University of Baghdad Control of Mechanical Systems College of Engineering

Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Chapter 2
REPRESENTATION OF CONTROL COMPONENTS
To study the performance of control systems, it is necessary to obtain the
mathematical relationship ( ) relating the controlled variable ( ) and the actuating
signal ( ) of the forward elements. This is accomplished by first obtaining the
mathematical representation for each component and then expressing each of these
equations as a block diagram.
Operational Notation:
Operator is a symbol which indicates differentiation with respect to time,

 ( ) ( )
 ∫
Representation of Mechanical Components:
1. Mass-Spring Damper:
Mass-spring damper shown in Figure is a mechanical control ⁄
component used to control oscillations and vibrations in ⁄
machines and equipment. In which the applied total force
is input while the displacement is output. The associated
block diagram should be represented by taking the
individual components:
 Spring:
The spring force required to resist deflection (distance ) is,
( )

Where, is stiffness or spring rate. Since the spring component behaves as a feedback
component, is input, is output, and is the mechanical impedance ( ). The block
diagram representation is:
Displacement Spring Force
 Viscous damper: Damping force required to move X, dX/dt
one end of dashpot at velocity is, ( )

Where, is damping coefficient of viscous damper. Since the viscous damper

component behaves as a feedback component, is input, is output, and is the
mechanical impedance ( ). The block diagram representation is:
Displacement Damping Force

 External Forces: Summation of external forces acting on the mass

∑
In which it could be represented as a block diagram,

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University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

∑
 Mass: Using Newton’s second law of motion, the summation of
external forces acting on a mass,
,
∑ ⁄
Since, ∑ is input, displacement is output and ( ) is mechanical impedance ( ),
∑
The block diagram representation for mass is,
Summation of External ∑ Displacement
Forces
For the whole mass-spring damper combination shown in Figure, input is the applied force
while is output. Then the overall block diagram representation,

∑
⁄

Since feedback signals have the same parallel direction, then they could be added
together (using the rule of combining blocks in parallel). The result should be compared
with the general block diagram representation for the SISO control system:
∑ ( ) ( ) ( )
⁄ ( )

( )
( )

The general mathematical differential equation of operation for SISO control system is:
( )
( ) ( )
( ) ( )
=
Then the mathematical differential equation of operation for the mass-spring damper with
absolute values of the variables is:
⁄
( ) ( )
( )⁄
Where, the total mechanical impedance for the total mass-spring damper is:

The final block diagram representation for the mass-spring damper is:
( ) ( )

2
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

The mathematical differential equation of operation is also valid for the reference
position as for the absolute positions. In which the mathematical differential equation of
operation for the absolute values is:
( )
Whereas, for the reference position is:
( )
Now we should subtract these two equations for absolute and reference positions:
( ) ( )
In which it could be expressed as a variation from the reference values. Variation in
applied force from the reference position is:

Also, variation in displacement from the reference position is: M

Then, the mathematical differential equation of operation for the mass-

spring damper as a deviation from reference position is:

The final block diagram representation for mass-spring damper is:

Another way (2):

Also, the mathematical differential equation of operation for mass-spring damper could be
obtained as:

∑ ∑
M
( )
Since ( ) is input and is output,

The final block diagram representation for mass-spring damper is:

Another way (3): Combination of Mass-spring damper could be easily recognized using the
technique of Grounded-chair Representation as shown in Figure,

Equivalent Grounded-chair Representation of Mass- System of Mass-Spring Damper

Spring Damper Combination Combination
3
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

For series combination,

Also it could be solved using impedance law,

The final block diagram representation is:

And the transfer function is,

2. Rotational Mechanical Components:

A disk rotating in a viscous medium and supported by a shaft
shown in Figure, is considered as Torsional inertia-spring
damper combination in which the torque is input and the
angular displacement is output.
 Rotating Shaft: A rotating shaft usually behaves as a torsional spring which is
subjected to a twisting torque and is displaced by an angle as shown in Figure,

Where, Kt is a torsional spring rate. However, the rotating

shaft behaves as a feedback component, is input, is
output, and is the mechanical impedance ( ). The block
diagram representation is:

