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 Modeling of
­Dynamic ­Systems with
­Engineering Applications
 Modeling of
­Dynamic ­Systems with
­Engineering Applications

Clarence W. de Silva
MATLAB® is a trademark of The MathWorks, Inc. and is used with permission. The MathWorks does not warrant the
accuracy of the text or exercises in this book. This book’s use or discussion of MATLAB® software or related products
does not constitute endorsement or sponsorship by The MathWorks of a particular pedagogical approach or particular
use of the MATLAB® software.

CRC Press
Taylor & Francis Group
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 To all my teachers, some of whom are unknown to me.

“In experimental philosophy, we are to look upon propositions inferred by general

induction from phenomena as accurately or very nearly true, notwithstanding any

contrary hypotheses that may be imagined, till such time as other phenomena occur

by which they may either be made more accurate or liable to exceptions.”

Sir Isaac Newton

Contents

Preface............................................................................................................................................ xiii
Acknowledgments...................................................................................................................... xvii
Author............................................................................................................................................ xix

1. Introduction to Modeling......................................................................................................1
Chapter Highlights...................................................................................................................1
1.1 Objectives........................................................................................................................1
1.2 Importance and Applications of Modeling................................................................3
1.2.1 Modeling in Control.........................................................................................4
1.2.2 Modeling in Design..........................................................................................5
1.3 Dynamic Systems and Models.....................................................................................7
1.3.1 Terminology......................................................................................................7
1.3.2 Model Complexity............................................................................................8
1.4 Model Types.................................................................................................................. 11
1.4.1 Advantages of Analytical Models................................................................ 12
1.4.2 Mechatronic Systems...................................................................................... 13
1.4.3 Steps of Analytical Model Development..................................................... 15
1.4.4 Modeling Criteria and Equivalent Models................................................. 16
1.5 Organization of the Book............................................................................................ 17
Summary Sheet....................................................................................................................... 20
Steps of Analytical Model Development............................................................................. 21
Problems................................................................................................................................... 21

2. Basic Model Elements........................................................................................................... 25

Chapter Highlights................................................................................................................. 25
2.1  Introduction.................................................................................................................. 25
2.1.1 Lumped Elements and Analogies................................................................ 26
2.1.2 Across-Variables and Through-Variables.................................................... 26
2.2 Mechanical Elements................................................................................................... 27
2.2.1 Inertia Element................................................................................................ 27
2.2.2 Spring (Stiffness or Flexibility) Element...................................................... 29
2.2.3 Damping (Dissipation) Element...................................................................30
2.3 Electrical Elements....................................................................................................... 31
2.3.1 Capacitor Element........................................................................................... 31
2.3.2 Inductor Element............................................................................................. 33
2.3.3 Resistor (Dissipation) Element......................................................................34
2.4 Fluid Elements..............................................................................................................34
2.4.1 Fluid Capacitor or Accumulator (A-Type Element).................................... 35
2.4.2 Fluid Inertor (T-Type Element)...................................................................... 35
2.4.3 Fluid Resistor (D-Type Element)................................................................... 35
2.4.4 Derivation of Constitutive Equations.......................................................... 36
2.5 Thermal Elements........................................................................................................44
2.5.1 Thermal Capacitor.......................................................................................... 45
2.5.2 Thermal Resistor............................................................................................. 46

vii
viii Contents

Biot Number................................................................................................................. 50
Linearized Radiation Resistor.................................................................................... 53
2.6 Domain Analogies.......................................................................................................54
2.6.1 Natural Oscillations....................................................................................... 55
Summary Sheet....................................................................................................................... 55
Problems................................................................................................................................... 57

3. Analytical Modeling.............................................................................................................63
Chapter Highlights.................................................................................................................63
3.1 Introduction..................................................................................................................63
3.2 Types of Analytical Models........................................................................................64
3.2.1 Properties of Linear Systems......................................................................... 66
3.2.2 Discrete-Time Systems................................................................................... 66
3.2.3 Lumped Model of a Distributed System..................................................... 70
Heavy Spring................................................................................................... 70
Kinetic Energy Equivalence.......................................................................... 72
Natural Frequency Equivalence................................................................... 73
3.3 Analytical Model Development................................................................................. 74
3.3.1 Steps of Model Development........................................................................ 75
3.4 State Models and Input–Output Models.................................................................. 76
3.4.1 Properties of State-Space Models................................................................. 76
State Space.......................................................................................................77
Properties of State Models.............................................................................77
3.4.2 Linear State Equations................................................................................... 78
Time-Invariant Systems.................................................................................80
3.4.3 Input–Output Models from State-Space Models........................................80
3.5 Modeling Examples ....................................................................................................83
3.5.1 Systematic Development of a State Model..................................................83
3.5.2 Modeling in Mechanical Domain................................................................84
3.5.3 Modeling in the Fluid Domain..................................................................... 89
Commutativity of Series Resistor and Inertor Elements...........................90
3.5.4 Modeling in the Thermal Domain............................................................. 100
Summary Sheet..................................................................................................................... 106
Problems................................................................................................................................. 108

4. Model Linearization........................................................................................................... 121

Chapter Highlights............................................................................................................... 121
4.1 Introduction................................................................................................................ 121
4.2 Properties of Nonlinear Systems............................................................................. 122
4.2.1 Static Nonlinearity........................................................................................ 122
4.2.2 Nonlinear Characteristics of Practical Devices........................................ 123
4.2.3 Nonlinear Electrical Elements.................................................................... 126
Capacitor........................................................................................................ 126
Inductor���������������������������������������������������������������������������������������������������������126
Resistor����������������������������������������������������������������������������������������������������������127
4.3 Analytical Linearization Using Local Slopes......................................................... 127
4.3.1 Analytical Linearization about an Operating Point................................ 128
Equilibrium State.......................................................................................... 128
4.3.2 Nonlinear Functions of One Variable........................................................ 128
Contents ix

