Feedback Control Systems (FCS)

Lecture-6
Introduction Mathematical Modelling

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 Types of Systems
•
Static System: If a system does not change
with time, it is called a static system.
•
Dynamic System: If a system changes with
time, it is called a dynamic system.

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 Dynamic Systems
A system is said to be dynamic if its current output may depend on
the past history as well as the present values of the input variables.
Mathematically,

y (t ) [u (),0   t ]
u : Input, t : Time

Example: A moving mass

y
u
M
Model: Force=Mass x Acceleration

 u
My
 Ways to Study a System

System

Experiment with Experiment with a

actual System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

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 Model
•
A model is a simplified
representation or abstraction of
reality.
•
Reality is generally too complex to
copy exactly.
•
Much of the complexity is actually
irrelevant in problem solving.

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 Types of Models

Model

Physical Mathematical Computer

Static Dynamic Static Dynamic Static Dynamic

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 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
 Classification of Mathematical Models

•
Linear vs. Non-linear

•
Deterministic vs. Probabilistic (Stochastic)

•
Static vs. Dynamic

•
Discrete vs. Continuous

•
White box, black box and gray box
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 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or
unknown.

Input Output

• Easy to Model

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 Grey Box Model
• When input and output and some information
about the internal dynamics of the system is
known.

u(t) y(t)
y[u(t), t]

• Easier than white box Modelling.

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 White Box Model
• When input and output and internal dynamics
of the system is known.

dy(t ) du(t ) d 2 y(t )

u(t) 3  y(t)
dt dt dt 2

• One should know have complete knowledge

of the system to derive a white box model.
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 Mathematical Modelling Basics

Mathematical model of a real world system is derived using a

combination of physical laws and/or experimental means

• Physical laws are used to determine the model structure (linear

or nonlinear) and order.
• The parameters of the model are often estimated and/or
validated experimentally.
• Mathematical model of a dynamic system can often be expressed
as a system of differential (difference in the case of discrete-time
systems) equations
Different Types of Lumped-Parameter
Models

System Type Model Type

Nonlinear Input-output differential equation

Linear State equations

Linear Time
Invariant Transfer function
 Approach to dynamic systems
• Define the system and its components.
• Formulate the mathematical model and list the necessary
assumptions.
• Write the differential equations describing the model.
• Solve the equations for the desired output variables.
• Examine the solutions and the assumptions.
• If necessary, reanalyze or redesign the system.

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 Simulation
•
Computer simulation is the discipline of
designing a model of an actual or theoretical
physical system, executing the model on a
digital computer, and analyzing the execution
output.
•
Simulation embodies the principle of
``learning by doing'' --- to learn about the
system we must first build a model of some
sort and then operate the model.

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Modelling and Simulation Process
Project
Description
Conceptual
Model
Simulation
Model
Simulation
Program
Model
Validation

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 Advantages to Simulation

Can be used to study existing systems without
disrupting the ongoing operations.


Proposed systems can be “tested” before committing
resources.


Allows us to control time.


Allows us to identify bottlenecks.


Allows us to gain insight into which variables are
most important to system performance.
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 Disadvantages to Simulation

Model building is an art as well as a science. The
quality of the analysis depends on the quality of the
model and the skill of the modeler.


Simulation results are sometimes hard to interpret.


Simulation analysis can be time consuming and
expensive. Should not be used when an analytical
method would provide for quicker results.

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