 Viscous Medium: Damping Torque required to overcome effect of viscous friction in

viscous medium with coefficient on a rotating member,

The viscous medium behaves as a feedback component, is input, is output, and

is the mechanical impedance ( ). The associated block diagram representation is,

 External Torques: Summation of external torques acting on the disk,

∑
In which it could be represented as a block diagram as,
∑

 Rotating Disk: The summation of external torques ∑ required to rotate a disk with
angular velocity as shown in Figure,
4
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

∑
Where, is the mass moment of inertia. Since, ∑ is input and is output
∑
Block diagram representation of rotating disk is,
∑ ⁄

The Overall block diagram representation for Torsional inertia-spring damper combination:

∑
⁄

Using the rule of combining blocks in parallel,

∑ ( ) ( )
( )
⁄

( )

When it compared with the single input single output control system SISO, the
mathematical differential equation of operation for the Torsional inertia-spring damper
combination could be obtained as,
⁄

Since, is input and is output, the final block diagram representation is,

And the transfer function is,

Series Mechanical Elements:

1. Total force is equal to the summation of forces acting on each individual component,

2. Each element undergoes the same displacement,

3. Equivalent mechanical impedance is equal to the summation

of impedances for each individual component,

Example1: For the system of mass-spring damper in series

combination shown in Figure, determine,
5
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

1. Represent the associated overall and final block diagram

2. The equation relating force and displacement and the transfer function.
3. The total impedance of mechanical system
Solution:
1) To represent the overall block diagram representation, the free body diagram for
individual components arranged in series combination,

While the associated block diagram representation for each individual components are,

Overall block diagram representation for mechanical system in series combination when
force is input and displacement is output whereas springs and dampers behave as
feedback components:

∑
⁄

Using the rule of combining blocks in parallel,

∑
⁄

Again use the rule of combining blocks in parallel,

6
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

∑ ( ) ( )
⁄ ( )

( )

When it compared with the general single input single output control system SISO, the
mathematical differential equation of operation for the mechanical system is,

Since, is input and is output. The final block diagram representation,

2) The equation relating force and displacement and determine the transfer function.
( )
And the transfer function is,

3) The total impedance of mechanical system:

Another way:
Equivalent Grounded-chair Representation is presented for the system to be easily
recognized. For series arrangement,

( )
Since is the total impedance,

Since is input and is output,

The final block diagram representation for this system,

Parallel Mechanical Elements:

1. Same force is transmitted through each element.

2. Total deflection is the sum of individual deflections of each element.

3. Total impedance is equal to one divided by the sum of reciprocal of the individual
impedances for each element.

⁄ ⁄ ⁄

7
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Example 2: For the system shown in Figure, determine,

1. The total impedance of mechanical system
2. The equation relating force and displacement
3. Represent the associated overall and final block diagram
Solution,
1) Since the system is a parallel combination of mechanical elements,

Total impedance,

⁄ ⁄ ⁄ ⁄ ⁄ ⁄ ⁄ ⁄

Or, ( ) ( ) ( ) ( )
[ ]

⁄ ⁄ ⁄ ⁄
Total Impedance,

⁄ ⁄ ⁄ ⁄

2) Since,

⁄ ⁄ ⁄ ⁄
3) Since is input and is output,
[ ⁄ ⁄ ⁄ ⁄ ]
⁄ ⁄ ⁄ ⁄
Final block diagram representation for this system,

⁄ ⁄ ⁄ ⁄

Or,

⁄ ⁄ ⁄ ⁄

To represent the overall block diagram representation, the free body diagram for
individual components,

While the associated block diagram representation for each individual components are,
8
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

⁄ ⁄

⁄ ⁄
Overall block diagram representation for mechanical system in parallel combination when
force is input and displacement is output:

Since, the feed forward signals have the same parallel direction, then they could be added
together (using the rule of combining blocks in parallel):

⁄ ⁄

⁄ ⁄

Also these two feed forward signals should be added together (using the rule of combining
blocks in parallel) to obtain the final block diagram representation for the system:
⁄ ⁄ ⁄ ⁄

Since is input and is output, the mathematical differential equation of operation is:

⁄ ⁄ ⁄ ⁄
Note: In parallel elements, same force is transmitted through each one. Springs and
dampers satisfy this condition because force is same on both sides. But it is not for mass
because difference in forces acting on both sides as shown in Figure a. Thus a mass
located between other elements cannot be in parallel with them. It can be in parallel only
when it is located as a last element as shown in Figure b.