4.3.3 Nonlinear Functions of Two Variables...................................................... 130

4.4 Nonlinear State-Space Models................................................................................. 131
4.4.1 Linearization of State Models..................................................................... 132
4.4.2 Mitigation of System Nonlinearities.......................................................... 133
4.5 Linearization Using Experimental Data................................................................. 163
4.5.1 Torque-Speed Curves of Motors................................................................. 163
4.5.2 Experimental Linear Model for Motor Control........................................ 165
4.5.3 Experimental Linear Model of a Nonlinear System................................ 166
4.6 Other Methods of Model Linearization.................................................................. 171
4.6.1 The Calibration Curve Method................................................................... 172
4.6.2 The Equivalent Model Approach of Linearization.................................. 173
4.6.3 The Describing Function Method.............................................................. 176
4.6.4 Feedback Linearization................................................................................ 178
Summary Sheet..................................................................................................................... 180
Problems................................................................................................................................. 182

5. Linear Graphs....................................................................................................................... 199

Chapter Highlights............................................................................................................... 199
5.1 Introduction................................................................................................................ 199
5.2 Variables and Sign Conventions.............................................................................. 200
5.2.1 Through-Variables and Across-Variables.................................................. 201
Sign Conventions.......................................................................................... 201
5.3 Linear-Graph Elements............................................................................................. 204
5.3.1 Single-Port Elements.................................................................................... 204
5.3.2 Source Elements............................................................................................ 205
Interaction Inhibition by Source Elements................................................ 206
5.3.3 Two-Port Elements........................................................................................ 207
Transformer................................................................................................... 207
Gyrator���������������������������������������������������������������������������������������������������������� 209
5.4 Linear-Graph Equations............................................................................................ 211
5.4.1 Compatibility (Loop) Equations................................................................. 212
Sign Conventions.......................................................................................... 212
Number of “Primary” Loops...................................................................... 213
5.4.2 Continuity (Node) Equations...................................................................... 215
Primary Node Equations............................................................................. 215
5.4.3 Series and Parallel Connections................................................................. 217
5.5 State Models from Linear Graphs............................................................................ 218
5.5.1 Sketching of a Linear Graph........................................................................ 219
5.5.2 State Models from Linear Graphs.............................................................. 219
System Order................................................................................................. 220
Sign Conventions.......................................................................................... 221
Steps of Obtaining a State Model............................................................... 221
5.5.3 Characteristics of Linear Graphs................................................................222
LG Variables and Relations.........................................................................222
Topological Result.........................................................................................223
5.6 Linear-Graph Examples in Mechanical Domain................................................... 224
5.7 Linear-Graph Examples in Electrical Domain....................................................... 233
5.7.1 Amplifiers...................................................................................................... 235
Linear-Graph Representation...................................................................... 235
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x Contents

5.7.2 Power-Information Transformer................................................................ 236

5.7.3 dc Motor......................................................................................................... 236
5.8 Linear-Graph Examples in Fluid Domain.............................................................. 242
5.9 Linear-Graph Examples in Thermal Domain........................................................ 249
5.9.1 Model Equations........................................................................................... 249
5.10 Linear-Graph Examples in Mixed Domains..........................................................254
Summary Sheet..................................................................................................................... 262
Problems................................................................................................................................. 264

6. Frequency-Domain Models............................................................................................... 285

Chapter Highlights............................................................................................................... 285
6.1 Introduction................................................................................................................ 285
6.1.1 Transfer-Function Models............................................................................... 286
6.2 Laplace and Fourier Transforms.............................................................................. 287
6.2.1 Laplace Transform........................................................................................ 287
Laplace Transform of a Derivative............................................................. 288
Laplace Transform of an Integral................................................................ 289
6.2.2 Fourier Transform......................................................................................... 290
6.3 Transfer Function....................................................................................................... 291
6.3.1 Transfer-Function Matrix............................................................................ 293
6.4 Frequency-Domain Models...................................................................................... 298
6.4.1 Frequency Transfer Function (Frequency Response Function)............. 298
Response to a Harmonic Input................................................................... 298
Magnitude (Gain) and Phase...................................................................... 299
Observations..................................................................................................300
6.4.2 Bode Diagram (Bode Plot) and Nyquist Diagram...................................300
6.4.3 Bode Diagram Using Asymptotes..............................................................304
6.5 Mechanical Impedance and Mobility.....................................................................308
6.5.1 Transfer Functions in Mechanical Systems..............................................308
Mechanical Transfer Functions................................................................... 310
Mechanical Impedance and Mobility........................................................ 311
6.5.2 Interconnection Laws................................................................................... 311
Interconnection Laws for Mechanical Impedance and Mobility........... 312
Interconnection Laws for Electrical Impedance and Admittance.......... 312
A-Type Transfer Functions and T-Type Transfer Functions................... 312
6.5.3 Transfer Functions of Basic Elements........................................................ 313
6.6 Transmissibility Function......................................................................................... 319
6.6.1 Force Transmissibility.................................................................................. 319
6.6.2 Motion Transmissibility............................................................................... 319
6.6.3 Vibration Isolation........................................................................................ 326
Force Isolation and Motion Isolation......................................................... 326
6.6.4 Maxwell’s Reciprocity Property................................................................. 332
Maxwell’s Reciprocity Property in Other Domains.................................334
Summary Sheet.....................................................................................................................334
Problems................................................................................................................................. 337

7. Transfer-Function Linear Graphs.....................................................................................345

Chapter Highlights...............................................................................................................345
7.1 Introduction................................................................................................................345
Contents xi

7.2 Circuit Reduction and Equivalent Circuits............................................................ 347

7.2.1 Thevenin’s Theorem for Electrical Circuits............................................... 347
Circuit Partitioning.......................................................................................348
Thevenin and Norton Equivalent Circuits................................................348
7.2.2 Justification of Circuit Equivalence............................................................ 352
7.2.3 Extension into Other Domains................................................................... 353
7.3 Equivalent TF LGs..................................................................................................... 353
7.3.1 Transfer-Function LGs................................................................................. 353
7.3.2 Equivalent Mechanical Circuit Analysis Using LGs............................... 356
7.3.3 Summary of Thevenin Approach for Mechanical Circuits....................364
General Steps.................................................................................................364
7.4 Multidomain TF LGs................................................................................................. 365
7.4.1 Conversion into an Equivalent Single Domain........................................ 365
Transformer-Coupled Systems................................................................... 366
Gyrator-Coupled Systems........................................................................... 367
7.4.2 Illustrative Examples.................................................................................... 368
Summary Sheet..................................................................................................................... 380
Problems................................................................................................................................. 381

