Mathematical Models of Physical

Systems
By
D M. Karkare

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Introduction
A physical system is a collection of physical
objects connected together to serve an objective.
Examples:-
Industrial Plant
Governing mechanism of steam turbine
Communications satellite orbiting the earth

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Contd…
 No physical system can be represented in its full
physical details and therefore idealizing
assumptions are always made for the purpose of
analysis and synthesis of the system.
An idealized physical system is called Physical
Model.
Once a physical system is obtained, the next step is
to obtain a mathematical model which is the
mathematical representation of physical model
through use of appropriate physical laws.
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Contd…
When the mathematical model of a physical
system is solved for various input conditions,
the results represent the dynamic response of
the system.
The mathematical model of a system is linear,
if it obeys the principle of superposition and
homogeneity

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Contd…
This principle implies that if a system model has
responses y1(t) and y2(t) to any two points x1(t)
and x2(t) respectively,
then the system response to the linear combination
of these inputs
1x1(t)+ 2 x2(t)
is given by the linear combination of the individual
outputs,
 1y1(t)+  2y2(t)
where 1 and 2 are constants

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Contd…
Mathematical models of physical system are characterized by
differential equations.
A mathematical model is linear, if
The differential equation describing it has coefficients, which
are either functions only of the independent variable or are
constants.
If the coefficients of the describing differential
equations are functions of time, then the model is linear
time varying.
If the coefficients of the describing differential
equations are constants, the model is linear time invariant.

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Contd…
Powerful mathematical tools like the Fourier
and Laplace transforms are available for use in
linear systems.

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 Differential Equations of Physical System

An ideal element results by making two assumptions:

1) Spatial distribution of the element is ignored and it
is regarded as a point phenomenon.
Thus mass which has physical dimensions, is considered at a point and
temperature in a room which is distributed out into the whole room space is
replaced by a representative temperature as if of a single point in the room.
The process of ignoring the spatial dependence by choosing a
representative value is called lumping and the corresponding
modeling is known as lumped-parameter modeling as
distinguished from the distributed-parameter modeling which
accounts for space distribution.

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Contd…
2) We shall assume that the variables associated with the
elements lie in the range that the element can be
described by a simple linear law of

 A constant of Proportionality
 A first order Derivative or
 A first order Integration

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Ideal Elements- Classification of Element Variables
+ -
I---------------------------- VA ---------------------------------I

VT Ideal Element

1) Through variable VT which sort of passes through the element and so has
the same value in at one port and out at the other.
Example:
 Current through an Electrical Resistance
2) Across variable VA which appears across the two terminals of the element.
Example:
 Voltage across an Electrical Resistance

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Another Classification of Element Variables

1) Input variable or independent variable (Vi)

2) Output variable or dependent (response) variable (Vo )

Cause – Affect form

Elemental Law
Vi Vo=f(Vi) Vo

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Contd…

The Spring Element

x1(t) x2(t)
v1(t) v2(t)
K

F(t)

x(m), v(m/sec), M(kg), F(newton), K(newton/m), f(newton per m/sec)

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Mechanical Systems

The Mass Element

x(t)
v(t)

F(t)

Reference

x(m), v(m/sec), M(kg), F(newton), K(newton/m), f(newton per m/sec)

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Contd…

The Damper Element

v1(t) v2(t)
x1(t) f x2(t)

F(t)

x(m), v(m/sec), M(kg), F(newton), K(newton/m), f(newton per m/sec)

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Rotational Elements

The Inertia Element

T , Reference

(rad), (rad/sec), J(kg-m2), T(newton-m)

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K(newton-m/rad), f(newton-m perCollege of Engineering
rad/sec)
Contd…
The Torsional Spring Element
K

T 1, 1 2, 2

(rad), (rad/sec), J(kg-m2), T(newton-m)

K(newton-m/rad), f(newton-m per rad/sec)
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Contd…
The Damper Element
f

T 1, 1, 2, 2,

(rad), (rad/sec), J(kg-m2), T(newton-m)

K(newton-m/rad), f(newton-m per rad/sec)
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 Mass/inertia and the two kinds of springs are the
energy storage elements where in energy can be
stored and retrieved without loss and so these are
called conservative elements.
 Energy stored in these elements is expressed as
 Mass: E=(1/2)Mv2 = kinetic energy (J); motional energy
 Inertia: E=(1/2)J2 = kinetic energy (J); motional energy
 Spring( translatory) E=(1/2)kx2 = Potential Energy (J); deformation energy
 Spring( torsional) E=(1/2)k2 = Potential Energy (J); deformation energy

Damper is a dissipative element and power it consumes (lost in form of heat )

is given as
P=fv2 (W) = f2 (W)

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Friction
The friction exists in physical systems whenever
mechanical surfaces are operated in sliding
contact.
Types:
1) Coulomb Friction Force
2) Viscous Friction Force
3) Stiction

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 Coulomb Friction Force: The force of sliding friction
between dry surfaces. This force is substantially
constant.

 Viscous Friction Force: The force of friction between

moving surfaces separated by viscous fluid or the
force between a solid body and a fluid medium. This
force is approximately linearly proportional to
velocity over a certain limited velocity range.

 Stiction: The force required to initiate motion

between two contacting surfaces.
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Translational System
Kx f dx/dt

K f
J
M
x
M x 0
0 F
F
a) A mass-spring dashpot system b) Free body diagram

or

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 THE END

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