( )

( )
9
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

For the system shown in Figure b, in which the force is input and the displacement is
output. To represent the overall block diagram representation, the free body diagram for
individual components,

While the associated individual block diagram representation for each individual
components are,

⁄ ⁄ ⁄

Overall block diagram representation for mechanical system in parallel combination when
force is input and displacement is output:

Using the rule of combining blocks in parallel, the final block diagram representation,

Since the force is input and the displacement is output. The mathematical differential
of operation for the system shown in Figure b,
[ ]
And,

⁄ ⁄ ⁄ ⁄ ⁄ ⁄

Also for the system shown in Figure b, since the system is a series combination the
displacement can be written as:

( ) ( )

[ ]

⁄ ⁄ ⁄ ⁄ ⁄ ⁄

11
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

For system shown in Figure a, from the equivalent Grounded-

chair Representation spring is in parallel with the series
combination of and . Total impedance,
( )
⁄ ⁄ ⁄ ⁄( )
( )
⁄ ⁄( )
Grounded-Chair Representation
Since is input and is output,

( )
Final block diagram representation for this system,

( )
But the overall block diagram representation for this system,

To obtain the final block diagram representation and the associated mathematical
differential equation of operation, using the rule of eliminating a feedback loop,

⁄( )

Using the rule of combining blocks in parallel to obtain the final block diagram
representation for the system:

( )
It can be easy to obtain the mathematical differential equation of operation that relating
and from the final block diagram representation,
( )
( )
Note: to determine the relationship between displacements and , for the series portion
of the Ground- Chair Representation,
( )
( )
( )

11
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Grounded-Chair Representation:
General procedure to construct the Grounded-chair Representation is,
1. Identify the coordinates of the system.
2. Draw coordinates such that coordinate at which force acts is at the top and ground
is at the bottom.
3. Insert each individual element in its correct location with respect to these
coordinates.
Example 3: For mechanical system shown in Figure construct the equivalent Grounded-
Chair Representation and determine equations relate .Then represent the
associated overall and final block diagram.

Solution:
Equivalent Grounded-Chair representation as shown in Figure,

,
( )( )
⁄( ) ⁄( )

Also, can be determined in such a way:

( )
[ ]

⁄( ) ⁄( ) ⁄( ) ⁄( )

The equivalent mechanical impedance,

[ ]
⁄( ) ⁄( )
[ ]
⁄( ) ⁄( )
⁄( ) ⁄( )
Since is input and s output, the final block diagram representation,
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University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

( )( )
⁄( ) ⁄( )

From the equivalent Grounded-Chair Representation,

( )( )
( )
⁄( ) ⁄( )
( )( )
( )
Then, equation relates ,

[ ]

To represent the overall block diagram representation, the free body diagram for
individual components and their individual block diagram,

∑
⁄

∑
⁄

Overall block diagram representation for mechanical system combination when force is
input and displacement is output:

∑ ( )

∑
⁄

13
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

To obtain the final block diagram representation and the associated mathematical
differential equation of operation, using the rule of eliminating a feedback loop (SISO)
and the rule of combining blocks in Parallel,

∑ ∑ ( )
⁄( )

⁄( )

Using the rule of eliminating a feedback loop (SISO),

⁄( )

( )( ) ( )( )

When it compared with the general single input single output control system SISO, the
mathematical differential equation of operation for the mechanical system is,
( )( )
( )( )
[ ]

Example 4: For mechanical system shown in Figure, construct the

equivalent Grounded-Chair Representation and determine the equations
relate . Then construct the final and overall block
diagram representation.
Solution: 1
Equivalent Grounded-Chair representation as shown in Figure,
( )
⁄( ) ⁄
Since, , then,
( )
⁄( ) ⁄
Since , then equation relates ,
[ ]
⁄( ) ⁄
( )

Whereas,

[ ] [ (
]
)
⁄( ) ⁄
The associated final block diagram representation is,

14
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

( )
⁄( ) ⁄

To determine relates , for parallel portion, ( )

and [ ] Parallel Combination
( )
⁄( ) ⁄( )
( )
Also, Then, [ ]
To represent the overall block diagram representation, the free body diagram for
individual components and their individual block diagram,