8. Simulation Block Diagrams.............................................................................................. 393

Chapter Highlights............................................................................................................... 393
8.1 Introduction................................................................................................................ 393
8.2 Block Diagrams and State-Space Models............................................................... 394
8.2.1 Transfer Functions and Block Diagrams................................................... 394
8.2.2 State-Space Models and Block Diagrams.................................................. 395
8.3 Block-Diagram Manipulation................................................................................... 397
8.3.1 Block-Diagram Manipulation and Reduction.......................................... 397
8.4 Simulation Block Diagrams...................................................................................... 399
8.4.1 Principle of Superposition........................................................................... 399
8.4.2 Superposition Method................................................................................. 401
8.4.3 Grouping Like-Derivatives Method...........................................................404
8.4.4 Factored Transfer-Function Method.......................................................... 406
8.4.5 Partial-Fraction Method............................................................................... 410
8.5 Causality and Physical Realizability....................................................................... 420
8.5.1 Proof of Causality and Physical Realizability.......................................... 420
Summary Sheet..................................................................................................................... 420
Problems.................................................................................................................................422

9. Response Analysis and Simulation................................................................................. 427

Chapter Highlights............................................................................................................... 427
9.1 Introduction................................................................................................................ 427
9.2 Analytical Solution.................................................................................................... 428
9.2.1 Homogeneous Solution................................................................................ 428
Repeated Poles.............................................................................................. 429
9.2.2 Particular Solution........................................................................................ 429
9.2.3 Impulse Response Function........................................................................ 431
Convolution Integral.................................................................................... 431
9.2.4 Stability...........................................................................................................433
9.3 First- and Second-Order Systems...........................................................................434
xii Contents

9.3.1First-Order Systems......................................................................................434
9.3.2 Second-Order Systems................................................................................. 436
Free Response of an Undamped Oscillator............................................... 436
Free Response of a Damped Oscillator...................................................... 438
9.4 Forced Response of a Damped Oscillator..............................................................443
9.4.1 Impulse Response.........................................................................................444
9.4.2 The Riddle of Zero ICs.................................................................................445
9.4.3 Step Response................................................................................................446
9.4.4 Response to Harmonic Excitation.............................................................. 447
9.5 Response Using Laplace Transform........................................................................454
9.5.1 Step Response Using Laplace Transforms................................................454
9.5.2 Incorporation of ICs...................................................................................... 455
Step Response of a First-Order System...................................................... 455
Step Response of a Second-Order System................................................. 455
9.6 Determination of ICs for Step Response................................................................ 457
9.7 Computer Simulation................................................................................................ 465
9.7.1 Use of Simulink in Computer Simulation................................................. 466
Starting Simulink.......................................................................................... 466
Basic Elements............................................................................................... 466
Building an Application............................................................................... 467
Running a Simulation.................................................................................. 468
Summary Sheet..................................................................................................................... 471
Problems................................................................................................................................. 474
Appendix A: Practical Elements and Components.............................................................. 485
Appendix B: Bond Graphs........................................................................................................ 539
Appendix C: Graph Tree Concepts for Linear Graphs........................................................ 555
Appendix D: Transform Techniques...................................................................................... 571
Appendix E: Software Tools..................................................................................................... 589
Appendix F: Review of Linear Algebra.................................................................................. 613
Appendix G: Advanced Response Analysis.........................................................................633
Index.............................................................................................................................................. 657
Preface

This book concerns modeling of engineering dynamic systems. It systematically cov-

ers methodologies of understanding and analytical representation of the dynamics of a
physical engineering system, using proper principles of science. However, the presented
concepts and approaches are applicable in nonengineering processes such as biological,
economic, and social systems as well.
The book has all the features of a course textbook and is primarily intended for a course
at the undergraduate level (typically, third or fourth year) or at the early graduate level.
In many engineering curricula, a course in modeling is a prerequisite for the first course
in control systems. In some other curricula, modeling is taught as a foundation course or
as the first part of a control systems course. Also, it is an indispensable component of a
curriculum in mechatronics. Since the book contains a wealth of practical information on
the subject, it is a valuable reference tool as well, primarily for researchers and practicing
professionals. Even though the primary emphasis of the book is on the engineering prob-
lem of model development rather than response analysis and simulation once a model is
available, these latter aspects are also covered in the book. The book distinguishes itself
from the existing books on modeling in view of the following primary features:

• It provides systematic approaches that lead to unique models (thereby removing

doubt on what method should be used in a given problem and the validity of the
end result of modeling).
• It presents modeling approaches that are applicable to problems in many physical
domains (e.g., electrical, mechanical, fluid, and thermal) and to problems of mul-
tiple domains (mixed systems).
• The presented “unified” and “integrated” approaches are rapidly becoming the
standard in the modeling of mechatronic engineering systems, and of any engi-
neering system, for that matter.
• Modeling approaches that are commonly and effectively used in electrical engi-
neering are extended to other domains, particularly mechanical, fluid, and ther-
mal domains, so that those methods can also be applied to multidomain (e.g.,
mechatronic or electromechanical or mixed) systems.
• Equivalence or approximate equivalence (to the actual physical system or to
another type of model) is considered as the primary basis in developing “equiva-
lent models” and in “model reduction” using various criteria of equivalence.

