2

Mathematical Modelling
2.1 Representation of system with mathematical models
Mathematical model of a system is representation of a system with a mathematical equation
Mathematical modelling is used so that analysis and design problems can be conveniently
solved by computers.
Classfication of systems on the basis of mathematical models :-
A. Linear Time Invariant Systems
If the differential equation representing the system is linear with all the coefficients of the equation
independent of time then the system is called linear time Invariant (LTI)
5d 2 y 8dy
Ex..   2y = x
dt 2 dt
where,y is output and x is input of the system.
B. Linear Time Varying Systems
If the differential equation representing the system is linear with coefficients varying as a function
of time then the system is called linear time varying system.
Ex.
5d 2 y 8dy
i)   6t 2 y = x
dt 2 dt
d2 y dy
ii) 2
 Sin t  y = 8x
dt dt
C. Non-Linear Time Invariant System
If the differential equation representing the system is non-linear with all coefficients independent of
time then the system is called non-linear time invariant system.
2
d2 y  dy 
i) 5 2  8    6y = x
dt  dt 

d2 y dy
ii) 2
 10  log y = 8x
dt dt
d2 y
iii)  y = Sin x
dt 2
D. Non- linear time variant system :-
If the differential equation representing the system is non linear with coefficients varying as a
function of time then the system is called non-linear time variant system.
2
d 2 y  dy 
i) t2     6.y = x
dt 2  dt 

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Electrical & Electronics Engg. Control System 2

d2 y dy
ii) 2
 Sin t  log y = 8x2
dt dt

d2 y
iii) 6t  y = Sin x
dt 2
2.2 Mathematical Models of Electrical networks
The basic elements of an electrical systems are resistance ‘R’, capacitance ‘C’ and inductance
‘L’. The electrical circuits are analyzed by the application of Kirchhoff’s voltage and current
law. Voltage equations are used for analysis of series RLC and current equation for parallel
RLC.
2.2.1 Series RLC network
R L

V I C

Apply KVL , we have,

V = iR  L
di 1

dt C z
idt

dQ
but i =
dt
Q = Electric charge
d 2Q RdQ Q
L 2
  = V ........(i)
dt dt C
This equation is called voltage equation. It represents the mathematical model of series RLC network.
2.2.2 Parallel RLC networks
i A
iR iL iC
V R L C

Apply KCL at node “A” , we have,

iR + iL + iC = i
V 1

R L z
Vdt  C
dV
dt
= i

d
but V =
dt
where, = magnetic flux.
d 2  1 d 
C   = i .........(ii)
dt 2 R dt L
This equation is called current equation. It represents the mathematical model of parallel RLC network.
Note : In electrical network inductor stores kinetic energy in the form of magnetic field and capacitor
stores potential energy in the form of electric field.

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Electrical & Electronics Engg. Control System 3

2.3 Mathematical Models of Mechanical systems

Mechanical systems can be described in various dimensions as translational, rotational, or a combination
of both.
Translational Motion : Motion takes place along a straight or curved path.
Variables used to describe translational motion are force, acceleration, velocity and displacement.
The equations used are formulated from Newton’s Law of motion i.e.
 forces = Ma
Where, M = Mass
a = Acceleration
Rotational Motion : Motion about a fixed axis. Variables used are torque T, angular velocity 
and angular displacement . The equations used are formulated from Newton’s Law of motion for
rotational motion i.e.
 torques = J
Where, J = Inertia
 = Angular acceleration
2.3.1 Translational Systems
(a) Mass : Mass is considered as a property of an element that stores kinetic energy of translational
motion.
I x

M F

d2x
F = M
dt 2
(b) Damper : Represents a retarding force that is linear relationship between the applied force and
velocity.
B

dx
F = B
dt
where, B is called damping coefficient
(c) Linear Spring : Linear spring is considered to be an element that stores potential energy.

F
x

F = K. x
where, x is stress and K is spring constant
Composite mass damper system :-

B
K

F x

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Electrical & Electronics Engg. Control System 4

Free body diagram of mass M,

Kx dx
B.
dt

dx d2x
F  Kx  B. = M. 2
dt dt
d2x dx
M 2
 B.  Kx  F .........(iii)
dt dt
Equation (iii) is known as Force equation
2.3.2 Rotational systems
i) Inertia :- Inertia is considered as a property of an element that stores kinetic energy of rotational
motion.
T
J 
T
d 2
T = J
dt 2
where, T = Torque
 = angular moment
ii) Damper :-
B

T 
d
T = B
dt
where, B is damping co-efficient
iii) Torsional Spring :-
K

T 
T = K
where, k is spring constant
Composite System :-
B
J
K T 
At equillibrium,
d d 2
T  K  B. = J. 2
dt dt

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Electrical & Electronics Engg. Control System 5

d 2 d
J
 B  K  T .........(iv)
dt 2 dt
Equation (iv) is known as Torque equation
Summary :-
i) Voltage equation :
d 2Q dQ Q
L 2
R  = V
dt dt C
ii) Current equation:
d 2  1 d 
C   = I
dt 2 R dt L

iii) Force equation:

d2x dx
M 2
 B  K.x = F
dt dt

iv) Torque equation:

d 2 d
J 2
 B  K.  = T
dt dt
2.4 Analogy Among Systems

S.No Series RLC Parallel RLC Mass Inertial Thermal Pneumatic Fluid
Voltage current Damper torque system system system
equation equation

