# System Dynamics Modeling, Simulation and Control of Mechatronic Systems

System Dynamics Modeling, Simulation and Control of Mechatronic Systems Fifth Edition by Dean C.Karnopp

## Preface to System Dynamics book

This is the fifth edition of a textbook originally titled system Dynamics:

A Unified Approach, which in subsequent editions acquired the title System Dynamics:

Modeling and Simulation of Mechatronic Systems. As you can see, the subtitle has now expanded to be Modeling, Simulation, and Control of Mechatronic Systems.

The addition of the term control indicates the major change from previous editions.

In older editions, the first six chapters of the book typically have been used as an undergraduate text and the last seven chapters have been used for more advanced courses.

Now the latter part of Chapter Six can be used to introduce undergraduate students to a major use of mathematic models; namely, as a basis for the design control systems.

In this case we are not trying to replace the many excellent books dealing with the design of automatic control systems.

Rather we are trying to provide a contrasting approach to such books that often have a single chapter devoted to the construction of mathematical models from physical principles,

while the rest of the book is devoted to discussing the dynamics of control systems given a model of the control system in the form of state equations, transfer functions,

or frequency response functions. It is our contention that while the design of control systems is very important.

The skills of modeling and computer simulation for a wide variety of physical systems are of fundamental importance even if an automatic control system is not involved.

Furthermore, we contend that the bond graph method is uniquely suited to the understanding of physical system dynamics.

The basis of bond graphs lies in the study of energy storage and power flow in physical systems of almost any type.

In this edition, we have tried to simplify the earlier chapters to focus on mechanical, electrical, and hydraulic systems that are relatively easy to model using bond graphs, leaving the more complex types of systems to the later chapters.

It would be easy for an instructor to choose some topics of particular interest from these chapters to supplement the types of systems studied in the earlier part of the book if desired.

It has been gratifying to see that over the years, instructors and researchers world wide have learned that the bond graph technique is uniquely suited to the description of physical systems of engineering importance.

It is our hope that this book will continue to provide useful information for engineers dealing with the analysis, simulation, and control of the devices of the future.

This book is concerned with the development of an understanding of the dynamic physical systems that engineers are called upon to design.

The type of systems to be studied can be described by the term mechatronic, which implies that while the elements of the system are mechanical in a general sense, electronic control will also be involved.

For the design of a computer-controlled system, it is crucial that the dynamics of systems that exchange power and energy in various forms be thoroughly understood.

Methods for the mathematical modeling of real systems will be presented, ways of analyzing systems in order to shed light on system behavior will be shown,

and techniques for using computers to simulate the dynamic response of systems to external stimuli will be developed.

In addition, methods of using mathematical models of dynamic systems to design automatic control systems will be introduced. Before beginning the study of physical systems,

it is worthwhile to reflect a moment on the nature of the discipline that is usually called system dynamics in engineering.

The word system is used so often and so loosely to describe a variety of concepts that it is hard to give a meaningful definition of the word or even to see the basic concept that unites its diverse meanings.

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