∑
⁄

∑
⁄

Overall block diagram representation for mechanical system combination when force is
input and displacement is output:
∑ ( )

∑
⁄

∑ ∑
⁄

15
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

To obtain the final block diagram representation and the associated mathematical
differential equation of operation, using the rule of eliminating a feedback loop (SISO),

⁄( )

∑
⁄

Using the rule of eliminating a feedback loop and the associated final block diagram,

⁄( )

( )
( )

Example 5: For the system shown in Figure, determine,

1. The total impedance of mechanical system
2. The equation relating force and displacement
3. Represent the associated overall and final block diagram
Solution:
The associated Grounded-Chair Representation,
Since, then,

⁄ ⁄
Since , then equation relates ,
[ ] [ ]
⁄ ⁄
Since is input and is output,

[ ]

And the final block diagram representation

Overall block diagram, take the free body diagram for individual components,

∑
⁄ ⁄

16
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Then, the overall block diagram representation for this system,

Using the rule of eliminating a feedback loop, the final block diagram representation for
the system:

( ⁄ )

Whereas the mathematical differential equation of operation that relating and from
the final block diagram representation,

[ ] ( )

Example 6:
For the massless lever shown in Figure, the variation applied force is and spring position
is . The horizontal line represents the reference position of the massless lever.
a) Determine the equation relating and
b) Determine the relationship between and (where is the variation applied
torque and, ).

Solution:
a) Take the moments about the pivot position ( ) (massless lever),
∑ (massless lever(

Since, and,

From the Figure the geometric relationship,

17
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

and , ,
( )( ) ( )( )

Since is input and is output,

( )( )
And the associated final block diagram is,

( )( )

b) Since, and

( ) Then, ( )
Torque is input while angular displacement is output,

And the associated final block diagram is,

Overall block diagram, take the free body diagram for individual components,

Then, the overall block diagram representation for this system,

Using the rule of combining blocks in cascade,

18
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Using the rule of combining blocks in parallel, the final block diagram representation for
the system:

( )
( )

The mathematical differential equation of operation that relating and

( )( )

Representation of Electric Components:

Basic electric elements are Resistor, Inductor, and Capacitor:
1) Electric Resistor:
Voltage drop across Resistor with Resistance,

Electrical impedance of Resistor is, , also is input and is output,

Block diagram representation of Electric Resistor,

2) Electric Inductor:
Voltage drop across Inductor with Inductance,

Electrical impedance of Inductor is, , also is input and is output,

Block diagram representation of Electric Inductor,

3) Electric Capacitor:
Voltage drop across Capacitor with Capacitance,
∫

Electrical impedance of Capacitor is, , also is input and is output,

19
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Block diagram representation of Electric Capacitor,

⁄
Representation of Electric Components in Series:
Electric laws for elements arranged in series combination are,
1. Total Voltage Drop.
2. Total Current.
3. Equivalent Electric Impedance.
Mathematical differential equation of operation for circuit in series combination,

Total Voltage drop across circuit,

For series combination, , then, ( )
Second way, Equivalent Electrical Impedance is,
( )
Total voltage drop is input while current is output,

Final block diagram representation for circuit in series combination,

Since, ∫ , and, , ( )
Since total voltage drop is input and charge is output,

Final block diagram representation for circuit in series combination,

The overall block diagram representation for circuit in series combination,

⁄ ⁄

Using the rule of combining blocks in parallel,

21
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Using the rule of eliminating a feedback loop (SISO),

Representation of Electric Components in Parallel:

Electrical laws for elements arranged in parallel combination are,
1. Voltage Drops.
2. Total Current.
3. Equivalent Electric Impedance.
⁄ ⁄ ⁄
Mathematical differential equation of operation for circuit in parallel combination,

For electrical parallel combination,

, , Then, [ ⁄
]
⁄

Second way, Electrical Impedance in parallel is,

⁄ ⁄

Total voltage drop is input and current is output,

[ ] [ ]
⁄( ) ⁄
⁄
Final block diagram representation for circuit in parallel combination,

⁄( ⁄
)

Since, ∫ , and, then,

⁄
In which is similar to mathematical mechanical equation in parallel combination,

⁄ ⁄ ⁄
⁄
21
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Since total voltage drop is input and charge is output,

[ ]
⁄
Final block diagram representation for circuit in parallel combination,

The overall block diagram representation for circuit in parallel combination could be
constructed as,

⁄( ⁄ )

Using the rule of combining blocks in parallel,

[ ]
⁄
⁄
Analogies:
Analogies refer to similarity for different systems like mechanical and electrical in
which their equations of operation have same form as in Table below.