Background
In the late 1970s, I taught a mandatory undergraduate course in dynamic system model-
ing at Carnegie Mellon University. The popular textbook Introduction to System Dynamics
by Shearer, Murphy, and Richardson (Addison-Wesley, 1971) was used in this course.
This excellent classic has not been revised to date (The late Professor Arthur Murphy had

xiii
xiv Preface

contacted me to undertake the revision, but that project did not materialize due to my
other commitments and the untimely death of Professor Murphy). After I moved to the
University of British Columbia (UBC) in the late 1980s, I continued to teach the course.
During this process, I had developed a vast amount of material (including new approaches,
extensions to existing approaches, new examples, problems, and projects). Subsequently, at
UBC, there was a demand for an introductory graduate-level course as well in the subject,
which materialized about 15 years ago.
At UBC, for teaching the course on modeling in the beginning, I used my own notes and
a booklet on Control System Modeling, which I had prepared for the company Measurements
& Data Corporation (Pittsburgh, PA) and serialized in their magazine (Measurements and
Control) as a professional course. Subsequently, by incorporating as well the material that
I had developed while teaching undergraduate and graduate courses in control systems,
I published the book Modeling and Control of Engineering Systems, (Taylor & Francis/CRC
Press, 2009). Yet, I constantly felt the need for a single textbook on the subject of modeling
of dynamic engineering systems that carries the features I have listed above. The present
book satisfies that need.

Scope of the Book

Through this book, the student will learn to understand and model mechanical, thermal,
fluid, electrical, and multidomain (mixed) systems in a systematic, unified, and integrated
manner. For example, in the book I explore the identification of lumped elements such as
generalized sources (input elements), generalized capacitors (across-type energy storage
elements), generalized inductors (through-type energy storage elements), and generalized
resistors (energy dissipation elements) in different types of physical systems. I study anal-
ogies among the four main types of systems: mechanical, thermal, fluid, and electrical,
in terms of these basic lumped elements and in terms of the system variables. I introduce
and apply concepts of through- and across-variables and flow and effort variables. I study
multidomain (or mixed) systems, which consist of two or more of the basic system types
(or physical domains), as well.
I discuss tools of modeling and model representation such as linear graphs, bond graphs,
and block diagrams. A focus is to develop a unique state–space model for a given system
(Note: Generally, the state–space representation is not unique; many different state–space
models may be presented for the same system). I examine important considerations of
input, output, causality, and system order.
The linear graph model representation is extended to the frequency domain. I study
Thevenin and Norton equivalent circuits and their application in nonelectrical (mechani-
cal, fluid, and thermal) systems using linear graphs. I study the conversion of a mixed-
domain system model into an equivalent model in a single domain and illustrate its
application in practical systems using examples.
Even though the emphasis of the book is on lumped-parameter models, I address the
treatment of distributed-parameter systems and their representation in the lumped-
parameter form. I give an overview of the response analysis of dynamic systems. I address
computer simulation of dynamic systems using graphical and numerical methodologies
and algorithms and also through the use of such software tools as Simulink®. The main
treatment of the book is of linear systems. However, where needed, I develop nonlinear
models. I present their linearization using several general techniques (analytical, experi-
mental, and graphical).
Preface xv

Main Features
In the present context, modeling concerns understanding and analytical representation
of the dynamics of a physical engineering system, using sound principles of science and
systematic and unified/generalized approaches. The developed model must be suitable
for meeting the subsequent purposes and tasks. For example, identification and selec-
tion of system components, system analysis and computer simulation, conceptual design,
detailed design, prototyping, instrumentation, control, tuning (adjusting system param-
eters to obtain the required performance), testing, performance evaluation, and product
qualification all are important tasks in engineering practice, and modeling plays a crucial
role in all these tasks.
The main objective of the book is to provide a convenient, useful, and affordable text-
book in the subject of Modeling of Dynamic Systems with Engineering Applications. The mate-
rial presented in the book serves as a firm foundation for the subsequent building up of
expertise in various aspects of engineering such as design, prototyping, control, instru-
mentation, experimentation, and performance analysis.
The book consists of nine chapters and seven appendices. To maintain clarity and focus
and to maximize the usefulness, the book presents its material in a manner that will be
useful to anyone with a basic engineering background, be it civil, electrical, mechanical,
manufacturing, material, mechatronic, mining, aerospace, or biomechanical. Complete
solutions to the end-of-chapter problems are provided in a Solutions Manual, which is avail-
able to instructors who adopt the book.
In addition to presenting standard material on the modeling of dynamic engineering
systems in a student-friendly and interest-arousing manner, the book somewhat deviates
from other books on the subject in the following ways:

• The book presents systematic approaches of modeling that lead to unique models
(thereby removing the doubts on what method should be used in a given problem
and the validity of the end result of modeling).
• The book provides modeling approaches that are equally applicable to problems
in many domains (electrical, mechanical, fluid, and thermal) and to problems of
multiple domains (mixed systems). Since similar (analogous) approaches are used
for modeling different domains, the presented methodologies are “unified.” Also,
in a multidomain system, since all physical domains can be modeled concur-
rently (simultaneously), while taking into account any dynamic coupling (inter-
actions) among the domains, the presented methodologies are “concurrent” (or
“integrated”).
• Popular modeling approaches that are commonly and effectively used in electri-
cal engineering are extended to other domains, particularly mechanical, fluid, and
thermal domains, so that they can also be applied to multidomain (e.g., mecha-
tronic or electromechanical) systems. Hence, the presented methods are “unified.”
• I present both bond graph and linear graph approaches of model development.
The latter approach is used more extensively.
• I present physical principles and analytical methods using simple mathematics.
• I provide a large number of worked examples, analytical examples, numerical
examples, simulations, case studies, and end-of-chapter problems (with solutions)
xvi Preface

throughout the book, and relate them to real-life situations and practical engineer-
ing applications.
• I summarize the key issues presented in the book in point form at various places
in each chapter, for easy reference, recollection, and presentation in PowerPoint
form.
• I indicate the topics covered in each chapter at the beginning of the chapter. I pro-
vide the key material, formulas, and results in each chapter in a Summary Sheet
at the end of the chapter.
• I give the useful material that cannot be conveniently integrated into the chapters
in a concise form as separate appendices at the end of the book.
• The book uses and illustrates popular software tools such as Simulink throughout.
• The book is concise, avoiding unnecessarily lengthy and uninteresting discus-
sions, for easy reference and comprehension.
• There is adequate material in the book for two 12-week courses, one at the under-
graduate level and the other at the graduate level.
• In view of the practical considerations and techniques, tools, design issues, and
engineering information presented throughout the book, and in view of the sim-
plified and snapshot style presentation, including more advanced theory and
techniques, the book serves as a useful reference tool for engineers, technicians,
project managers, and other practicing professionals in industry and research
institutions.

