Control System

Week 3 – Modeling of Dynamical System

f(t)
Prof. ABDELMALEK Samir
(NSNN)

Oct 14th, 2025

𝒎𝒙ሷ 𝒕 + 𝒃𝒙ሶ 𝒕 + 𝒌𝒙 𝒕 = 𝒇 𝒕

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Outline
- What is a Dynamical System?

- What is a Model?

- System Modeling

- The Limitation of Time-Domain Differential Equations

- The Need for a Transform Method

- Why Engineers Need the Laplace Transform

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What is a Dynamical System?

▪ A dynamical system is any system whose behavior changes with time depending on:
➢ Its internal state (e.g., position, velocity, current, temperature),
➢ Its input or excitation (e.g., force, voltage, heat source),
➢ Possibly on disturbances or environmental effects.

Disturbance
𝑑(𝑡)
Input Dynamical System Output
𝑢(𝑡) state 𝑥(𝑡) 𝑦(𝑡)

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What is a Dynamical System?

▪ The mathematical form is usually an Ordinary Differential Equation (ODE):

𝑑𝑥 𝑡
= 𝑓 𝑥 𝑡 ,𝑢 𝑡 ,𝑡
𝑑𝑡
▪ where:
➢ 𝑥 𝑡 : state variable (describes the internal condition),
➢ 𝑢 𝑡 : system input,
➢ 𝑡: time,
➢ 𝑓 ⋅ : function describing system dynamics.

▪ These ODEs represent the dynamics of the system : the relationship between inputs,
outputs, and internal states.

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What is a Model?

▪ A model is a simplified mathematical description of a physical system that predicts

how it behaves over time. In control engineering, we model dynamic systems whose
output changes with time in response to an input.

𝒗(𝒕) 𝒗𝒄 (𝒕)

𝒗𝒄 (𝒕) = 𝒇(𝒗(𝒕))

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What is a Model?

▪ In any problem, the designer must first decide what the input and output should be.
▪ In this network, several variables could have been chosen to be the output, for
example, the inductor voltage, the capacitor voltage, the resistor voltage, or the
current. The problem statement, however, is clear in this case.

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System Modeling “Electrical System”

▪ A Series RLC Circuit

▪ The input = source voltage 𝑣 𝑡 , and the output = capacitor voltage 𝑣𝑐 𝑡

▪ Apply Kirchhoff’s Voltage Law (KVL) in Loop

𝑑𝑖(𝑡)
𝑣 𝑡 = 𝑣𝑅 𝑡 + 𝑣𝐿 𝑡 + 𝑣𝑐 𝑡 ⟹ 𝑣 𝑡 = 𝑅𝑖(𝑡) + 𝐿 + 𝑣𝑐 𝑡
𝑑𝑡

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System Modeling “Electrical System”

▪ A Series RLC Circuit

𝑑𝑣𝑐 𝑡 𝑑𝑖(𝑡)
▪ Through the capacitor 𝑖 = 𝐶 and voltage across inductance 𝑣𝐿 = 𝐿
𝑑𝑡 𝑑𝑡
𝑑𝑣𝑐 𝑡 𝑑2 𝑣𝑐 𝑡
𝑣 𝑡 = 𝑅𝐶 + 𝐿𝐶 𝑑𝑡 2 + 𝑣𝑐 𝑡
𝑑𝑡

𝒅𝟐 𝒗𝒄 𝒕 𝒅𝒗𝒄 𝒕
⟹ 𝑳𝑪 + 𝑹𝑪 + 𝒗𝒄 𝒕 = 𝒗 𝒕
𝒅𝒕𝟐 𝒅𝒕

▪ This is the second-order linear ODE describing the output 𝒗𝒄 𝒕 (Model of RLC
circuit)

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System Modeling “Electrical System”

▪ RLC Response

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Modeling of Mechanical System

▪ A Mass–Spring–Damper system
▪ Consider a block (mass) 𝑚 that can move along
a single axis (e.g., horizontal). The block is
attached to:
▪ a spring with stiffness 𝑘(exerts restoring f(t)
force −𝑘𝑥),
▪ a damper with damping coefficient 𝑏
(force −𝑏𝑣),
▪ an external force 𝑓 𝑡 acts on the mass.

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Modeling of Mechanical System

▪ A Mass–Spring–Damper system
▪ Define:
➢ 𝑥(𝑡) : displacement of the mass from equilibrium (m).
➢ 𝑣 = 𝑥ሶ : velocity (m/s).
➢ 𝑎 = 𝑥:ሷ acceleration (m/s²).
➢ Input 𝒖(𝒕) = 𝒇(𝒕) (external force applied to the mass).
➢ Output 𝑦(𝑡), usually we pick the displacement 𝑦(𝑡) = 𝑥(𝑡) or velocity; here we take 𝒚(𝒕)
= 𝒙(𝒕).

