Lecture#1

Introductions to System Dynamics

Ir. Fahri

SYSTEM DYNAMICS (BEM2053/EM218)

Contents

• Class Conduct (Rules & Regulations)

• Course Outline
• Teaching Plan
• Initial State of Class (Initial Assumption)
• Background of Study – why ??
• Definitions – what ??
• System Classifications
• System Dynamics & Control Systems
• Q/A - Discussion
• Summary
• References
Class Rules & Regulations

• Refer to Class Rules & Regulations

Course Outline

• Refer to the C.O.

Teaching Plan

• Refer to the T.P.

Initial State of the Class (Initial Assumption)
Background of Study

Plan Do Do
Plan

Act Check Fire-

Check?
Fight

Ideal Case Actual Case

Background of Study
Trial and error Structured and
problem solving systematic problem
approach solving approach

Increase efficiency and speed of innovation

Thomas Alva Edison (1847 – 1931)
“Genius is one percent
inspiration, ninety-nine percent
perspiration”

In 1879, after spending $40,000, and performing 1,200

experiments with 5,000 researchers, Edison succeeded in
making a light bulb using carbonized filaments from cotton
thread. The light bulb burned for two days. The electric
light took the greatest amount of time and required the
most complicated experiments of all his experiments.
Background of Study

Problems:
• Solving Problem demands Creativity & Innovation
• Limited Times & Sources vs High Outcomes & Quality
Background of Study

General Dynamic System Model

Background of Study

General Dynamic System Model

Background of Study

General Dynamic System Model

Background of Study

General Dynamic System Model

Background of Study

General Dynamic System Model

Background of Study

Physical
Systems

Mathematical
Models
Background of Study

Actual System
EM218/BEM2053

System Definition
Modeler’s Perception
Modeling
Mathematical
Modeling
Simulation
Validation
EM407/BEK3033

Control systems design

Background of Study
What is System dynamics?
It deals with the modeling of dynamic systems and response
analyses with a view toward understanding the dynamic
characteristics and improving system performance.
• System definition:
– System boundaries, input and output variables
• Modeling (Formulation of dynamic model) of the system
– Usually in the form of mathematical or graphical
relationship determined analytically or experimentally
• Determination of the behavior of the system (Simulation)
– Effect of the inputs to the system outputs
• Formulation of recommendation or strategies to improve
system performance through modification of the system
structure or parameter values  Control system design.
Definitions
What is a system ?
“a combination of components acting together to perform
specific task/objective”

The components are connected together in such away that the

variation in one component affects the other components
Definitions

A way of structuring a system

• what belongs to the system, and what does not
• inputs, outputs and internal dynamics

Example: cruise control in a car

Definitions

input output
System

The environment affects the system through the input

and it give response due to the input.
System Classifications

Static vs. Dynamic Systems

• Static System
– The output of the system depends only on the current
input.
– The output does not change with the time if the input is
held constant.

• Dynamic System
– The output of the system depends on the current and
the earlier input.
– The output changes with the time even if the input is
constant.
System Classifications
Linear vs. Non-linear System
Linear system: the equations describing the system
(model of the system) is in linear.
In linear equations, a dependent variable and its
derivatives appear as linear combination (not appear as
power, product or non-linear function such as
trigonometric).
Principle of superposition is satisfied for linear system;
Otherwise, a system is non-linear.

Principle of superposition:
If input A produces response X and input B produces
response Y, then input (A + B) produces response (X + Y)
System Classifications

Continuous-time System vs. Discrete-time system

Continuous-time systems: in which the signal involved

are continuous time. The system is described by
differential equation. Laplace Transform is the tool to
solve differential equations.

Discrete-time systems: in which the signal change only at

discrete time instant. The system is described by
difference equation.
System Classifications
Time-varying system vs. Time-invariant (fixed) system
Systems may be classified according to properties of their
parameters as well as their variables w.r.t time.
See some examples:
d 2x dx
2
 5  10 x  0  Linear, time-invariant (LTI) diff. equation
dt dt
d 2x
2
 (1  cos t )10 x  0  Linear, time-varying diff. equation
dt
d 2 x dx
2
  x 3
 sin t  Non-linear diff. equation
dt dt
d 2x dx  Non-linear diff. equation
2
 ( x  1)  x  0
dt dt
System Classifications
Dynamic systems are found in all major engineering
areas.
• Mechanical Systems
• Electrical Systems
• Thermal Systems
• Fluid Systems
• Mixed Systems
System Classifications
What is mechanical system?