Clarence W. de Silva
Vancouver, Canada

MATLAB® is a registered trademark of The MathWorks, Inc. For product information,

please contact:

The MathWorks, Inc.

3 Apple Hill Drive
Natick, MA, 01760-2098 USA
Tel: 508-647-7000
Fax: 508-647-7001
E-mail: [email protected]
Web: www.mathworks.com
Acknowledgments

Many individuals have assisted in the preparation of this book, but it is not practical to
acknowledge all such assistance here. First, I wish to recognize the contributions, both direct
and direct, of my graduate students, research associates, and technical staff. Particular
mention should be made of Peter Jiahong Chen, my research associate, who assisted with
some of the graphics in the book. I am particularly grateful to Jonathan W. Plant, exec-
utive editor, CRC Press/Taylor & Francis Group, for his great enthusiasm and support
throughout the project. This project would not have been possible if not for his constant
encouragement, advice, and drive. Richard Tressider of CRC Press and Mathi Ganesan of
codeMantra should be acknowledged here for their contribution in the ­production of the
book. Finally, I wish to acknowledge here the unwavering love and s­ upport of my wife
and children.

xvii
Author

Dr. Clarence W. de Silva, P.E., Fellow ASME and Fellow IEEE, is a professor of mechanical
engineering at the University of British Columbia, Vancouver, Canada. He has occupied
the following chair professorships:

• Senior Canada Research Chair professorship in mechatronics and industrial

automation
• NSERC-BC Packers Research Chair in industrial automation
• Mobil Endowed Chair Professorship

He has served as a faculty member at Carnegie Mellon University (1978–87) and as a

Fulbright Visiting Professor at the University of Cambridge (1987/88).
He has earned PhD degrees from Massachusetts Institute of Technology (1978) and the
University of Cambridge, England (1998), and an honorary D.Eng. degree from University
of Waterloo (2008); Honorary Professorship of Xiamen University, China; and Honorary
Chair Professorship of National Taiwan University of Science and Technology.
Other Fellowships: Fellow, Royal Society of Canada; Fellow, Canadian Academy of
Engineering; Lilly Fellow at Carnegie Mellon University; NASA-ASEE Fellow; Senior
Fulbright Fellow at Cambridge University; Fellow of the Advanced Systems Institute of
BC; Killam Fellow; Erskine Fellow at University of Canterbury; Professorial Fellow at
University of Melbourne; and Peter Wall Scholar at the University of British Columbia.
Awards: Paynter Outstanding Investigator Award and Takahashi Education Award,
ASME Dynamic Systems & Control Division; Killam Research Prize; Outstanding
Engineering Educator Award, IEEE Canada; Lifetime Achievement Award, World
Automation Congress; IEEE Third Millennium Medal; Meritorious Achievement Award,
Association of Professional Engineers of BC; and Outstanding Contribution Award, IEEE
Systems, Man, and Cybernetics Society. Also, he has made 40 keynote addresses at inter-
national conferences.
Editorial Duties: Served on 14 journals including IEEE Trans. Control System Technology
and Journal of Dynamic Systems, Measurement & Control, Trans. ASME; editor-in-chief,
International Journal of Control and Intelligent Systems; editor-in-chief, International Journal
of Knowledge-Based Intelligent Engineering Systems; senior technical editor, Measurements
and Control; and regional editor, North America, Engineering Applications of Artificial
Intelligence—IFAC International Journal.
Publications: 24 technical books, 19 edited books, 51 book chapters, 245 journal articles,
and over 270 conference papers.
Recent Books: Sensor Systems (Taylor & Francis/CRC, 2017); Sensors and Actuators:
Engineering System Instrumentation (2nd Edition, Taylor & Francis/CRC, 2016); Mechanics of
Materials (Taylor & Francis/CRC, 2014), Mechatronics: A Foundation Course (Taylor & Francis/
CRC, 2010); Modeling and Control of Engineering Systems (Taylor & Francis/CRC, 2009);
Vibration: Fundamentals and Practice, 2nd Ed. (Taylor & Francis/CRC, 2007); Mechatronics; An
Integrated Approach (Taylor & Francis/CRC, 2005); and Soft Computing and Intelligent Systems
Design: Theory, Tools, and Applications (Addison Wesley, 2004).

xix
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1
Introduction to Modeling

Chapter Highlights
• Objectives of the Chapter
• Importance and Applications of Modeling
• Modeling in Control
• Modeling in Design
• Dynamic Systems and Models
• Model Complexity
• Model Types
• Analytical Models
• Mechatronic Systems
• Steps of Analytical Model Development

1.1 Objectives
This book concerns modeling of engineering dynamic systems. In this context first we
need to explore what a dynamic system is; what is meant by modeling; and how to model a
dynamic system. We will address all three topics in detail throughout the book. In brief, a
dynamic system is a system where the “rates of changes” of its response (output) cannot be
neglected. A model is a “representation” of a system. There are many types of engineering
dynamic systems and many types of models, as we will learn. The book primarily con-
cerns analytical modeling. We will learn a systematic way to develop an analytical model
for an engineering dynamic system.
The main learning objectives of the book are the following:

• Understand the formal meanings of a dynamic system, control system, mecha-

tronic system, and multidomain (mixed) system.
• Recognize different types of models (e.g., physical, analytical, computer, experi-
mental) and their importance, usage, comparative advantages and disadvantages.