1 Voltage Current Force Torque Temperature Pressure Pressure

(V) (I) (F) (T) Diff. Diff. Head

Charge Magnetic Linear Angular Heat Quality Quantity

2 (Q) flux displacement Displacement of air of
() (x) () fluid flow

3 Inductance Capacitance Mass Iinertia –– –– ––

(L) (C) (M) (J)

Resistance Conductance Damper Damper Thermal Air Fluid

4 (R)
GH JK
1
R
(B) (B) Resistance friction friction

Heat Air Fluid

Capacitance Inductance Spring Spring
5 capacity storage storage
(C) (L)
GH K1 JK GH K1 JK capacity capacity

Current Voltage Linear Angular Heat Air Fluid

velocity velocity flow flow flow
6
GH JK
dQ
dt
GH ddt JK GH JK
dx
GH ddtJK rate rate rate
dt

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Electrical & Electronics Engg. Control System 6

Analogy between Electrical & mechanical systems :-

Nodal or mechanical circuit of mass damper system.
Example -(i) Draw the mechanical circuit for system shown below –

B2 K2

M2
x2
B1
K1

M1
x1
F
Step-I : Ground of mechanical system is taken as reference node and displacement of each mass
as separate node
x1 x2

Step-II:Mass should be connected between reference node & node corresponding to its displacement
x1 x2
M1 M2

Step-III: Force acting on a mass should be connected between reference node & node
corresponding to displacement of that mass.

x1 x2
F M1 M1

Note : Direction of force is taken towards node (Generally).

Step-IV: The elements connected between ground & a mass should always be connected between
reference node & node corresponding to displacement of that mass.
x1 x2

M1 M2 K2
B2

Step-V: Elements connected between two masses should be connected between nodes corresponding
to the displacement of the masses.

B1
x1 x2

F M1 K1 K2
M2
B2

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Electrical & Electronics Engg. Control System 7

Force equation for node “x1”,

M1
d 2 x1
dt 2
 B1
d
dt
b g b
x 1  x 2  K1 x 1  x 2  F g
Force equation for node “x2”,

M2
d 2 x2
dt 2
dx
b
 B2 2 + K 2 x 2  K1 x 2  x1  B1
dt
d
dt
g
x 2  x1  0 b g
Note :- Node between a spring and a damper has its independent displacement. Therefore it should be
represented by a separate node in mechanical circuit (Nodal diagram).
Example :
Draw the nodal diagram of system shown below:-

B1
B2
K1 x1

M
x2
F
Solution :
The nodal diagram of the system as shown below

x2 K1
x1

F B2 M B1

Note :- Order of mass damper system is equal to 2 × No. of masses.

Example :
Draw the electrical equivalent circuit using force- current and force-voltage analogy for the system
shown below.
B2 x2 x1

K1
M2 M1 F
K2

frictionless
f
Solution :
Nodal diagram of given system ,
x2 K1 x1
B2
K2 M2 M1
F

Force equation for node ‘x1’,

M1
d 2 x1
dt 2
b g
 K1 x1  x 2 = F (t) .........(i)

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Electrical & Electronics Engg. Control System 8

Force equation for node ‘x2’,

M2
d 2 x2
dt 2
dx
dt
b
 B2 2  K 2 x 2  K 1 x 2  x 1  0 g ........(ii)
By using Force-voltage analogy
1
F  V, M  L, B2  R2, K  ,xq
C

i
dq
dt
q = z idt

 x1 = q1 = z i1dt

dx1
 = i1
dt
x2 = q2 =  i dt
2

dx 2
 = i2
dt
Now equation (i) & (ii) become,

L1
di1 1

dt C1
e z z j
i1dt  i 2 dt = V ........ (iii)

L2
di 2
dt
 R 2i2 z1
C2
i 2 dt 
1
C1 z z i 2 dt  i1dt  0 ........ (iv)

The electrical network can be drawn using KVL equations (iii) and (iv) as shown below,
L1 L2

i1 i2 R2
V  C1
–
C2

Using above relation, we have,

C1
dv1 1

dt L1 z z
v1dt  v 2 dt = i

C2
dv 2

dt R 2
1
v2  z
1
L2
v 2 dt 
1
L1 zb g
v 2  v1 dt = 0

V1 L1 V2

i C1 R2 L2
C2

Electric circuit using Force-current analogy is shown above.



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 Mathematical Modeling CONTROL SYSTEMS 9

GATE Practice Questions

1. If the electrical circuit of figure (b) is an equivalent

of the coupled tank system of figure (a), then
B D

A C

h1 (b) Electrical equivalent

h2
Fluid friction at input, output and connecting pipes
behaves like resistance and capacity of each tank
(a) Coupled tank behaves like capacitances. So, in electrical
equivalent of coupled tank A and C represents
capacitances and B and D represent the
resistances.

B D 56. The position control of a DC servo-motor is given

in the figure. The values of the parameters are
A C KT = 1N-m/A. Ra = 1, La = 0.1 H, J = 5kg-m2,
B = 1N-m/(rad/sec) and Kb = 1V/(rad/sec). The
steady-state position response (in radians) due
to unit impulse disturbance torque Td is ...........
(b) Electrical equivalent
T d (s )
(a)A, B are resistance and C, D capacitances –
+ KT 1 1
(b)A, C are resistances and B, D capacitances
(c)A, B are capacitances and C, D resistances V d(s) – Ra + Las + J s+B s
(s)
(d)A, C are capacitances and B, D resistances
GATE(EE/GATE(EE/2010/1M) Kb
1. Ans.(d)
2015(EC-III) - 2 Mark
Ans. –0.51 to –0.49

h1 h2

(a) Coupled tank

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