Introduction to System Dynamics
Nader Sadegh
ME3057, Experimental Methodology
George .W. Woodruff School of Mechanical Engineering
Georgia Institute of technology
Instructor Information
Instructor: Nader Sadegh
Email: sadegh@[Link]
Tel: (404) 894-8172
Office: GTMI Building Room 475
Office Hours: T 11am-12pm, R 2pm-3pm, or by
appointment
ME3017, System Dynamics
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Course Description
Description: Mathematical modeling of dynamics
systems with mechanical, hydraulic, thermal
and/or electrical elements. Analysis including
linearization, transient and frequency response,
and stability. Design and analysis of linear
feedback control systems.
Prerequisite: MATH 2403, ME2202, and
ECE3710
ME3017, System Dynamics
Textbooks
Required Text: System Dynamics by Palm, William J., III,
4th Edition, McGraw-Hill College, 2009
Recommended Texts:
1. System Dynamics by K. Ogata, 4/ed, Prentice-Hall,
2004.
2. J.L. Shearer and B.T. Kulakowski, Dynamic Modeling
and Control of Engineering Systems, Mcmillan
Publishing Company, 1990.
3. Kuo, B.C., Automatic Control Systems, 7/ed, Prentice
Hall, 1995.
4. Nise, S. N., Control Systems Engineering, 6th Edition,
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Wiley, 2010
5. Solving Control Engineering Problems with MATLAB by
K. Ogata, Prentice-Hall, 1994 (MATLAB Reference).
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Evaluation
Weekly Quizzes (32%)
Midterm (21%) Date: 3/6
Homework (11%)
Final Examination (36%) Date: 5/1
All tests and quizzes will be online and can be
accessed via canvas
All tests are closed-book but 1 sheet (8.5x11)
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of notes will be allowed for each quiz. All the
previously used sheets can be used for the
midterm and final exam.
Academic Honesty
All items in the Honor Code under the topic of
Academic Misconduct apply to this class. In
particular, the following items are considered
to be cheating:
Submission of an assignment that is copied
from another student
Communicating with Other Students During
Online Exams
Academic misconduct will be reported to the
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Vice President for Student Affairs.
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Class Policies
If you miss a class, you are still responsible for
everything done in class.
No makeup quizzes will be given
Cheating will not be tolerated
Disruptive actions in the classroom such as
talking, laughing, continual late arrival, etc., will
not be tolerated
ME3017, System Dynamics
Course Topics
Introduction to Modeling and Control
Laplace Transform
Modeling of Mechanical, Electrical, Fluid, Thermal
and Mixed Systems
Time Response of Dynamic Systems
Computer Simulation
Frequency Domain Analysis
Vibration Applications
Feedback System Design & Analysis
ME3017, System Dynamics
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Mathematical Modeling (MM)
A mathematical model represents a physical
system in terms of mathematical equations
It is derived based on physical laws
(e.g.,Newton’s law, Hooke’s, circuit laws,
etc.) in combination with experimental data.
It quantifies the essential features and
behavior of a physical system or process.
It may be used for prediction, design
ME3017, System Dynamics
modification and control.
Computer Simulation & Modeling
Computer simulation involves numerically
solving the math. equations (often diff eqs)
associated with a dynamic system.
Computer Simulation is used to represent in
great detail the performance of “real world”
systems (e.g. robot, machine tool, aircraft,
engine, etc.)
Simulation is used as an aid to design,
diagnose, evaluate performance, or to gain a
deeper understanding of the dynamics of an
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existing or proposed dynamic system.
Boeing 777 was designed 100% digitally
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Engineering Modeling Process
dv Numerical
f m bv Solution
Theory dt
Solution
v v
c f Data
Data T x
Engineering Math. Model
System
Model
Reduction
Control
Design
Example: Automobile
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• Engine Design and Control
• Heat & Vibration Analysis
• Structural Analysis Graphical
Visualization/Animation
Contemporary Applications
Aerospace Industry
aircrafts, satellites, missiles
Matrials & Processing
Manufacturing & Robotics
Automotive Systems
HEV and Elec cars
Safety Systems (ABS, VSC)
Emission
Biomedical Applications
artificial limbs, prosthetics
cardiovascular devices
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Automobile Control Applications
Several computers are on
board (30-35 on average).
Some functions performed by
these computers (called ECUs)
Fuel injection / Ignition control
Anti-lock Break Systems (ABS)
Stability and traction control
(anti-skid)
Active suspension
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Climate control
Automatic transmission system
Definition of System
System: An aggregation or assemblage of
things so combined by man or nature to
form an integral and complex whole.
From engineering point of view, a system is
defined as an interconnection of many
components or functional units that act
together to perform a certain objective,
e.g., automobile, machine tool, robot,
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aircraft, etc.
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System Variables
Every system associated with 2 variables:
u y
System
Input variables originate outside the system and
are not affected by what happens in the system
Output variables are internal variables used to
monitor or regulate the system. They result from
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the interaction of the system with its environment
and are influenced by the input variables
Static vs. Dynamic Systems
A system is said to be static if its output at
time t, y(t), is a function of the input at time
t, u(t). In another words, a change in input
causes an instantaneous change in output.
Examples:
Gear train Four-bar linkage Transformer
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u y
u y
u y
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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 ) f [u(),0 t ]
u : Input, t : Time
Example: Automobile
u= throttle position v= speed
= steering wheel
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position automobile = orientation
p= road profile
Linear Automobile Motion
Assuming traction froce throttle position,
by the Newton’s 2nd law: F=ku=ma or
mdv/dt=ku. v
F
Upon integration t m
k
m 0
v(t ) v(0) u()d
v(t) depends on the history of the input
Assuming linear drag force FD=bv, the
input-output model is given by a linear
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differential equation
mv bv ku
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Steering Dynamics
Mathematical Classification of Dynamic
Systems: Linear vs. Nonlinear
In this course we consider dynamic systems
whose input-output relationship governed by
an ordinary differential equation:
Linear ODE y y u
5y 10y u u
y
Nonlinear ODE y siny u
yy 10y 2 u
y
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Laplace Transform technique is a powerful
tool for solving linear (constant-coefficient)
differential equations.
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