System Series Combination Parallel Combination

[ ]
( ) ⁄ ⁄ ⁄
Translational Mechanical
System
( ⁄ ) ̇
[ ] ̇
⁄ ⁄ ⁄( ⁄ )
[ ]
[ ]
Electrical ⁄

System [ ]
[ ]
⁄

Analogies are constructed by replacing quantities of one system by another which

called analogous quantities. Analogies are classified into two categories:
1) Direct Analog: In direct analog, series mechanical elements are replaced by
corresponding series electrical elements or parallel mechanical elements are replaced
by corresponding electrical elements in parallel and vice-versa. A Direct Force-Voltage
Analog is constructed as in Table 1.

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University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Viscous
Translational Spring
Force Velocity Displacement Mass Damping
Mechanical Constant
̇ Coefficient
System

Reciprocal
Electrical Voltage Current Charge Inductance Resistance of
System Capacitance

2. Inverse Analog: In inverse analog, series mechanical elements are replaced by parallel
electrical or parallel mechanical elements are replaced by series electric elements and
vice-versa. An Inverse Force-Current Analog is constructed as in Table 2.
Table 2: Analogous Quantities in an Inverse (Force-Current) Analog.
Viscous
Translational Spring
Force Velocity Displacement Mass Damping
Mechanical Constant
̇ ̇ Coefficient
System

Integral of Reciprocal of Reciprocal of

Electrical Current Voltage Capacitance
Voltage Resistance Inductance
System
⁄

Example 7: Let it be desired to determine the electrical analog for

mechanical system shown in Figure using:
a. Direct (Force-Voltage) Analog.
b. Inverse (Force-Current) Analog.
Solution:
Equivalent Grounded-Chair Representation is shown in Figure,
Since, ,
Total mechanical impedance is,

⁄ ⁄( )

Differential equation of operation of mechanical system,

( ) ( )
̇
⁄ ⁄( )

Second way, Grounded-Chair Representation

( )

( ) ( ) ( )
( )
( ) ( )
̇

Since is input and is output,

23
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

̇
( ) ( )
Final block diagram representation for translational mechanical system,
̇
( ) ( )
a) Direct (Force-Voltage) Analog:
Equivalent electrical system of Direct Force-Voltage Analog is represented as shown in
Figure using Table 1,

( ) ( )
̇
⁄ ⁄( )
Equivalent electrical differential equation of mechanical system using Table1,
( ⁄ )( ) ( ⁄ )( )
⁄( ⁄ ) ⁄( )

Or, from equivalent electrical circuit,

⁄( ⁄ ) ⁄( )
( ⁄ )( ) ( ⁄ )( )
⁄( ⁄ ) ⁄( )
Since is input and is output, then

( ⁄ )( )
Equivalent electrical final block diagram representation of direct force-voltage analog,

( ⁄ )( ) ( )
Also it could be represented by current ,
( ⁄ )( )
( ⁄ )( )
Equivalent electrical final block diagram representation of direct force-voltage analog,
̇
( ⁄ )( ) ( )
b) Inverse (Force-Current) Analog:
Equivalent electrical system of inverse force-current analog can be represented as shown
in Figure using Table 2,

24
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Since the mechanical mathematical equation of operation,

( ) ( )
̇
⁄ ⁄( )
Equivalent electrical differential equation of mechanical system using Table 2,
( ⁄ )[ ( ) ] ( ⁄ )( ⁄ )
( ) ( )
⁄( ⁄ ) ⁄( ( ) ) ( ) ( ⁄ ) ( ) ⁄
( ) ⁄
Or, ⁄( ⁄ ) ( ⁄ )( ⁄ )
, Since,
( ) ⁄
( )
( ⁄ )( ⁄ )
Since is input and is output,
( ⁄ )( ⁄ )
( ) ⁄
Equivalent electrical final block diagram representation of inverse force-current analog,
( ⁄ )( ⁄ ) ̇
( ) ⁄ ( )