1
2 Modeling of Dynamic Systems with Engineering Applications

• Learn the concepts of input (excitation), output (response), causality (cause-effect,

what are inputs and what are outputs), and order (dynamic size) in the context of
a dynamic system (or dynamic model).
• Understand the concepts of through-variables, across-variables, flow variables,
and effort variables, and their relationship to state variables.
• Recognize similarities and analogies among the four system domains: mechani-
cal, electrical, fluid, and thermal.
• Understand the “mechatronic” approach (i.e., the “integrated” or “concurrent”
approach) to modeling a multidomain (i.e., mixed) system, which consists of two
or more basic system domains: all domains are modeled simultaneously.
• Understand the “unified” approach to modeling a multidomain system: similar
(i.e., analogous) methods are used to model the different domains
• Understand the key steps of development of a unified, integrated, and systematic
approach for modeling an engineering dynamic system.
• Apply in a systematic manner, the unified and integrated approach of modeling to
develop a state-space model.
• Obtain a linear model of a nonlinear dynamic system, both analytically and
experimentally
• Apply the concepts of block diagram in modeling a dynamic system.
• Understand and apply a graphical approach (linear graph or bond graph) for mod-
eling; in particular, to develop a state-space model.
• Understand the frequency-domain concepts of modeling; particularly, the concepts
of “generalized” impedance, equivalent circuits, and circuit reduction of electrical
systems and apply them to mechanical, fluid, thermal, and mixed systems.
• Study the response analysis of a linear dynamic model.
• Understand the analytical and computational basis of computer simulation of a
dynamic system
• Apply a common tool of computer simulation to an engineering dynamic system.

Design, development, modification, operation, control, and performance monitoring/

evaluation of an engineering system require a sufficient understanding of the system
and a suitable “representation” of the system. In other words, a “model” of the system
is required for these practical activities. Any model is an idealization of the actual sys-
tem. Properties established and results derived in various “model-based approaches”
are associated with the model rather than the actual system, whereas the excitations
(inputs) are applied to and the responses (outputs) are observed or measured from the
actual system. This distinction is very important particularly in the context of the pres-
ent treatment.
An engineering system may consist of several different physical types of components,
belonging to such physical “domains” as mechanical, electrical, fluid, and thermal. It is
termed a multidomain (or mixed) system. Furthermore, it may contain multifunctional compo-
nents; for example, a piezoelectric component, which can function as both a sensor and an
actuator, is a multifunctional device. It is useful to use analogous procedures for modeling
multidomain and multifunctional components. Then the domain models or functional models
can be can be developed in a “unified” and “concurrent” manner, and systematically “inte-
grated” to obtain the overall model.
Introduction to Modeling 3

Analytical models may be developed for mechanical, electrical, fluid, and thermal sys-
tems in a rather analogous manner, because some clear analogies are present among these
four types of systems. This is a focus of the book. In view of the existing analogy, then, a
unified (analogous), integrated (concurrent), and systematic (having clear steps) approach
may be adopted in the modeling, analysis, design, control, and evaluation of an engineer-
ing system. The integrated approach is indeed the “mechatronic” approach to model-
ing. The unified approach goes beyond that and exploits domain similarities (analogies).
In summary then, the studies and developments of the present book target a modeling
approach that has the following characteristics:

• Realization of a “unique” model (the modeling procedure leads to a single model)

• Physically meaningful (e.g., the system variables, particularly the state variables,
have physical meaning)
• Systematic (follows a clearly indicated sequence of modeling steps)
• Integrated (concurrent; considers all physical domains of the system simultane-
ously, while including “coupling” or “dynamic interactions” that exist among
them)
• Unified (exploits analogies or similarities among different physical domains and
uses similar/analogous procedures to model the dynamics in those domains)

1.2 Importance and Applications of Modeling

A dynamic model may be indispensable in a variety of engineering applications. The
types of uses of a dynamic model include the following:

• Analysis of a dynamic system (particularly using mathematical methods and

tools, even when the actual system is not available or developed yet)
• Computer simulation, which can incorporate various types of models including
mathematical (analytical) dynamic models
• Design of a dynamic system (prior to building the system; it may assist making the
decision to build or not)
• Modification of a dynamic system (or its model or design, prior to the actual task
of physical modification of the system)
• Instrumentation of a dynamic system. Instruments (such as sensors, actuators,
signal conditioning, and component interconnecting hardware) needed for the
operation and/or performance improvement of a dynamic system may be estab-
lished, selected/sized, and analyzed through modeling and simulation
• Control or assistance in the physical operation of a dynamic system (e.g., for model-
based control and for generating control/performance specifications)
• Testing of a dynamic system (where a test regiment is simulated and evalu-
ated through analytical and computational means), and in product qualification
(where, an available good-quality product is further tested and evaluated to deter-
mine whether it is suitable for a specialized application (e.g., seismic qualification
of components of a nuclear power plant; qualification of computer hardware)
4 Modeling of Dynamic Systems with Engineering Applications

• Performance evaluation (including on-line monitoring) of a system to detect

deviations and diagnose malfunctions and faults (using a model as the refer-
ence for good performance).

Dynamic modeling is applicable in all branches of engineering (aerospace, biomechani-

cal, chemical, civil, electrical and computer, manufacturing, material, mechanical, mecha-
tronic, mining, etc.). Analytical models are quite useful in predicting the dynamic behavior
(response) of a system for various types of excitations (inputs). For example, vibration is a
dynamic phenomenon and its analysis, practical utilization, and effective control require
a good understanding (model) of the vibrating system. Computer-based studies (e.g., com-
puter simulation) may be carried out using analytical models while incorporating suit-
able values for the system parameters (mass, stiffness, damping, capacitance, inductance,
resistance, and so on). A model may be employed for designing an engineering system for
proper performance. Therefore, the system is first developed (designed) using a model,
which is much easier (quick, flexible, inexpensive) to modify than a physical system. In the
context of product testing, for example, analytical models are commonly used to develop
test specifications and the input signals that are applied to the exciter in the test procedure.
Dynamic effects and interactions in the test object, the excitation system, and their inter-
faces may be studied in this manner. Product qualification is the procedure that is used to
establish the capability of a good-quality product to withstand a specified set of operating
conditions, in a specialized application. In product qualification by testing, the operating
conditions are generated and applied to the test object by an exciter (e.g., shaker). In prod-
uct qualification by analysis, a suitable analytical model of the product replaces the physi-
cal test specimen that is used in product qualification by testing. In the area of automatic
control, models are used in a variety of ways, as discussed next.

