Lec 01
Lec 01
MDP 3430
System Dynamics
• References:
− Nise N.S., “Control Systems Engineering”, 6th edition, John Wiley &
Sons, 2011.
− Ogata, K., “Modern Control Engineering”, 5th edition, Prentice Hall,
2010.
− Franklin, F., Powell, J., Emami, A., “Feedback Control of Dynamic
Systems”, 7th edition, Pearson, 2015.
• Software:
Matlab, Simulink
Grading System
• Total: 125 grades
• Final: 75 grades
• Term Work: 50 grades
− Mid Term: 20 grades (8th week)
− Projects and presentations: 10 grades
− Assignments and class tests: 20 grades
• Course Objective
• Introduce the system dynamics to the mechanical engineering students.
• Course Topics
− Introduction to system dynamics
− Mathematical modeling of dynamic systems (mechanical, electrical,
electronic, hydraulic, pneumatic, and thermal)
− Linearization
− Block diagram - Transfer function approach
− State space representation
− Transient Response
− Steady state analysis
− Frequency Response
Introduction to Systems Dynamics
• Basic definitions
• System dynamics deals with the mathematical modeling of dynamic
systems and response analyses.
• A system is a combination of components acting together to perform a
specific objective.
• A component is a single functioning unit of a system.
• The controlled variable is the quantity or condition that is measured and
controlled. The controlled variable is the output of the system.
• Control means to measure the value of the controlled variable and to set its
value to a desired value.
• In a dynamic system, the output changes with time. The output changes due
to the variation of input or disturbances acting on the system.
• A disturbance is a signal that tends to adversely affect the value of the
output of a system.
Systems configurations
• Open loop control systems
• Systems in which the output has no effect on the control action.
• The output is neither measured nor fed back for comparison with the
input.
• Open-loop systems do not correct for disturbances and are simply
commanded by the input.
• Example: washing machine, toaster.
Systems configurations
• Advantages of open-loop control systems:
1. Simple construction and ease of maintenance.
2. Less expensive.
3. There is no stability problem.
4. Convenient when output is hard to measure or measuring the
output precisely is economically not feasible.
• More Examples.
Systems configurations
• Closed-Loop (Feedback Control) Systems
• The system transformed algebraic equations are solved in the ‘s’ domain.
Then, transformed back to the physical time domain ‘t’ using the inverse
Laplace transform
ʆ−1 𝐹 𝑠 = 𝑓 𝑡
Unit step function
𝑢 𝑡−𝑎 =1 𝑡≥𝑎
=0 𝑡<𝑎
Laplace transform
table
Theorem 𝑓 𝑡
Linearity theorem ʆ 𝑘𝑓 𝑡 = 𝑘𝐹 𝑠
Laplace transform ʆ 𝑓1 𝑡 + 𝑓2 𝑡 = 𝐹1 𝑠 + 𝐹2 𝑠
ʆ 𝑒 −𝑎𝑡 𝑓 𝑡 =𝐹 𝑠+𝑎
theorems Frequency shift theorem
1 𝑠
Scaling theorem ʆ 𝑓 𝑎𝑡 = 𝐹
𝑎 𝑎
𝑑𝑓
Differentiation theorem ʆ = 𝑠𝐹 𝑠 − 𝑠𝑓 0
𝑑𝑡
𝑑2 𝑓
ʆ 2
= 𝑠 2 𝐹 𝑠 − 𝑠𝑓 0 − 𝑓 ′ 0
𝑑𝑡
𝑛
𝑑𝑛 𝑓
ʆ = 𝑠𝑛 𝐹 𝑠 − 𝑠 𝑛−𝑘 𝑓 𝑘−1 0
𝑑𝑡 𝑛
𝑘=1
𝑡
𝐹 𝑠
Integration theorem ʆ න 𝑓 𝜏 𝑑𝜏 =
0 𝑠
where ‘y’ is the output of the system and ‘x’ is the input.