Example 8: Let it be desired to determine the electrical analog for the mechanical
system shown in Figure using:
a) The direct analog.
b) The inverse analog.
Solution:
Equivalent Grounded-Chair Representation can
be constructed and the total impedance,
( )

Since,
( ) ( ⁄ )
̇

Final block diagram representation for translational mechanical system,

̇
( ) ( )

a) Direct (Force-Voltage) Analog:

Equivalent electrical system of direct force-voltage analog is represented as shown in
Figure using Table 1,

25
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Since,
( ) [ ( ⁄ )]
̇

Equivalent electrical differential equation of mechanical system can be constructed by

substituting mechanical parameters by electrical ones using Table1,
( ) ( )

⁄ ( ⁄ )
( ) ( )

Or, from the equivalent electrical circuit,

( )

( ) ( )

( )

( )
( ) ( )

( ) ( )

Since is input and is output,

( )

( )
Equivalent electrical final block diagram representation of direct force-voltage analog,
( )

( ) ( )

Also it could be represented with current ,

( )

( )
And final block diagram representation,
( ) ̇
( ) ( )

b) Inverse (Force-Current) Analog:

26
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Equivalent electrical system of inverse force-current analog can be represented as

shown in Figure using Table 2,

Since,
( ) [ ( ⁄ )]
̇

Equivalent electrical differential equation of mechanical system using Table2,

( ) ( )

( ) ( )

Or, from the equivalent electrical circuit,

( )

Since then,
( )

( )

Since is input and is output,

( )

( )
Equivalent electrical final block diagram representation of inverse force-current analog,

( ) ̇
( )

Example 9: Let it be desired to determine the electrical analog of

mechanical system shown in Figure using:
a. Direct (force-voltage) analog.
b. Inverse (force-current) analog.
Solution:
The equivalent grounded chair
representation can be constructed
as shown in Figure. Total impedance,

27
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

( )

( ) ( ) ̇
( ) ( )
Final block diagram representation for translational mechanical system,

̇
( ) ( )

a) Direct (force-voltage) analog,

Equivalent electrical of direct force-voltage analog as shown in Figure using Table 1,

Since,

( ) ( ) ̇
( ) ( )
Equivalent electrical differential equation of mechanical system using Table1,

( ) ( )

Or, from the equivalent electrical circuit,

( ) ( )

Since is input and is output,

Equivalent electrical final block diagram representation of direct force-voltage analog,

28
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

( )

Also it could be represented with current ,

( )

Equivalent electrical final block diagram representation of direct force-voltage analog,

̇
( )

b) Inverse (force-current) analog,

Equivalent electrical system of inverse force-current analog for mechanical system is
represented using Table2,

( ) ( ) ̇

Equivalent electrical differential equation of mechanical system using Table 2,

( ) ( )

Or, from the equivalent electrical circuit,

Since,

( )

Since is input and is output,

( )

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University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

Equivalent electrical final block diagram representation of inverse force-current analog,

̇
( )

Representation of Thermal Components:

Thermal systems are those that involve storage and transfer of heat.
I. Rate of heat transferred into a body:
Rate of heat transferred into a body is proportional to
the difference of temperature across the body,
( )
( ) ( )

=Rate of heat transferred into the body

=Coefficient of heat transfer of the surface of the body
=Surface area, =Temperature of the body
=Temperature of the surrounding medium (ambient)
⁄ , Equivalent thermal resistance (Thermal impedance)
Since, is input and is output, the block diagram representation is,

‫اكتبالمعادلةهنا‬

II. Time rate of change of temperature of the body:

Time rate of change of temperature of the body ( ⁄ ) is proportional to
the rate of heat transferred into the body.

