2024-09-18

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T U T O R I A L

Modeling of Dynamic Systems

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System Modeling & Simulation – MSE 380

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Q1: 2.1(textbook)
What is a “dynamic” system, a special case of any general
system?
A typical input variable is identified for each of the following
examples of dynamic systems. Give at least one output
variable for each system.

a. Human body: neuroelectric pulses

b. Company: information
c. Power plant: fuel rate
d. Automobile: steering wheel movement
e. Robot: voltage to joint motor
f. Highway bridge: vehicle force

Solution

A system whose state variables (or, response variables) have

rates of changes that are not negligible, is a dynamic system.
Also, the current output of a dynamic system depends not only
on its current input but also on the past input/output

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Solution
System Input Output
(Excitation, Cause) (Response, Effect)
Human body Neuroelectric
Body movement; voice
pulses
Company information Products; decisions
Power plant fuel rate Energy (Power); pollution
Automobile steering wheel Direction of movement,
movement car position
Robot voltage to joint Joint rotation;
motor end-effector motion
Highway bridge vehicle force Bridge oscillation;
noise

Q1: 2.2(textbook)
Real systems are nonlinear. Under what conditions a linear
model is sufficient in studying a real system? Consider the
following system equations:
a. d 2 y (t ) dy (t )
(t )  (2 sin( t  3)  5 y (t )  u (t )
dt dt
2
b. 3 d y (t ) (t )  2 y (t )  u (t )
dt
2
c. 3 d y (t ) (t )  2( dy (t ) )3  y (t )  u (t )
dt dt
d. 5 y(t )  2 y (t )  3 y (t )  5u (t )

i. Which ones of these are linear?

ii. Which ones are nonlinear?
iii. Which ones are time variant?

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Solution
Real systems are nonlinear. Under what conditions a
linear model is sufficient in studying a real system?

1. Under steady-state operation at an operating point with

small variation around the point
2. When nonlinearities are weak
3. When a nonlinear model is too complex, and only a rough
study needs to be conducted
4. When the model can be validated by actual experiments on
the real system.

i. Which ones of these are linear?

ii. Which ones are nonlinear?
iii. Which ones are time variant?

a. d 2 y (t ) dy (t )
(t )  (2 sin( t  3)  5 y (t )  u (t )
dt dt
2
b. 3 d y (t ) (t )  2 y (t )  u (t )
dt
2
c. 3 d y (t ) (t )  2( dy (t ) )3  y (t )  u (t )
dt dt

d. 5 y(t )  2 y (t )  3 y (t )  5u (t )

(i) (a), (b) , (d)

(ii) (c)
(iii) (a)

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Q1: 2.3(textbook)
Give four categories of uses of dynamic modeling.
List advantages and disadvantages of experimental modeling
over analytical modeling.

Solution

Systems analysis and evaluation; system design; system

modification; system control

Advantages of experimental modeling: real physical system is

used; realistic practical inputs (excitations) are employed;
feasible modifications are learned and can be incorporated

Disadvantages of experimental modeling: instrumentation and

test procedures can be costly; testing is a slow process (impacts
on production); test modification can be difficult and costly; a
physical prototype may be required.

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Q1: 2.4(textbook)
What are the basic lumped elements of
i. a mechanical system
ii. an electrical system?
Indicate whether a distributed-parameter method is needed
or a lumped-parameter model is adequate in the study of
following dynamic systems:
a. vehicle suspension system (motion)
b. elevated vehicle guideway (transverse motion)
c. oscillator circuit (electrical signals)
d. environment (weather) system (temperature)
e. aircraft (motion and stresses)
f. large transmission cable (capacitance and inductance).

NOTE: Variables/parameters of interest are given in parentheses.

Solution
(i) mass, spring, damper, force source, velocity source
(ii) Capacitor, inductor, resistor, current source, voltage source

a. vehicle suspension system (motion) (a) Lumped

b. elevated vehicle guideway (b) Lumped
(transverse motion)
c. oscillator circuit (electrical signals) (c) Lumped
d. environment (weather) system (d) Distributed
(temperature)
e. aircraft (motion and stresses) (e) Distributed
f. large transmission cable (capacitance
and inductance). (f) distributed

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Q1: 2.5(textbook)
Write down the order of each of the systems shown
in Figure P2.5.

Solution
(a) 1st order
(b) 2nd order
(c) 2nd order
(d) 2nd order

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Q1: 2.6(textbook)
a. Give logical steps of the analytical modeling process for a
general physical system.
b. Once a dynamic model is derived, what other information
would be needed for analyzing its time response (or for
computer simulation)?
c. A system is divided into two subsystems, and models are
developed for these subsystems. What other information
would be needed to obtain a model for the
overall system?

Solution
(a)
1. Identify the system (including its boundary and the
boundary conditions)
2. Perform a functional analysis (study the function of each
component or element of the system)
3. Represent each functional aspect by one or more basic
elements
1. Write element equations
2. Write continuity and compatibility equations
3. Eliminate unknown / redundant variables
(b) Parameter values of the model; initial conditions; excitation
(input) signals. Normally, boundary conditions are known
through the model itself.

(c) Interface details (i.e., information on how the

subsystems are connected).

