplace:

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Practice Problems: Do it yourself

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 This is Laplace integration by batch over a PERIOD

Always consider the extremes of the impulse/steps

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 Practice Problems on Functions
• Determine the Laplace transform of each of the following functions shown below using first principle.

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