EE3101-Control Systems Engineering

Module3-Mathematical Modeling of Physical Systems

Note: Refer the Video Lecture No-2 of Control Systems Engineering by Prof. M Gopal

Physical System:

A physical system is a set of physical objects connected together to do a task. Examples are electronic
amplifier, steam turbine, communication satellite.. etc

Assumptions are always made for analysis and synthesis of systems. Generally we assume the systems
as Linear and time invariant. An idealized physical system is called a physical model. A physical system
can be modeled in a different number of ways depending upon the specific problem to be dealt with and
the desired accuracy.
Once a physical model of a physical system is obtained, the next step is to obtain a mathematical model
which is the mathematical representation of the physical model through use of appropriate physical
laws. Depending upon the choice of variables and the coordinate system a given physical model may
lead to different mathematical models such as differential equations, transfer function and state variable
model..etc

Classification of Systems:
The classification of systems is shown in a block diagram as follows

Distributed Parameter System: The system in which all the parameters are distributed through the
system is called distributed system. For example, In case of a Electrical transmission line, the resistance,
inductance and capacitance are distributed throughout the line

Lumped Parameter System: For example in an electric circuit, if all the circuit elements are connected
by perfect conducting wires and are separated spatially are called Lumped circuits. And these types of
systems are called Lumped Parameter Systems.

Deterministic System: The system in which no randomness is involved in the development of future
states of the system.

Stochastic System: The system whose behavior is non deterministic and its subsequent state is
determined by both predictable actions and by randomness.

Continuous time Systems: The systems in which all the system variables are continuous with respect to
time are called Continuous time Systems

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Discrete time Systems: The system in which one or more variables are discrete with respect to time are
called Discrete time Systems

Linear Systems: The systems which satisfies the Principle of Superposition are called Linear Systems

Non Linear Systems: The systems which does not obey Superposition Principle are called non-Linear
Systems

Time Varying Systems: The system in which one or more parameters are varying with respect to time
are called Time Varying Systems

Time Invariant Systems: The system in which all the parameters are constant with respect to time are
called Time Invariant Systems

Homogenous System: The systems whose physical properties are uniform throughout the system are
called Homogenous systems. This type of systems cannot separated physically

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Non Homogenous Systems: The systems whose physical properties are non uniform are called Non
Homogenous Systems

Differential equations of Physical Systems:

1. Mechanical Systems:

(a) Translational systems: The variables that describe translational motion are Acceleration,
Velocity and Displacement. This system can be modeled by three elements
(i) Mass (M): It stores the kinetic energy of the translational motion. Newton’s law
of motion states that the algebraic sum of external forces acting on rigid body in a
given direction equal to the product of mass of the body and its acceleration in the
same direction.

∑  =   ℎ  ∗  

Consider a force ( ) is acting on body of Mass M as shown in figure below

 ! "()
The force equation is given as ( ) = ( )=

=  !
Where ( ) is acceleration, #( ) is linear velocity, ( ) displacement
(ii) Linear Spring: It stores potential energy. Consider a force of f(t) is applied on a
spring of spring constant K as shown in figure below. The force equation is given
by ( ) = $ %( ) − '( )( where ( ) and '( ) are displacements.

(iii) Viscous Friction: It represents the retarding force that is linear relationship
between the applied force and velocity. The schematic diagram for viscous force
is represented by a Dashpot as shown below.

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The force equation is given by ( ) = )%#( ) − *( )(, where B is the Viscous

friction coefficient.
This element always dissipates energy.

Consider an example; a translational system is as shown in figure below.

"() ! "
The force equation for this is ( ) − ) 
− $( ) =  !

Levered Systems: An ideal (mass and frictionless) lever is shown in figure so long as the
rotation θ about the axis of the lever is small.

 
The equations governing the motion are ' = + and  = + so that " = ,
And also -1 = -2

(b) Rotational Motion: The variables that describe translational motion are Angular Acceleration,
Angular Velocity and Angular Displacement. This system can be modeled by three elements

(i) Moment of Inertia (J): It stores the kinetic energy of the rotational motion.
Newton’s law of rotational motion states that the algebraic sum of torques about a
fixed axis is equal to the product of inertia and its angular acceleration about the
axis

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∑ 0* = 11    ∗ 2*   

When a torque is applied to a body with inertia J, as shown in figure, the torque
6() ! 7()
equation is 3( ) = 45( ) = 4 = 4
  !
Where +( ) is angular displacement; 8( ) is angular velocity and 5( ) is angular
acceleration.