Mechanical system is a system subjected by forces/torques

which cause motion.

Governed by Newton’s/Euler’s Laws

Example: • ¼ car suspension

quarter mass of the car

the suspension

unsprung mass

tyre stiffness

ground motion
System Classifications

What is electrical system?

Electrical systems are concerned with the behavior of
three fundamental quantities: charge, current and
voltage.

Kirchoff’s laws are used to model the electrical system:

• Kirchoff’s Voltage Law (KVL)
• Kirchoff’s Current Law (KCL).
Example : DC Motor Model

dia
v  Ria  L  eemf
dt
eemf  K b
d 2 d
T  Jm 2  b
dt dt
T  Kti
System Classifications

What is fluid system?

Fluid system involves connection of fluid flows in tube
and tank.

Chemical industry systems and hydraulic systems are

example of fluid systems.
 Example
Water is pumped at the mass flow rate
qmo(t) from the tank shown in the
figure. Replacement water is pumped
from a well at the mass flow rate qmi(t).
Determine the water height h(t),
assuming the tank is cylindrical with
cross section A!

Schematic diagram of the system

1 t
h(t )  h(0) 
A 0
[qmi (t ) qmo (t )]dt
System Classifications

What is thermal system?

Thermal systems involves heating of objects and
transports of thermal energy.

Air condition system is an example of thermal system.

Example : Close & Frederick, page 375
A system of two thermal capacitances is shown. Heat
supplied by a heater is qi. Heat is lost at the right to the
environment. Find the transfer function relating
incremental variables qˆi (t ) and ˆ2 (t ).
System Classifications

What is mixed system?

System which consists of two or more previously
mentioned engineering disciplines.

• Electro-mechanical system
• Fluid-mechanical system
• Thermo-mechanical
• Electro-thermal
• Mechatronics system
System Classifications

What type of system is this?

System Classifications
What type of system is this?
System Classifications

What type of system is this?

System Dynamics & Control Systems
Control System Examples
Control Systems in Transportation
System Dynamics & Control Systems

Control System Examples

Control Systems in Transportation

• Automotive: Engine regulation, active suspension,

anti-lock braking system (ABS).
• Steering of missiles, planes, aircrafts and ships at
sear.
System Dynamics & Control Systems

Control System Examples

Control Systems in Process Industries

• In the process industries, control is used to

regulate level, pressure and temperature of
refinery vessel.
• In steel rolling mill, the position of the rolls is
controlled according to the measure of thickness
of the steel coming off the finishing line.
System Dynamics & Control Systems
Control System Examples
Control Systems in Process Industries
System Dynamics & Control Systems
Control System Examples
Control Systems in Manufacturing Industries
System Dynamics & Control Systems

Control System Examples

Control Systems in the Home

• CD Players, the position of the laser spot in

relation to the microscopic pits in a CD is
controlled.
• Video Recorder, the tracking of the record and
play back head is controlled by controlling the
velocity of the tape.
• Air conditioning system uses thermostat and
control the temperature in the room.
Q/A -Discussion

…
Summary

As Analyzer (from analysis side):

A successful engineer must be able to obtain
a mathematical model of a given system and
predict its performance.

As Designer (from designer side):

The engineer must be able to carry out a
thorough performance analysis of the system
before a prototype is constructed.
Summary

The objective of the course is to enable

students:

1. To build mathematical models that closely

represent behaviors of physical systems,

2. To develop system responses to various

inputs so that he/she can effectively
analyze and design dynamic systems.
Summary

Actual System
EM218/BEM2053

System Definition
Modeler’s Perception
Modeling
Mathematical
Modeling
Simulation
Validation
EM407/BEK3033

Control systems design