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Modeling of Mechanical System

▪ A Mass–Spring–Damper system
▪ Apply Newton’s second law : forces acting on the mass (positive direction to the right):
➢ External force: +𝑓 𝑡 (input).
➢ Spring force: −𝑘𝑥 𝑡 .
➢ Damping force: −𝑏𝑥ሶ 𝑡 .
▪ So:
𝑚𝑥ሷ 𝑡 = 𝑢 𝑡 − 𝑏𝑥ሶ 𝑡 − 𝑘𝑥 𝑡 .
▪ Rewriting in standard ODE form:

𝒎𝒙ሷ 𝒕 + 𝒃𝒙ሶ 𝒕 + 𝒌𝒙 𝒕 = 𝒖 𝒕

▪ This is the second-order linear ODE describing the system.

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Modeling of Mechanical System

▪ A Mass–Spring–Damper system

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The Limitation of Time-Domain Differential Equations

▪ Complex or high-order systems → equations are hard to solve analytically.

▪ Multiple coupled ODEs appear in real systems (mechanical, electrical, etc.).
▪ Transient and steady-state behaviors are mixed → hard to separate.
▪ Initial conditions make equations cumbersome to handle.
▪ Time-domain form does not directly reveal stability, damping, or frequency behavior.

Time-domain differential equations describe system dynamics accurately,

but they are not convenient for systematic analysis and control design.

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The Need for a Transform Method

▪ To overcome these challenges, we seek a mathematical technique that can:

➢ Transform differentiation and integration into simple algebraic operations,
➢ Represent systems using polynomials instead of derivatives,
➢ Allow easy combination of subsystems (through multiplication/division),
➢ Provide tools to study stability, resonance, and transient vs steady-state behavior,
➢ Simplify solving ODEs with initial conditions and various input types (step, impulse,
ramp, sinusoidal, etc.).

➢ The Laplace Transform provides exactly this framework.

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Why Engineers Need the Laplace Transform

▪ When engineers model real-world systems (electrical circuits, mechanical vibrations,

thermal processes) they often end up with differential equations that describe how the
system evolves over time. However, solving and analyzing these equations in the
time domain can be complex and time-consuming.

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Why Engineers Need the Laplace Transform

▪ When engineers model real-world systems (electrical circuits, mechanical vibrations,

thermal processes) they often end up with differential equations that describe how the
system evolves over time. However, solving and analyzing these equations in the
time domain can be complex and time-consuming.

▪ The Laplace Transform offers a more powerful way to study system behavior by
moving from the time domain (t) to the complex frequency domain (s). This
transformation simplifies differential equations into algebraic equations, making
analysis, design, and simulation far easier.

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Laplace Transform

▪ The Laplace Transform is a mathematical operation that transforms a signal or

function of time 𝑓 𝑡 which often involves differentiation and integration into a new
function 𝐹 𝑠 that depends on a complex variable 𝑠.

▪ Laplace Transform :
𝑓 𝑡 ⟶ 𝐹 𝑠

▪ It converts differential equations into algebraic equations, which are much easier to
manipulate and solve.

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Mathematical Definition

▪ The unilateral Laplace Transform (used in control systems, for 𝑡 ≥ 0) is defined as:

∞
𝐹 𝑠 =ℒ 𝑓 𝑡 = ‫׬‬0 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 (1)
▪ where
➢ 𝑓 𝑡 is a time-domain signal (e.g., voltage, position, current),
➢ 𝐹 𝑠 is its Laplace Transform (frequency-domain representation),
➢ 𝑠 is a complex variable:
𝑠 = 𝜎 + 𝑗𝜔
▪ with 𝜎= exponential decay/growth rate, and 𝜔= angular frequency.

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Physical Interpretation

▪ The Laplace Transform analyzes how a time-domain signal behaves when expressed
as a combination of exponentially growing or decaying components.

▪ It gives us a spectrum of how the signal responds in the complex frequency plane, not
just in sinusoidal frequencies like the Fourier Transform.

▪ In control systems, this means we can:

➢ Understand how a system reacts to inputs over time,
➢ Study stability (through the location of poles in the 𝑠-plane),
➢ Predict steady-state and transient behavior.

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Important Properties : representative sample of functions

▪ This Table shows the results for a

representative sample of functions.

▪ Where :
1, 𝑡 ≥ 0
𝑢 𝑡 =ቊ
0, 𝑡 < 0

▪ 𝑢 𝑡 is the unit step function.

Multiplication of 𝑓(𝑡) by 𝑢(𝑡) yields a
time function that is zero for 𝑡 < 0.