(ii) Torsional Spring: It stores potential energy. As with the linear spring for
translational motion, a torsional spring constant K, in torque per unit angular
displacement, can be devised to present the compliance of a rod or shaft when it is
subjected to an applied torque. As shown in the figure the torque equation is
3( ) = $+( )

(iii) Viscous friction: It dissipates energy. It produces the retarding torque. As shown
7()
in the figure the torque equation is 3( ) = ) 
. Where B is viscous friction
coefficient.

Consider an example of rotational motion as shown below.

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! 7()
The torque equations are 3 = 4 + ) +/ + $+
9

Gear Trains: Gear trains are used in the control systems to attain the mechanical matching of

motor to load. This is similar to the lever system in translational system. The arrangement is as

shown in the figure.

The equations governing the motion are +2/+1 = <1/<2  31 +1 = 32 +2

2. Electrical systems:
In this system the three basic elements are Resistor, Inductor and Capacitor. Among this Inductor
stores Kinetic energy, Capacitor stores potential energy and resistor dissipates energy. Here KCL
and KVL are used. In the examples below, q is the charge and ɸ is the magnetic flux
! > >
Consider an example of series RLC circuit as shown. The equation is = + ? + 0/@ = #
 ! 

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! ɸ ɸ ɸ
Consider another example of parallel RLC as shown. The equation is @ + (1/?) + =
 !  B

3. Thermal Systems: The assumption to design a linear model in thermal system is temperature of the
medium is uniform. The variables that describe thermal systems are temperature (θ) and heat flow
rate (H). This system can be modeled by three elements.
(a) Thermal Resistance(R): It is the ratio of change in temperature to the change in flow rate. It is
similar to the Electrical Resistance

CD (°F)
R=
CG (HIJK/LMI)
(b) Thermal Capacitance(C): It is the ratio of change in heat stored to the change in temperature. It
is similar to Electrical Capacitance

CN (HIJK)
F =
CD (°F)
(c) Heat flow rate (H): It is rate of change of Heat flow (Q).It is similar to Electrical Power

ON
H=
OP
Consider a thermal system as shown in figure. Assume that the tank is insulated to eliminate heat
loss, there is no heat storage in the insulation. The liquid in the tank is kept at uniform
temperature by mixing with the help of stirrer. Assume the steady state temperature of inflowing
liquid is θi and that of out flowing liquid is θ0. The steady state heat input rate from the heater is
H. The liquid flow rate is assumed constant.

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Let ∆H (J/min) be a small increase in heat input from its steady state value. This results in the
increase in both heat flow rate by ∆H1 and heat storage rate of the liquid by ∆H2. Consequently
the temperature of the liquid in the tank and also that of the out flowing liquid rises by ∆θ (°C).
The equations governing are
S7
QR1 = 1 Q+ = T
where m = liquid flow rate (Kg/min) and s = specific heat in J/kg°C
(S7) (S7)
QR2 =  
= @ 
where M = Mass of the liquid in tank
S7 (S7)
By applying the Heat balance equations, QR = QR1 + QR2 = T
+ @ 
(S7)
Implies (QR)? = Q+ + ?@ 
4. Liquid Systems: The assumption in this system for a linear model is that the fluid is incompressible
and laminar. The variables that describe liquid systems are Head (h) and Liquid flow rate (q). This
system can be modeled by three elements.

(a) Fluid Resistance(R): It is the ratio of change in head to the change in flow rate. It is similar
to the Electrical Resistance

CV (W)
U =
CX (WY/LMI)
(b) Fluid Capacitance(C): It is the ratio of change in amount of liquid stored to the change in
head. It is similar to Electrical Capacitance

CN (WY)
F =
CV (W)
(c) Liquid flow rate (q): It is rate of change of fluid flow (Q).It is similar to Electrical Power

X = ON/OP

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Consider a liquid system as shown in figure where a tank is supplying liquid through an outlet.
Under steady condition let qi be the liquid flow rate into the tank and q0 be the liquid outflow
rate, where h0 is the steady liquid head in the tank. Obviously qi = q0

Let ∆qi be a small increase in the liquid inflow rate. This causes increase of head of the tank by
∆h, resulting in increase of outflow rate by ∆q0. So, increase in inflow rate causes increase in
storage rate and also increase in outflow rate.
The equations governing are rate of liquid storage in tank = @ (Qℎ)/
Increased liquid outflow rate = Qℎ/?
By applying fluid balance equations Q0 = @ (Qℎ)/ + Qℎ/?

5. Pneumatic System: The assumption in this system for a linear model is that the gas is
incompressible and velocity of gas is small fraction of velocity of sound. The variables that describe
pneumatic systems are Pressure (P) and gas flow rate (q). This system can be modeled by three
elements.