1.2.1 Modeling in Control
The ways models are used in automatic control include the following:

• An analytical model of the control system is needed for representation, mathemat-

ical analysis and computer simulation of the system
• A model of the system to be controlled (i.e., plant, process) may be used to develop
the performance specifications, based on which a controller is developed for the
system. For example, in model-referenced adaptive control, a “reference model” dic-
tates the desired behavior that is expected under control (see Figure 1.1). This is
an implicit way of using a model to represent performance specifications. Then
the controller seeks (by changing—adapting the controller parameters) to drive
the actual behavior of the plant toward the desired behavior as dictated by the
reference model
• In model-based control, a dynamic model of the actual process is employed to
develop the necessary control schemes
• In the early stages of design of a control system, some (or all) parts of the desired
system may not exist. In this context, a model of the anticipated system, particu-
larly an analytical model or a computer model, can be very useful, economical,
and time efficient in the design of the control system. In view of the complexity of
a design process, particularly when striving for an optimal design, it is useful to
incorporate system modeling as a tool for design iteration.
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 O sfortunati padri, ove tendete,
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Ahi, che sara di voi, se gli vedrete
Per lo vostro rigor restar defunti?
Ahi, che co’ vostri non sani consigli
Procurate la morte a’ vostri figli!

In the following poem by Mr. Hughes, which the author has intitled
an imitation of the 16th ode of the second book of Horace, the
greatest part of the composition is a just and excellent translation,
while the rest is a free paraphrase or commentary on the original. I
shall mark in Italics all that I consider as paraphrastical: the rest is a
just translation, in which the writer has assumed no more liberty,
than was necessary to give the poem the easy air of an original
composition.
 I
Indulgent Quiet! Pow’r serene,
Mother of Peace, and Joy, and Love,
O say, thou calm, propitious Queen,
Say, in what solitary grove,
Within what hollow rock, or winding cell,
By human eyes unseen,
Like some retreated Druid dost thou dwell?
And why, illusive Goddess! why,
When we thy mansion would surround,
Why dost thou lead us through enchanted ground,
To mock our vain research, and from our wishes fly.

II
The wand’ring sailors, pale with fear,
For thee the gods implore,
When the tempestuous sea runs high
And when through all the dark, benighted sky
No friendly moon or stars appear,
To guide their steerage to the shore:
For thee the weary soldier prays,
Furious in fight the sons of Thrace,
And Medes, that wear majestic by their side
A full-charg’d quiver’s decent pride,
Gladly with thee would pass inglorious days,
Renounce the warrior’s tempting praise,
And buy thee, if thou might’st be sold,
With gems, and purple vests, and stores of plunder’d gold.

III
But neither boundless wealth, nor guards that wait
Around the Consul’s honour’d gate,
Nor antichambers with attendants fill’d,
The mind’s unhappy tumults can abate,
O b i h ll th t fl
 Or banish sullen cares, that fly
Across the gilded rooms of state,
And their foul nests like swallows build
Close to the palace-roofs and towers that pierce the sky?
Much less will Nature’s modest wants supply:
And happier lives the homely swain,
Who in some cottage, far from noise,
His few paternal goods enjoys;
Nor knows the sordid lust of gain,
Nor with Fear’s tormenting pain
His hovering sleeps destroys.

IV
Vain man! that in a narrow space
At endless game projects the darting spear!
For short is life’s uncertain race;
Then why, capricious mortal! why
Dost thou for happiness repair
To distant climates and a foreign air?
Fool! from thyself thou canst not fly,
Thyself the source of all thy care:
So flies the wounded stag, provoked with pain,
Bounds o’er the spacious downs in vain;
The feather’d torment sticks within his side,
And from the smarting wound a purple tide
Marks all his way with blood, and dies the grassy plain.

V
But swifter far is execrable Care
Than stags, or winds, that through the skies
Thick-driving snows and gather’d tempests bear;
Pursuing Care the sailing ship out-flies.
Climbs the tall vessel’s painted sides;
Nor leaves arm’d squadrons in the field,
But with the marching horseman rides,
And dwells alike in courts and camps, and makes all places yield.
And dwells alike in courts and camps, and makes all places yield.

VI
Then, since no state’s completely blest,
Let’s learn the bitter to allay
With gentle mirth, and, wisely gay,
Enjoy at least the present day,
And leave to Fate the rest.
Nor with vain fear of ills to come
Anticipate th’ appointed doom.
Soon did Achilles quit the stage;
The hero fell by sudden death;
While Tithon to a tedious, wasting age
Drew his protracted breath.
And thus, old partial Time, my friend,
Perhaps unask’d, to worthless me
Those hours of lengthen’d life may lend,
Which he’ll refuse to thee.

VII
Thee shining wealth, and plenteous joys surround,
And all thy fruitful fields around
Unnumber’d herds of cattle stray;
Thy harness’d steeds with sprightly voice,
Make neighbouring vales and hills rejoice,
While smoothly thy gay chariot flies o’er the swift-measur’d way.
To me the stars with less profusion kind,
An humble fortune have assign’d,
And no untuneful Lyric vein,
But a sincere contented mind
That can the vile, malignant crowd disdain.[52]
 CHAPTER XI
OF THE TRANSLATION OF IDIOMATIC PHRASES.—EXAMPLES FROM COTTON,
ECHARD, STERNE.—INJUDICIOUS USE OF IDIOMS IN THE TRANSLATION,
WHICH DO NOT CORRESPOND WITH THE AGE OR COUNTRY OF THE
ORIGINAL.—IDIOMATIC PHRASES SOMETIMES INCAPABLE OF
TRANSLATION.

