Modul 3 Mathematical Modeling of Dynamic Systems

Modul Praktikum Sistem Kendali - D10H5103
Program Studi Teknik Elektro

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Departemen Teknik Elektro Fakultas - FMIPA UNPAD
MODUL 3
MATHEMATICAL MODELING OF DYNAMIC SYSTEMS
A. KOMPETENSI
Mampu memahami pentingnya model matematika dari sistem dinamik dalam disain dan
analisis sistem kontrol dengan menggunakan MATLAB.
B. SUBKOMPETENSI
Setelah mengikuti praktikum mahasiswa mampu menggunakan MATLAB untuk disain dan
analisis sistem kontrol pada model matematika sistem dinamik.
C. TEORI DASAR
Mathematical Models. Mathematical models may assume many different forms. Depending on
the particular system and the particular circumstances, one mathematical model may be better
suited than other models. For example, in optimal control problems, it is advantageous to use
state-space representations. On the other hand, for the transient-response or frequency-response
analysis of single-input-single-output, linear, time-invariant systems, the transfer function
representation may be more convenient than any other. Once a mathematical model of a system
is obtained, various analytical and computer tools can be used for analysis and synthesis
purposes.
Simplicity Versus Accuracy. In obtaining a mathematical model, we must make a compromise
between the simplicity of the model and the accuracy of the results of the analysis. In deriving a
reasonably simplified mathematical model, we frequently find it necessary to ignore certain
inherent physical properties of the system. In particular, if a linear lumped-parameter
mathematical model (that is, one employing ordinary differential equations) is desired, it is
always necessary to ignore certain nonlinearities and distributed parameters that may be present
in the physical system. If the effects that these ignored properties have on the response are
small, good agreement will be obtained between the results of the analysis of a mathematical
model and the results of the experimental study of the physical system. In general, in solving a
new problem, it is desirable to build a simplified model so that we can get a general feeling for
the solution. A more complete mathematical model may then be built and used for a more
accurate analysis. We must be well aware of the fact that a linear lumped-parameter model,
which may be valid in low-frequency operations, may not be valid at sufficiently high
frequencies sin* the neglected property of distributed parameters may become an important
factor in the dynamic behavior of the system. For example, the mass of a spring may be
neglected in low-frequency operations, but it becomes an important property of the system at
high frequencies. (For the case where a mathematical model involves considerable errors,
robust control theory may be applied.)
Linear Systems. A system is called linear if the principle of superposition applies. The
principle of superposition states that the response produced by the simultaneous application of
two different forcing functions is the sum of the two individual responses. Hence, for the linear
system, the response to several inputs can be calculated by treating one input at a time and
adding the results. It is this principle that allows one to build up complicated solutions to the
linear differential equation from simple solutions. In an experimental investigation of a
dynamic system, if cause and effect are proportional, thus implying that the principle of
superposition holds, then the system can be considered linear.
Linear Time-Invariant Systems and Linear Time-Varying Systems. A differential equation
is linear if the coefficients are constants or functions only of the independent variable. Dynamic
systems that are composed of linear time-invariant lumped-parameter components may be
described by linear time-invariant (constant-coefficient) differential equations. Such systems
are called linear time-invariant (or linear constant-coefficient) systems. Systems that are
represented by differential equations whose coefficients are functions of time are called linear
time-varying systems. An example of a time-varying control system is a spacecraft control
system. (The mass of a spacecraft changes due to fuel consumption.)
TRANSFER FUNCTION AND IMPULSE-RESPONSE FUNCTION