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Q1: 2.7(textbook)
Various possibilities of model development for a physical
system are shown in Figure P2.7. Give advantages and
disadvantages of the SM approach of developing an
approximate model in comparison to a combined DM+MR
approach.

Solution
Advantages of the Model Reduction (MR) approach:
 Simple
 Fast
 Going from B to C (i.e., MR) is sensitive to variations in
the parameters of the physical system (and of the
accurate mode).

Advantages of the Detailed Model + Model Reduction

(DM+MR) approach:
 Much insight of the system is gained during DM.
 The MR process is more systematic (easier) and
analytical than the direct Simplified Model (SM) process
 Easier to correlate the parameters of the real system to
those in the accurate model.

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Q2
Consider a bicycle as a system and identify its inputs,
outputs, other system variables, and its most important
characteristics when it is moving under control of a rider.

Rider position

Rider power Tilt angle

Brake force Direction

Road angle Velocity

Rider surface Rate of turn

Handle bar
position

Important system parameters

 Mass and Inertia (Bicycle and rider)
 Sprocket and wheel sizes
 Center of Gravity
 Speed

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Q3
The use of solar energy is a sustainable way to generate electric power for houses. A
schematic arrangement is shown in Figure Q2a. Radiation from the sun is received
at a solar panel, which consists of photovoltaic cells to convert solar energy to
electric energy in the form of direct current (dc). Using an inverter, the dc
power is converted into alternating current (ac) power of appropriate frequency (60
or 50 Hz) for household use. This supply is connected through a two-way meter to
the supply line of the house and to the main electricity grid (Figure Q2b). In this
manner, any excess power from the solar panels can be sold to the grid and when
the supply from the solar panel is not adequate (e.g., cloudy days, nights) electricity
can be purchased from the grid. The ac power is used for various household
purposes such as operation of
appliances, heating, and cooling.
a. Explain why this is a multidomain (i.e., mixed) system.
b. Identify several key components of the system (Note: some are shown in Figure
Q2a). Discuss various processes within the components that may be
categorized into the mechanical, electrical, fluid, and thermal domains.
Indicate applicable modeling issues for the overall system.
c. Sketch the energy flow of the system, indicating relevant stages of energy
conversion.

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Solution
a. This system has sub-processes in the domains of
thermal, electrical, mechanical, and fluid, working
together.

Solution (continued)
b. The components of the system include the sun, solar panel;
inverter; and appliances (e.g., light bulb, fan, refrigerator, and
microwave oven). Some of the sub-processes in the system are
listed below:
Energy transfer from the sun to the solar panel: Thermal
(radiation)
Solar panel: Thermo-electric energy conversion
Inverter: Electrical to Electrical energy conversion
Light bulb: Electrical energy conversion into light and thermal
energy
Fan: Electrical energy conversion into mechanical energy
Refrigerator: Electrical energy conversion into thermal energy
Microwave oven: Electrical energy conversion into thermal and
mechanical energies

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Solution (continued)
Many of the processes are nonlinear and rather complex.
Some subsystems are distributed (e.g. solar panel). There
are time-varying parameters (e.g. fluid flow and drying /
cooking in the refrigerator and the microwave oven ,
respectively.

Solution (continued)
c.
Electrical Electrical
Solar Panel Inverter
Thermal
Radiation
Thermal/
Light energy Light bulb

Mechanical
Fan

Thermal
Refrigerator

Thermal/
Mechanical
Microwave
oven

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Q4
What is the order of the following system where qin is the
input and qout is the output. Assume uniform cross sections
(areas) of A1 and A2 for the tanks and linear valves with
resistances of R1 and R2.

qin
h1

h2
A1 qout
A2

R1 R2

Solution
This is a second order system as there are two energy
storage components in the system.

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Q5
A hydraulic pipe is 1.0m long with an internal diameter
of 2.0mm and has hydraulic fluid flowing in it.
The fluid has the following properties:
=840 Kg/m3, =16.810-6kPa s.
What is the resistance of this circular tube?

x
R f  128 
d 4

128  (16.8  10 6 kPa s )  1m 128  (16.8  10 6 kN s )  1m

Rf  
  (2  10 3 ) 4 m 4   (2  10 3 ) 4 m 4 m 2

42.78  10 6 kN s
Rf 
m5

Note: 1 Pa = 1 N/m2

Q6
A tank has a diameter of 1.83 meters and a height of 10
ft. Determine the capacitance of the tank when it holds
water (=1000Kg/m3)
A
CT 
g
 d2  (1.83) 2
A   2.63m 2
4 4
A 2.63m 2
CT    2.68  10  4 m 3 / Pa
g 1000 Kg / m 3  9.81m / s 2

1 kg/cm² = 98066.5 pascals (Pa)

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Q7
Determine the inertance of water in a pipe with a
diameter of 2.1 cm and a length of 65 meters
(=1000Kg/m3).

x
If 
A
 d2  (2.110 2 ) 2
A   3.46 10  4 m 2
4 4
x (1000 Kg / m 3 )  65m
If  
A 3.46  10  4 m 2

I f  1.88  108 Pa / m 3 / s 2

1 kg/cm² = 98066.5 pascals (Pa)

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