System Dynamics and Control

Instructor: Faisal Iqbal

------ Faculty of Mechanical Engineering
----
Teaching Assistant
Engr. Talha (Section A) & Engr. Zoobia
(Section B)

Fall Semester 2024

1
 Instructor’s Profile
Summary
Faisal Iqbal
([email protected])
Education

MSc in Mechanical Engineering

Ghulam Ishaq Khan (GIK) Institute of Engineering Sciences and
Technology.

BSc in Mechanical Engineering

Ghulam Ishaq Khan (GIK) Institute of Engineering Sciences and
Technology.

2
Grading Policy
Quizzes (4): 10%
Assignment Sessions (4): 10%
Complex Engineering Problem and viva (1): 10%
Mid Exam: 30%
Final Exam: 40%
Attendance Policy
•80% attendance is mandatory to appear in final exam.
•After start of class, no attendance will be marked.
•Institute leave policy will be followed.
•Re-take of quizzes/assignment session is not allowed. In
case of emergency, retake will be allowed with prior
approval obtained at least 1 day before the session.
•Minimum 35% marks required. 3
 Course Introduction

This course focuses on modelling and simulation

of dynamical systems. The course covers
techniques for modelling of various physical
systems, solution and analysis of system
response and development of control laws.
• Part 1: Modeling dynamic systems (Chapters 2-5)
– Mechanical, electrical, and fluid systems
– Learn by studying real-world examples!

• Part 2: Dynamic system analysis (Chapters 6-9)

– Analytical and numerical methods
– Time response, block diagrams, MATLAB/Simulink, frequency response, vibrations
– Learn by solving real-world examples (Chapter 11)

• Part 3: Introduction to control systems (Chapter 10)

– Closed-loop feedback systems, control algorithms, closed-loop response
– Real-world examples from industry/research (Chapter 11)
 Synopsis
This course introduces the students to the fundamental ideas and
definitions of System Dynamics and Control systems.
Students will be taught how to develop mathematical models of actual
physical systems such as electrical, industrial process, mechanical and
electromechanical systems in the ODE and transfer function form.
Methods of system representation such as block diagram representation
will be examined.
Concept of open loop and closed loop control systems, transfer functions,
transient and steady state responses will be covered. The students will also
be exposed to techniques of analysing control systems performance and
stability in time and frequency domains.
An introduction to the design and analysis of control systems using
MATLAB will also be given
Finally, students would be able to design PID control law for physical
systems
Course Learning Outcomes
Course Learning Outcomes
Main Text: Dynamics Systems, Modelling Simulation
and Control
Craig A Kluever
Wiley, 2015
Reference Texts:
1). R.C. Dorf & R. H. Bishop Modern Control Systems (2021), Pearson Education International,
Inc, 14th Ed.
2). Gene Franklin, J D Powell and A Emami-Naeini (2014). Feedback control of dynamic systems,
Pearson, USA
• Systems

• Dynamics

• Control
Significance of System Dynamics and Control:
Real World Systems
Significance of System Dynamics and Control:
Real World Systems
Significance of System Dynamics and Control:
Real World Systems
 Significance of System Dynamics and Control:
Real World Systems
• Cruise control is a feature that comes in handy when you drive at a constant speed. It is an electric system

that allows you to set your car to a specific speed, letting you take your foot off the accelerator pedal. So, it

can ease foot-fatigue and stress over a long drive.

 Significance of System Dynamics and Control:
Real World Systems
• Control system in VDC Lab
 Significance of System Dynamics and Control:
Real World Systems
• Control system in VDC Lab
 Significance of System Dynamics and Control:
Real World Systems
• Control system in VDC Lab
 Engineering
• In engineering problems, there is a need to understand and
Problem
determine the dynamic response of a physical system that
may involve several components

Dynamic
Response • These efforts involve modeling, analysis, simulation, and
Design of physical systems
Mechanical Electrical

• Building a prototype system and conducting experiments/tests is

Components not feasible and/or is too expensive for preliminary design
Thermal
Fluid • Mathematical modeling and analysis of engineering systems greatly
aid the design process

Modeling Simulation Analysis Design

• System: A combination of components acting together to perform a specified objective. The
components or interacting elements have cause-and-effect (or input/output) relationships.
• We will investigate mechanical, electrical, fluid, and mixed systems.

Input Voltage Output Angular velocity

• Dynamic system: The present/current output variables of a system depend on the initial
conditions (or stored energy) of the system and/or the previous input variables.
• The dynamic variables of the system (e.g., displacement, velocity, voltage, pressure, etc.) vary with time.
• Modeling: The process of applying the appropriate fundamental physical laws in order to derive
mathematical equations that adequately describe the physics of the engineering system.

Output Angular
Input Voltage
velocity

By applying the Kirchhoff's By using the Newton’s second law

Voltage law

Differential equation Differential equation

For Electrical Current For mechanical motion

• Mathematical models: A mathematical description of a system’s behavior, usually a set of differential

equations for a dynamic system.
• Simulation: The process of obtaining the system’s dynamic response by analytically or numerically
solving the governing modeling equations. Simulation involves numerical integration of the model’s
differential equations and is performed by digital computers and simulation software.