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Examples

▪ For example, the Laplace Transform of a simple exponential:

1
𝑓 𝑡 = 𝑒 −𝑎𝑡 𝑢 𝑡 ⇒ 𝐹 𝑠 =
𝑠+𝑎
▪ Similarly, for a constant step input:

1
𝑓 𝑡 =𝑢 𝑡 ⇒ 𝐹 𝑠 =
𝑠

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Examples

▪ Consider:
𝑓 𝑡 = 𝑒 −2𝑡 𝑢 𝑡
▪ where 𝑢 𝑡 is the unit step function.
▪ The Laplace Transform is:
∞ ∞
1
𝐹 𝑠 =න 𝑒 −2𝑡 𝑒 −𝑠𝑡 𝑑𝑡 = න 𝑒− 𝑠+2 𝑡 𝑑𝑡 = , ℜ 𝑠 > −2
0 0 𝑠+2
▪ So:
1
ℒ 𝑒 −2𝑡 =
𝑠+2
▪ This simple form replaces the exponentiel in time with an algebraic term in 𝑠.

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Theorems

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Examples

● Problem: Find the Laplace Transform of LRC Circuit, with using the given initial
conditions: 𝑣𝑐 0 = 0 and 𝑣ሶ𝑐 0 = 0 , respectively.

𝑑2 𝑣𝑐 𝑡 𝑑𝑣𝑐 𝑡
𝐿𝐶 + 𝑅𝐶 + 𝑣𝑐 𝑡 = 𝑣 𝑡
𝑑𝑡 2 𝑑𝑡
● Apply ℒ ⋅ to each term
𝑑𝑣𝑐 𝑡
ℒ = 𝑠𝑣𝑐 𝑡 − 𝑣𝑐 0
𝑑𝑡
𝑑 2 𝑣𝑐 𝑡
ℒ = 𝑠 2 𝑣𝑐 𝑡 − 𝑠 𝑣𝑐 0 − 𝑣ሶ𝑐 0
𝑑𝑡 2

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Examples

▪ And substituting 𝒗𝒄 𝟎 = 𝟎 and 𝒗ሶ 𝒄 𝟎 = 𝟎 , we get:

𝐿𝐶 𝑠 2 𝑉𝐶 𝑠 + 𝑅𝐶 𝑠𝑉𝐶 𝑠 + 𝑉𝐶 𝑠 = 𝑉 𝑠 .
▪ Then, the Transfer function :
𝑉𝐶 𝑠 1
=
𝑉(𝑠) 𝐿𝐶 𝑠 2 + 𝑅𝐶 𝑠 + 1

𝑽(𝒔) 1 𝑽𝒄 (𝒔)
𝐿𝐶 𝑠 2 + 𝑅𝐶 𝑠 + 1

𝐓𝐫𝐚𝐧𝐬𝐟𝐞𝐫 𝐅𝐮𝐧𝐜𝐭𝐢𝐨𝐧

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Examples

▪ Find the transfert function from the follwing ED :

10000 𝑢ሶ 𝑡 + 200000 𝑢 𝑡
𝑑 4 𝑦(𝑡) 𝑑 3 𝑦(𝑡) 𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
= + 20 + 3500 + 10000 + 200000 𝑦(𝑡)
𝑑𝑡 4 𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡

𝑢 𝑡 𝑦(𝑡)

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Examples
▪ Apply ℒ{⋅} to each term with IC are zeros :

𝑑𝑢(𝑡) 𝑑 4 𝑦(𝑡) 𝑑 3 𝑦(𝑡) 𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)

ℒ 10000 + 200000 𝑢 𝑡 =ℒ ൬ 4 + 20 + 3500 + 10000
𝑑𝑡 𝑑𝑡 𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡

+ 200000 𝑦(𝑡)൰

𝑑𝑢(𝑡)
ℒ =𝑠𝑈 𝑠
𝑑𝑡
𝑑𝑦(𝑡)
ℒ =𝑠𝑌 𝑠
𝑑𝑡
𝑑 2 𝑦(𝑡)
ℒ = 𝑠2 𝑌 𝑠
𝑑𝑡 2
𝑑 3 𝑦(𝑡)
ℒ = 𝑠3𝑌 𝑠
𝑑𝑡 3
𝑑 4 𝑦(𝑡)
ℒ = 𝑠4𝑌 𝑠
𝑑𝑡 4

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Examples

▪ Then, the transfer function :

𝑌 𝑠 10000 𝑠 + 200000
= 4
𝑈(𝑠) 𝑠 + 20 𝑠 3 + 3500𝑠 2 + 10000𝑠 + 200000

𝑼(𝒔) 10000 𝑠 + 200000 𝒀(𝒔)

𝑠 4 + 20 𝑠 3 + 3500𝑠 2 + 10000𝑠 + 200000

𝐓𝐫𝐚𝐧𝐬𝐟𝐞𝐫 𝐅𝐮𝐧𝐜𝐭𝐢𝐨𝐧

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 Thank You for Your Attention
Questions and Discussion

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