(a) Gas Resistance(R): It is the ratio of change in pressure to the change in flow rate. It is
similar to the Electrical Resistance

U = CZ ([/W\) / CX (WY/LMI)
(b) Gas Capacitance(C): It is the ratio of change in amount of gas stored to the change in
pressure. It is similar to Electrical Capacitance

F = CN (WY) / CZ ([/W\)
(c) Gas flow rate (q): It is rate of change of fluid flow (Q).It is similar to Electrical Power

X = ON/OP

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Consider a simple pneumatic system as shown in figure. A pneumatic source is supplying air to
the pressure vessel through a pipe line. Under steady condition let Pi be the air pressure of source
and P0 be the air pressure in the vessel.

Let ∆Pi be a small increase in the source pressure, resulting in increase of vessel pressure by ∆P0.
It means rate of gas storage in vessel ( @ (Q]0)/ ) = rate of gas inflow (∆Pi - ∆P0) / R

Upon simplifying this we get R C d(∆P0)/dt + ∆P0 = ∆Pi

Analogy quantities:
The concept of analogous systems is useful concept for study of various systems like electrical,
mechanical, thermal, liquid level..etc. The solutions of one system can be applied to other
analogous systems. Generally it is convenient to study non electrical systems in terms of its
electrical analog.

Analogous Quantities in Force (Torque) - Voltage Analogy

Mechanical Translational Rotational Systems Electrical Systems

Systems
Force F Torque T Voltage V
Mass M Moment of Inertia J Inductance L
Viscous friction coefficient B Viscous friction coefficient B Resistance R
Spring stiffness K Torsional spring constant K Reciprocal of capacitance
1/C
Displacement x Angular Displacement θ Charge q
Velocity v Angular Velocity ω Current i

Analogous Quantities in Force (Torque) - Current Analogy

Mechanical Translational Rotational Systems Electrical Systems

Systems
Force F Torque T Current i
Mass M Moment of inertia J Capacitance C

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Viscous friction coefficient Viscous friction coefficient B Reciprocal of Resistance 1/R

B
Spring Constant K Torsional spring constant K Reciprocal of capacitance 1/L

Displacement x Angular Displacement θ Magnetic flux linkage

Velocity v Angular Velocity ω Voltage V

Analogous Quantities of electrical, thermal, liquid level and pneumatic systems

Electrical Systems Thermal Systems Liquid-level Systems Pneumatic Systems

Charge q Heat flow J Liquid flow Air flow
Current Heat flow rate Liquid flow rate Air flow rate
Voltage V Temperature Head Pressure
Resistance Thermal Resistance Fluid Resistance Gas Resistance
Capacitance Thermal Fluid Capacitance Gas Capacitance
Capacitance

Solved Examples:
1. Consider the mathematical system as shown in figure. Write the dynamic equations
governing the systems.

Solution:

The free body diagram is given as follows

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Applying Newton’s law of motion

! "` (a)
The equation for Mass M1 is )9(#9 − #_ ) + $9 (9 − _ ) − )_ #_ − $_ _ = _  !
! " ! (a)
The equation for Mass M2 is ( ) − )9(#9 − #_ ) −$9 (9 − _ ) = 9  !

2. Consider a salt mixing tank shown in figure. A solution of salt in water at a concentration Cf
(moles of salt / m3 of solution) is mixed with pure water to obtain an outflow stream with salt
concentration C0. The water flow rate is assumed fixed at Qw and the solution flow rate may
be varied to achieve the desired concentration C0. Volumetric hold up of the tank is V, which
is held constant. Let us assume that stirring causes perfect mixing so that composition of the
liquid in the tank is uniform throughout. Find the mathematical equations governing it?

Solution:

From the figure, bc = bd + be

The rate of salt inflow in the tank, 1f = be @e
The rate of salt outflow from the tank, 1c = bc @c
 hi
The rate of salt accumulation in the tank 1 = %g@c ( )( = g
 

From the law of conservation of mass, we have 1f = 1c + 1

hi
It implies, be @e = bc @c + g 

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Problem Set:

1. Write the differential equations governing the behavior of mechanical system shown in
figure below. Also obtain an analogous electrical circuit based on force-current analogy

2. A rectangular object is composed of a material that is in contact with fluid on its top side
while being perfectly insulated on three other sides. Find the equations for the heat
transfer for the following figure?

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Reference Books:

1. Chapters No: 2-1 and 2-2 of Control Systems Engineering by I J Nagrath, M Gopal, 5th
Edition

For any clarifications mail me at [email protected]

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