• System analysis: The use of analytical calculations or numerical simulation tools to determine the system
response in order to assess its performance.
• The system parameters could alter to improve the performance for desire response.
• Introduce students to the mathematical modeling of physical systems
• Mechanical, electrical, fluid, and thermal systems
• Show “real-world” examples from ASME articles, industry

• Introduce students to analytical and numerical methods for obtaining a system’s

dynamic response to various initial conditions and input functions
• Analytical: solving ODEs “by hand”
• Numerical: MATLAB and Simulink

• Analyze and design feedback control systems in order to achieve a desirable

system response
Fundamental Control Concepts

The Control Problem

Maintain a variable of process at a
desired value while rejecting the effects of
outside disturbances by manipulating
another system variable.

h Qout depends on h
If Qout = Qin, h constant
Qout > Qin, tank empties
Qout < Qin, tank overflows
 Feedback Control Subsystems
Measurement
Control decision
System modification

Measurement-
sight glass

Control Decision
Human adjusts Qout to maintain h
=H

Reference (setpoint) Process- Final Control Element

h = control variable Maintain tank Valve
level
Use sensors and analog or digital electronics to monitor and adjust system

Level
Measurement
Elements of Automatic Control
Sensor
Process – single or multiple variables
Measurement – sensors
Controller Error Detection – compare H to h
Controller – generate corrections
Final Control Element – modify
Final control process
element

Maintain Valve
level Position
Open loop control modifies output based on predetermined control values.
There is no actual measurement of controlled quantity.

Controller
The actual output is not
taken into consideration
Final control for the controller (valve
element
setting)

Valve Output Tank

setting flow Level
Control
Controller Tank
Valve

Disturbances
Closed loop control modifies output based on measured values of the control
variable. Measured value compared to desired value and used to maintain desired
value when disturbances occur. Closed loop control uses feedback of output to
input.

Desired Valve Output

Value setting flow Tank
Level
Control
Controller Tank
+ Valve
-

Level
Measurement

Measured
The actual output is taken into
level consideration for the controller
27
(valve setting)
 Example: Auto Cruise Control
Disturbances
Mechanical
Fuel flow Power

Actual Speed
Set Speed Controller Fuel
Engine Auto
+ Injectors
-

Error

Speed
Sensor

Disturbances: Up hill/ down hill

Head wind/ tail wind
• Spatial characteristics
• Distributed (PDEs) vs. lumped parameters (ODEs)
• Time variable continuity
• “Analog” vs. “digital”
• Time dependence
• Time-varying vs. time-invariant parameters
• Superposition property
• Linear vs. nonlinear systems

Red bold-face: focus of DSC textbook

• Distributed system: Infinite number of “internal” variables; system is
governed by PDE

• Example: continuous twist angle for shaft under external torque

• Lumped system: Finite number of “internal” variables; system is

governed by ODE

• Example: lump all inertia, stiffness, etc into single elements; single twist angle
of free end of shaft under external torque

Red bold-face: focus of DSC textbook

Continuous-time system (“analog”) Discrete-time system (“digital”)

Describe By differential Equation Describe By difference Equation

Red bold-face: focus of DSC textbook

• Time-varying system: system parameters change with time
• Example: Friction Coefficient and “wear out”

• Time-invariant system: constant system parameters

• Example: spring stiffness remains constant over time
• Therefore, identical inputs and initial conditions produce identical dynamic responses every trial.

System Parameters, not the dynamic parameter.

System Parameters: Resistance, inductance, friction, inertia. (Unchanged over time for TIS)
Dynamic Parameter: Current and angular velocity: (Can change of TIS)

Red bold-face: focus of DSC textbook

• Linear systems obey the superposition property :

1. If u1 is an input, and y1 = f(u1) is the corresponding output, then ay1 = f(au1) , where a =
any constant

2. If y1 = f(u1) and y2 = f(u2) , then y1 + y2 = f(u1+u2)

• Nonlinear systems do not obey these properties

• All physical systems are nonlinear. However, if we confine the input/output
variables to a restricted (nominal) range, then we can replace a nonlinear system
with a linear model.
• Linear dynamic systems are governed by linear differential equations
• Examples of linear ODEs:

x  4 x  9 x 2u Linear time-invariant (LTI) ODE

x  4 x  (9  cos 3t ) x 2u Linear time varying ODE

• Examples of nonlinear ODEs:

x  4 xx  9 x 2u

Red bold-face: focus of DSC textbook

• Mathematical models are obtained by applying the appropriate laws of physics
• Impossible to determine the response with out mathematical model:

• Trade model complexity with accuracy of the analysis

• The non-linear model, requires numerical solutions by using simulation software.
• Nonlinearities are often ignored in preliminary design studies in order to derive linear models
• Sometimes, low-order linear models can be solved analytically.
• Furthermore, simulations (e.g., MATLAB/Simulink) are easier to construct with low-order linear
models and therefore reduced the system-analysis time.
• Higher-order, complex nonlinear models typically require smaller integration time steps to
accurately solve the governing differential equations, which increases computer run time
• Consequently, there is usually a trade-off between model complexity and analysis time
• The validity of a mathematical model can often be verified by comparing the model solution (i.e.,
simulation results) with experimental results
•Shuttle Avionics Integration Lab (SAIL) at NASA Johnson Space
Center was used to simulate the dynamics of the entire Space
Shuttle mission profile
• SAIL was composed of “hardware in the loop” (such as sensors and cockpit
displays) mixed with mathematical models (such as aerodynamic force
models, gravity force models) and flight software (such as guidance,
navigation, and control functions)
• SAIL results compared very well with actual measured flight
• Simulink is a numerical simulation tool that is part of the MATLAB software package
developed by MathWorks.

Response Analysis

6-DOF robot
control
Hand manipulation

Snake robot

Robot Control Unity 3D:

Not a physics Engine

Summary
You should be able to
Appreciate the role of System Dynamics and Control in real world application

Appreciate the role of Mathematical modeling in system dynamics and control

Have an understanding of the basic idea of system, subsystem, modeling, simulation, analysis, and design

Have an understanding of continuous system, lumped parameter model, and their mathematical models

Should be able to differentiate between linear and nonlinear governing models and their implications