Introduction to System Dynamics

Nader Sadegh
ME3057, Experimental Methodology

George .W. Woodruff School of Mechanical Engineering

Georgia Institute of technology

Instructor Information

 Instructor: Nader Sadegh

 Email: [email protected]
 Tel: (404) 894-8172
 Office: GTMI Building Room 475
 Office Hours: T 11am-12pm, R 2pm-3pm, or by
appointment
ME3017, System Dynamics

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 Course Description

 Description: Mathematical modeling of dynamics

systems with mechanical, hydraulic, thermal
and/or electrical elements. Analysis including
linearization, transient and frequency response,
and stability. Design and analysis of linear
feedback control systems.
 Prerequisite: MATH 2403, ME2202, and
ECE3710
ME3017, System Dynamics

Textbooks
Required Text: System Dynamics by Palm, William J., III,
4th Edition, McGraw-Hill College, 2009
Recommended Texts:
1. System Dynamics by K. Ogata, 4/ed, Prentice-Hall,
2004.
2. J.L. Shearer and B.T. Kulakowski, Dynamic Modeling
and Control of Engineering Systems, Mcmillan
Publishing Company, 1990.
3. Kuo, B.C., Automatic Control Systems, 7/ed, Prentice
Hall, 1995.
4. Nise, S. N., Control Systems Engineering, 6th Edition,
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Wiley, 2010
5. Solving Control Engineering Problems with MATLAB by
K. Ogata, Prentice-Hall, 1994 (MATLAB Reference).

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 Evaluation
 Weekly Quizzes (32%)
 Midterm (21%) Date: 3/6
 Homework (11%)
 Final Examination (36%) Date: 5/1
 All tests and quizzes will be online and can be
accessed via canvas
 All tests are closed-book but 1 sheet (8.5x11)
ME3017, System Dynamics

of notes will be allowed for each quiz. All the

previously used sheets can be used for the
midterm and final exam.

Academic Honesty
All items in the Honor Code under the topic of
Academic Misconduct apply to this class. In
particular, the following items are considered
to be cheating:
 Submission of an assignment that is copied
from another student
 Communicating with Other Students During
Online Exams
 Academic misconduct will be reported to the
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Vice President for Student Affairs.

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 Class Policies
 If you miss a class, you are still responsible for
everything done in class.
 No makeup quizzes will be given
 Cheating will not be tolerated
 Disruptive actions in the classroom such as
talking, laughing, continual late arrival, etc., will
not be tolerated
ME3017, System Dynamics

Course Topics
 Introduction to Modeling and Control
 Laplace Transform
 Modeling of Mechanical, Electrical, Fluid, Thermal
and Mixed Systems
 Time Response of Dynamic Systems
 Computer Simulation
 Frequency Domain Analysis
 Vibration Applications
Feedback System Design & Analysis
ME3017, System Dynamics

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 Mathematical Modeling (MM)
 A mathematical model represents a physical
system in terms of mathematical equations
 It is derived based on physical laws
(e.g.,Newton’s law, Hooke’s, circuit laws,
etc.) in combination with experimental data.
 It quantifies the essential features and
behavior of a physical system or process.
It may be used for prediction, design
ME3017, System Dynamics


modification and control.

Computer Simulation & Modeling

 Computer simulation involves numerically
solving the math. equations (often diff eqs)
associated with a dynamic system.
 Computer Simulation is used to represent in
great detail the performance of “real world”
systems (e.g. robot, machine tool, aircraft,
engine, etc.)
 Simulation is used as an aid to design,
diagnose, evaluate performance, or to gain a
deeper understanding of the dynamics of an
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existing or proposed dynamic system.

 Boeing 777 was designed 100% digitally

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 Engineering Modeling Process

dv Numerical
f m  bv Solution
Theory dt
Solution
v v
c  f Data
Data T x
Engineering Math. Model
System
Model
Reduction
Control
Design
Example: Automobile
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• Engine Design and Control

• Heat & Vibration Analysis
• Structural Analysis Graphical
Visualization/Animation

Contemporary Applications
 Aerospace Industry
 aircrafts, satellites, missiles
 Matrials & Processing
 Manufacturing & Robotics
 Automotive Systems
 HEV and Elec cars
 Safety Systems (ABS, VSC)
 Emission
 Biomedical Applications
 artificial limbs, prosthetics
 cardiovascular devices
ME3017, System Dynamics

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 Automobile Control Applications
 Several computers are on
board (30-35 on average).
 Some functions performed by
these computers (called ECUs)
 Fuel injection / Ignition control
 Anti-lock Break Systems (ABS)
 Stability and traction control
(anti-skid)
 Active suspension
ME3017, System Dynamics

 Climate control
 Automatic transmission system

Definition of System
 System: An aggregation or assemblage of
things so combined by man or nature to
form an integral and complex whole.
 From engineering point of view, a system is
defined as an interconnection of many
components or functional units that act
together to perform a certain objective,
e.g., automobile, machine tool, robot,
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aircraft, etc.

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 System Variables
 Every system associated with 2 variables:
u y

System

 Input variables originate outside the system and

are not affected by what happens in the system
 Output variables are internal variables used to
monitor or regulate the system. They result from
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the interaction of the system with its environment

and are influenced by the input variables

Static vs. Dynamic Systems

 A system is said to be static if its output at
time t, y(t), is a function of the input at time
t, u(t). In another words, a change in input
causes an instantaneous change in output.
 Examples:

Gear train Four-bar linkage Transformer

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u y
u y
u y

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 Dynamic Systems
 A system is said to be dynamic if its current
output may depend on the past history as
well as the present values of the input
variables. Mathematically, y(t )  f [u(),0    t ]
u : Input, t : Time

 Example: Automobile
u= throttle position v= speed

 = steering wheel
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position automobile = orientation

p= road profile

Linear Automobile Motion

 Assuming traction froce  throttle position,
by the Newton’s 2nd law: F=ku=ma or
mdv/dt=ku. v
F
 Upon integration t m
k
m 0
v(t )  v(0)  u()d

 v(t) depends on the history of the input

 Assuming linear drag force FD=bv, the
input-output model is given by a linear
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differential equation
mv  bv  ku

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ME3017, System Dynamics
Steering Dynamics

Mathematical Classification of Dynamic

Systems: Linear vs. Nonlinear
 In this course we consider dynamic systems
whose input-output relationship governed by
an ordinary differential equation:
 Linear ODE y  y  u
  5y 10y  u  u
y

 Nonlinear ODE y  siny  u

  yy 10y 2  u
y
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 Laplace Transform technique is a powerful

tool for solving linear (constant-coefficient)
differential equations.

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