Transfer Function. The transfer function of a linear, time-invariant, differential equation
system is defined as the ratio of the Laplace transform of the output (response function) to the
Laplace transform of the input (driving function) under the assumption that all initial conditions
are zero. Consider the linear time-invariant system defined by the following differential
equation:
(1)
where y is the output of the system and x is the input. The transfer function of this system js the
ratio of the Laplace transformed output to the Laplace transformed input when all initial
conditions are zero, or
(2)
AUTOMATIC CONTROL SYSTEMS
Obtaining Cascaded, Parallel, and Feedback (Closed-Loop) Transfer Functions with
MATLAB. In control systems analysis, we frequently need to calculate the cascaded transfer
functions, parallel-connected transfer functions, and feedback-connected (closed-loop) transfer
functions. MATLAB has convenient commands to obtain the cascaded, parallel, and feedback
(closed-loop) transfer functions.
Suppose that there are two components Gl(s) and G2(s) connected differently as
shown in Figure 3-6, where
To obtain the transfer functions of the cascaded system, parallel system, or feedback (closed-
loop) system, the following commands may be used:
As an example, consider the case where
Example Program
Program 3-1 gives C(s)/R(s) = num/den for each arrangement of G1(s)
and Gz(s). Note that the command
Displays the num/den [that is, the transfer function C(s)/R(s)] of the system considered.
Figure 3-1 (a) Cascaded system; (b) parallel system; (c) feedback (closed-loop) system.
TRANSLATION MOTION
For linear translational motion, in addition to the mass, the following system elements are also
involved.
Linear spring. In practice, a linear spring may be a model of an actual spring or a compliance
of a cable or a belt. In general, a spring is considered to be an element that stores potential
energy.
(3)
where K is the spring constant, or simply stiffness. Eq. (3) implies that the force acting on the
spring is directly proportional to the displacement (deformation) of the spring. The model
representing a linear spring element is shown in Fig. 3-2. If the spring is preloaded with a
preload tension of T, then Eq. (3) should be modified to
Figure 3-2 Force-spring system.
(4)
Friction for translation motion. Whenever there is motion or tendency of motion between two
physical elements, frictional forces exist. The frictional forces encountered in physical systems
are usually of a nonlinear nature.
 Viscous friction. Viscous friction represents a retarding force that is a linear relationship
between the applied force and velocity. The mathematical expression of viscous friction is
(4)
 Static friction. Static friction represents a retarding force that tends to prevent motion
from beginning. The static frictional force can be represented by the 4xpression
(5)
 Coulomb friction. Coulomb friction is a retarding force that has constant amplitude with
respect to the change of velocity, but the sign of the frictional force changes with the
reversal of the direction of velocity. The mathematical relation for the Coulomb friction is
given by
(6)
D. ALAT/INSTRUMENT/APARATUS/BAHAN
1. Personal Computer (PC)
2. Software MATLAB
E. KESELAMATAN KERJA
1. Pastikan personal computer (PC) telah terinstall dengan baik
2. Jangan mengubah-ubah setting pada system operasi PC
F. LANGKAH KERJA
1. TRANSFORMATION OF MATHEMATICAL MODELS WITH MATLAB
MATLAB is quite useful to transform the system model from transfer function to state space, and
vice versa. We shall begin our discussion with transformation from transfer function to state space.
Let us write the closed-loop transfer function as
Once we have this transfer-function expression, the MATLAB command
[A, B, C, Dl = tf2ss(num1den)
will give a state-space representation. It is important to note that the state-space representation for
any system is not unique. There are many (infinitely many) state-space representations for the same
system. The MATLAB command gives one possible such state-space representation.
Transformation From Transfer Function to State Space. Consider the transfer function system
(7)
There are many (infinitely many) possible state-space representations for this system. One possible
state-space representation is
(8)
Another possible state-space representation (among infinitely many alternatives) is
(9)
MATLAB transforms the transfer function given by Equation (7) into the state- space
representation given by Equations (8) and (9). For the example system considered here, MATLAB
Program 3-2 will produce matrices A, B, C, and D.
Transformation From State Space to Transfer Function. To obtain the transfer function from
state-space equations, use the following command:
iu must be specified for systems with more than one input. For example, if the system has three
inputs (ul, u2, u3), then iu must be either 1,2, or 3, where 1 implies u1. 2 implies u2, and 3 implies
u3.
If the system has only one input, then either may be used. For the case where the system has
multiple inputs and multiple outputs, see Example 1.
Example 1:
Consider a system with multiple inputs and multiple outputs. When the system has more than one
output, the command
produces transfer functions for all outputs to each input. (The numerator coefficients are returned to
matrix NUM with as many rows as there are outputs.) Consider the system defined by
This system involves two inputs and two outputs. Four transfer functions are involved: Y1(s)/U1(s),
Y2(s)/U1(s), Y2(s)/U2(s), and Y2(s)/U2(s) (When considering input ul, we assume that input u2 is
zero and vice versa.)
Soution:
2. MODELING OF MECHANICAL SYSTEMS