=Average specific heat of the body,

=Mass of the body
=Equivalent thermal capacitance
Since, is input and is output then,

Block diagram representation for this feedback process as shown in Figure,

Overall block diagram representation of thermal system is shown in Figure,

To simplify the above block diagram some steps should be taken into consideration,

31
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

1) Using the rule of combining blocks in cascade,

2) Using the rule of eliminating a feedback loop) SISO),

And the transfer function or the mathematical differential equation of operation is,

The time constant of the thermal system is, ,

The general solution or the dynamic response for the first-order differential equation of
operation for a unit step input ( ) is,
( )
In which the response of the thermal system to a unit step input is shown in the Figure,
( ) ( )
⁄

( )

Analogies of Thermal Systems:

1. Direct Temperature-voltage Analog:
Thermal system may be replaced by an equivalent direct
electrical circuit as shown in Figure,
( )

Equivalent electrical circuit in series, the mathematical

differential equation of operation,
( )
Direct Temperature-voltage analog as in the table,

Rate of heat Thermal Thermal

Thermal Temperature
flow Resistance Capacitance
System

Electrical Voltage Current Resistance Capacitance

System
31
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

2. Inverse Temperature-current Analog:

Thermal system could be replaced by an equivalent inverse electrical circuit as
shown in Figure,

For thermal system, the mathematical differential equation of operation is:

( )

And equivalent electrical circuit in parallel,

( )
( ⁄ )
Comparison of these equations yields an inverse temperature-current analog as in the
following table.

Thermal Temperature Rate of Thermal Thermal

System heat flow Resistance Capacitance

Electrical Current Voltage Reciprocal of inductance

System Resistance
⁄

Representation of Fluid Components

(Incompressible Fluid):
For incompressible fluid, density is
constant with variable tank volume. The Flow
Figure shows an incompressible fluid system Restriction

in which the external pressure ( ) is the

input while the height of fluid into tank ( )
is the output. To present the block diagram
representation for the incompressible fluid system,
1. Volume rate of fluid flow ( ):
Volume rate of fluid flow ( ) is proportional to pressure drop.
( )

Where, is the Equivalent Resistance of Fluid flow. Since, is input and

is output, the block diagram representation for this process is,

32
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

2. Time rate of change of height of the fluid:

Time rate of change of height of the fluid ( ⁄ ) into a tank is proportional to the
volume rate of flow into the tank.

Where is input and the height of fluid is output,

Block diagram represents for this process,

3. Automatic Feedback Flow,

Where, is the Equivalent Fluid Capacitance. Since, is input and is output,

Block diagram represents automatic feedback process,

Overall block diagram representation of incompressible fluid flow system,

To simplify the above block diagram some steps should be taken into consideration,
1) Using the rule of eliminating a feedback loop (SISO),

2) Using the rule of combining blocks in cascade,

( ⁄ )
( ⁄ )
( ⁄ )

33
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

And the transfer function or the mathematical differential equation of operation is,
( ⁄ )
( )

The time constant of the incompressible fluid system is, , also the steady-state
gain is, ( ⁄ ), yields the first order differential equation,

The general solution or the dynamic response for the first-order differential equation of
operation for a unit step input ( ) is, ( ) ( ). And the response is,

( ) ( )
⁄

( ) ( )

Analogies of Incompressible Fluid Systems:

1. Direct Pressure-voltage Analog:
Incompressible fluid system could be replaced by an equivalent direct electrical
circuit as shown in Figure,

For fluid system, the mathematical differential equation of operation is:

( )

For equivalent electrical circuit in series,

( )
Comparison of these equations gives a Direct Pressure-voltage Analog as in the table.
Fluid System Pressure Volume Rate of Fluid Fluid
flow Resistance Capacitance

Electrical Voltage Current Resistance Capacitance

System
2. Inverse pressure-current Analog:
Fluid system could be replaced by an equivalent inverse electrical circuit as in Figure,
34
University of Baghdad Control of Mechanical Systems College of Engineering
Mechanical Engg. Dept. 2024-2025 Assist. Prof. Dr. Karim H. Ali

For Fluid system, the mathematical differential equation of operation is:

( )

Mathematical differential equation of operation of parallel electrical circuit is:

( )
( ⁄ )
Comparison of these equations gives an inverse pressure-current analog as in the table.
Fluid System Pressure Volume Rate Equivalent Fluid Equivalent Fluid
of flow Resistance Capacitance

Electrical Current Voltage Reciprocal of inductance

System Resistance
⁄

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