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(KCS) SystemDynamics Chap1

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8 views11 pages

(KCS) SystemDynamics Chap1

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k3621k
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System Dynamics: Introduction

◼ What is System ??
◼ A system is a combination of components acting together to perform a specific
object: vehicle, economics, transportation, biology…
◼ A component is a single functional unit of a system

◼ What is Dynamic ??
- A system is called dynamic if its present output(출력) depends on past input(입력)
- Static: current output is depending on the current input

◼ What is Model ??
◼ Describe physical phenomena in mathematical formulation as a function
◼ Include important (interested) characteristic
◼ Mathematical model from physical law + Experimental data
→ as simple as possible
System Dynamics: Introduction
◼ What is Signal ??
◼ A signal is any time-varying quantity
◼ Waveform, Analog signal, Digital signal
◼ Audio, video, sound, dynamic behavior (position, velocity, acceleration…), …
➔ measured by sensors
◼ What is Signal Processing ??
◼ a signal is a function or a dataset that conveys information about a
phenomenon (e.g., dynamic behavior)
◼ Waveform generation, Filtering, ….
System Dynamics: Introduction
• Modeling
- A procedure to obtain a mathematical
relationship describing important characteristic
of the given system
System Dynamics: Introduction
• Analysis
- Investigation of performance of the system, whose model is
known, under specific conditions

Example, vehicle cruise control

Newton’s 2nd law

Mv = f e (t ) − Bv − Mg sin 

Desired speed
v
Increasing grade

Actual speed t
System Dynamics: Introduction
Some Symbols in System Dynamics
State variable: x(t ) 𝑥1 , 𝑥2 , … , 𝑥𝑛
Input: u (t ) u1 , u 2 , ..., u m
output: y (t ) y1 , y 2 , ..., y k

u (t ) System y (t )
Input 𝑥1 (𝑡), 𝑥2 (𝑡), … , 𝑥𝑛 (𝑡) Output

State Vector: 𝑋 = [𝑥1 , 𝑥2 , … , 𝑥𝑛 ] x(t ) = [ x1 , x2 , ..., xn ]


Input Vector: 𝑈 = [𝑢1 , 𝑢2 , … , 𝑢𝑚 ]
Output Vector: 𝑌 = [𝑦1 , 𝑦2 , … , 𝑦𝑛 ]
Function: f (t ) f (x) f (t , x)
Initial Condition: t = t0 x(t 0 ), u (t 0 ), y (t 0 )
System Dynamics: Introduction

• Parameter and Variable


- A variable represents a model state, and may change in terms of time
- A parameter is normally a constant in a model, and is changed only when
you need to adjust your model behavior

• Causality
- output is depending on current and previous inputs only.
: Cause and Effect x(t0 ) 
 → y (t ) t  t0
u (t ), t  t0 
System Dynamics: Introduction

• Types of dynamic system modeling


• Linear or Nonlinear
• Time varying or Time invariant
• Continuous-time or Discrete-time
• ODE or PDE

→ What “LTI” and “LTV” stands for ??


System Dynamics: Introduction
What is Linear System?
→ A system satisfies Superposition property
→ Superposition = homogeneity + additivity
f (ax) = af ( x)
f ( x + y ) = f ( x) + f ( y )
→ Example: [Note]
f ( x) = 3x (1) x(t) is a function(=system) of time “t” and
sin(t) behaves nonlinear motion.
(2) “f(x) = 3x” is a function of state “x” and f(x)
f ( x) = 3x 2 is a linear system.
(3) “f(x) = x^2 is clearly nonlinear, it doesn’t
f ( x, t ) = 3 x satisfy superposition property.
(4) Though “x(t) = sin(t)” is a nonlinear state
f ( x, t ) = 3 x and x(t ) = sin(t ) variable, f(x) = 3x where x(t)=sin(t) is a
linear system, because, f(x)=3x is a
function of “x” only.
System Dynamics: Introduction
Example, types of systems

𝑑2 𝑥 𝑑𝑥
+5 + 10𝑥 = 0
𝑑𝑡 2 𝑑𝑡

𝑑2 𝑥
+ 1 − 2 cos 2𝑡 𝑥 = 0
𝑑𝑡 2
𝑑2 𝑥 2
𝑑𝑥
+ 𝑥 −1 +𝑥 =0
𝑑𝑡 2 𝑑𝑡

𝑑 2 𝑥 𝑑𝑥 3 = sin 𝜔𝑡
+ + 𝑥 + 𝑥
𝑑𝑡 2 𝑑𝑡

𝑥 𝑘 = 𝑎𝑥 𝑘 − 1 − 𝑏𝑥 𝑘 − 2 + 𝑏𝑢(𝑘 − 1) 𝑘 = 1, 2, 3, … , 𝑛
System Dynamics: Introduction
• Analysis and Design
- Analysis (해석): investigation of a system whose mathematical
model is known

- Design (설계): process of finding a system that accomplish a given


task

- Synthesis (합성): to perform a desired system characteristic (spec.)


by designing a system having those spec.

- Design procedure:
(1) Knowing the specification → (2) Apply synthesis technique
→ (3) mathematical modeling → (4) Analysis the system
→ (5) Prototype
System Dynamics: Introduction
• Analysis (해석) and Synthesis (합성)

Input System Output


(I) (M) (O)

Given (I + M) ----→ O : Analysis

Given (I + O) ----→ M : Synthesis

Given (M + O) ----→ I : Dynamic Inverse Problem


(Motion Programming)

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