Consider the mass-spring-friction system shown in Fig. 3-3(a). The linear motion concerned is in
the horizontal direction. The free-body diagram of the system is shown in Fig. 3-3(b). The force
equation of the system is
(10)
The last equation may be rearranged by equating the highest-order derivative term to the rest of the
terms:
(11)
Figure 3-3 (a) Mass-spring-friction system, (b) Free-body diagram.

Figure 3-4 The mass-spring-friction system of Eq. (12) block diagram representation.
(12)
For zero initial conditions, the transfer function between Y(s) and F(s) is obtained by taking the
Laplace transform on both sides of Eq. (12) with zero initial conditions:
(13)
The same result is obtained by applying the gain formula to the block diagram, which is shown in
Fig. 3-4. Eq. (11) may also be represented in the space state form using a state vector x(t) having n
rows, where n is the number of state variables, so that
(14)
Where
(15)
(16)
and
(17)
So using Eqs. (14) through (17), Eq. (11) is rewritten in vectoral form as
(18)
The state Eq. (18) may also be written as a set of first-order differential equations:
(19)
For zero initial conditions, the transfer function between Y(s) and F(s) is obtained by taking the
Laplace transform on both sides of Eq. (19):
(20)
Figure 3-5 Block diagram representation of mass-springfriction system of Eq. (4-19)
Figure 3-6 Block diagram representation of mass-springfriction system of Eq. (21) with initial
conditions .x1(0) and x2(0).
The same result is obtained by applying the gain formula to the block diagram representation of the
system in Eq. (20), which is shown in Fig. 3-5. For nonzero initial conditions, Eq. (19) has a different
Laplace transform representation that may be written as:
(21)
Upon simplifying Eq. (21) or by applying the gain formula to the block diagram representation of the
system, shown in Fig. 3-6, the output becomes
(22)
MATLAB SOLUTION:
G. LATIHAN
Latihan 1
Obtain the transfer function of the system defined by the following state-space equation
Use matlab to find the transfer function
Latihan 2
Let us consider the RLC network shown in Fig. 4-27. Using the voltage law
Figure 4-27 RLC network, (a) Electrical schematics, (b) Signal-flow graph representation, (c) Block
diagram representation.
Where
eR = Voltage across the resistor R
eL = Voltage across the inductor L
ec = Voltage across the capacitor C

H. TUGAS PENDAHULUAN
1. Explain the definition of dynamic system!
2. What is meant by Friction for Translation Motion? And Explain the types of friction!
3. Consider the mechanical system shown in Figure. We assume that the system is linear. The
external force u(t) is the input to the system, and the displacement y(t) of the mass is the
output. The displacement y(t) is measured from the equilibrium position in the absence of the
external force.This system is a single-input-single-output system.
4.
give an explanation of the relationship between E(s) and C(s) based on the figure

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Modul Praktikum Sistem Kendali - D10H5103

Program Studi Teknik Elektro

TRANSFER FUNCTION AND IMPULSE-RESPONSE FUNCTION

As an example, consider the case where

Figure 3-2 Force-spring system.

2. MODELING OF MECHANICAL SYSTEMS

Figure 3-3 (a) Mass-spring-friction system, (b) Free-body diagram.

Figure 3-5 Block diagram representation of mass-springfriction system of Eq. (4-19)

Use matlab to find the transfer function

eR = Voltage across the resistor R

eL = Voltage across the inductor L

ec = Voltage across the capacitor C

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