While a translator endeavours to give to his work all the ease of

original composition, the chief difficulty he has to encounter will be
found in the translation of idioms, or those turns of expression which
do not belong to universal grammar, but of which every language
has its own, that are exclusively proper to it. It will be easily
understood, that when I speak of the difficulty of translating idioms,
I do not mean those general modes of arrangement or construction
which regulate a whole language, and which may not be common to
it with other tongues: As, for example, the placing the adjective
always before the substantive in English, which in French and in
Latin is most commonly placed after it; the use of the participle in
English, where the present tense is used in other languages; as he is
writing, scribit, il écrit; the use of the preposition to before the
infinitive in English, where the French use the preposition de or of.
These, which may be termed the general idioms of a language, are
soon understood, and are exchanged for parallel idioms with the
utmost ease. With regard to these a translator can never err, unless
through affectation or choice.[53] For example, in translating the
French phrase, Il profita d’un avis, he may choose fashionably to
say, in violation of the English construction, he profited of an advice;
or, under the sanction of poetical licence, he may choose to engraft
the idiom of one language into another, as Mr. Macpherson has
done, where he says, “Him to the strength of Hercules, the lovely
Astyochea bore;” Ον τεκεν Αστυοχεια, βιη Ηρακληειη· Il. lib. 2, l.
165. But it is not with regard to such idiomatic constructions, that a
translator will ever find himself under any difficulty. It is in the
translation of those particular idiomatic phrases of which every
language has its own collection; phrases which are generally of a
familiar nature, and which occur most commonly in conversation, or
in that species of writing which approaches to the ease of
conversation.
The translation is perfect, when the translator finds in his own
language an idiomatic phrase corresponding to that of the original.
Montaigne (Ess. l. 1, c. 29) says of Gallio, “Lequel ayant été envoyé
en exil en l’isle de Lesbos, on fut averti à Rome, qu’il s’y donnoit du
bon temps, et que ce qu’on lui avoit enjoint pour peine, lui tournoit à
commodité.” The difficulty of translating this sentence lies in the
idiomatic phrase, “qu’il s’y donnoit du bon temps.” Cotton finding a
parallel idiom in English, has translated the passage with becoming
ease and spirit: “As it happened to one Gallio, who having been sent
an exile to the isle of Lesbos, news was not long after brought to
Rome, that he there lived as merry as the day was long; and that
what had been enjoined him for a penance, turned out to his
greatest pleasure and satisfaction.” Thus, in another passage of the
same author, (Essais, l. 1, c. 29) “Si j’eusse été chef de part, j’eusse
prins autre voye plus naturelle.” “Had I rul’d the roast, I should have
taken another and more natural course.” So likewise, (Ess. l. 1, c.
25) “Mais d’y enfoncer plus avant, et de m’être rongé les ongles à
l’étude d’Aristote, monarche de la doctrine moderne.” “But, to dive
farther than that, and to have cudgell’d my brains in the study of
Aristotle, the monarch of all modern learning.” So, in the following
passages from Terence, translated by Echard: “Credo manibus
pedibusque obnixè omnia facturum,” Andr. act 1. “I know he’ll be at
it tooth and nail.” “Herus, quantum audio, uxore excidit,” Andr. act 2.
“For aught I perceive, my poor master may go whistle for a wife.”
In like manner, the following colloquial phrases are capable of a
perfect translation by corresponding idioms. Rem acu tetigisti, “You
have hit the nail upon the head.” Mihi isthic nec seritur nec repitur,
Plaut. “That’s no bread and butter of mine.” Omnem jecit aleam, “It
was neck or nothing with him.” Τι προς τ’ αλφιτα; Aristoph. Nub.
“Will that make the pot boil?”
It is not perhaps possible to produce a happier instance of
translation by corresponding idioms, than Sterne has given in the
translation of Slawkenbergius’s Tale. “Nihil me pœnitet hujus nasi,
quoth Pamphagus; that is, My nose has been the making of me.”
“Nec est cur pœniteat; that is, How the deuce should such a nose
fail?” Tristram Shandy, vol. 3, ch. 7. “Miles peregrini in faciem
suspexit. Dî boni, nova forma nasi! The centinel look’d up into the
stranger’s face.—Never saw such a nose in his life!” Ibid.
As there is nothing which so much conduces both to the ease and
spirit of composition, as a happy use of idiomatic phrases, there is
nothing which a translator, who has a moderate command of his
own language, is so apt to carry to a licentious extreme. Echard,
whose translations of Terence and of Plautus have, upon the whole,
much merit, is extremely censurable for his intemperate use of
idiomatic phrases. In the first act of the Andria, Davus thus speaks
to himself:

Enimvero, Dave, nihil loci est segnitiæ neque socordiæ.

Quantum intellexi senis sententiam de nuptiis:
Quæ si non astu providentur, me aut herum pessundabunt;
Nec quid agam certum est, Pamphilumne adjutem an auscultem
seni.

Terent. Andr. act 1, sc. 3.

The translation of this passage by Echard, exhibits a strain of

vulgar petulance, which is very opposite to the chastened simplicity
of the original.
“Why, seriously, poor Davy, ’tis high time to bestir thy stumps, and
to leave off dozing; at least, if a body may guess at the old man’s
meaning by his mumping. If these brains do not help me out at a
dead lift, to pot goes Pilgarlick, or his master, for certain: and hang
me for a dog, if I know which side to take; whether to help my
young master, or make fair with his father.”
In the use of idiomatic phrases, a translator frequently forgets
both the country of his original author, and the age in which he
wrote; and while he makes a Greek or a Roman speak French or
English, he unwittingly puts into his mouth allusions to the manners
of modern France or England.[54] This, to use a phrase borrowed
from painting, may be termed an offence against the costume. The
proverbial expression, βατραχω ὑδωρ, in Theocritus, is of similar
import with the English proverb, to carry coals to Newcastle; but it
would be a gross impropriety to use this expression in the translation
of an ancient classic. Cicero, in his oration for Archias, says,
“Persona quæ propter otium et studium minime in judiciis
periculisque versata est.” M. Patru has translated this, “Un homme
que ses études et ses livres ont éloigné du commerce du Palais.” The
Palais, or the Old Palace of the kings of France, it is true, is the place
where the parliament of Paris and the chief courts of justice were
assembled for the decision of causes; but it is just as absurd to
make Cicero talk of his haranguing in the Palais, as it would be of his
pleading in Westminster Hall. In this respect, Echard is most
notoriously faulty: We find in every page of his translations of
Terence and Plautus, the most incongruous jumble of ancient and of
modern manners. He talks of the “Lord Chief Justice of Athens,” Jam
tu autem nobis Præturam geris? Pl. Epid. act 1, sc. 1, and says, “I
will send him to Bridewell with his skin stripped over his ears,”
Hominem irrigatum plagis pistori dabo, Ibid. sc. 3. “I must expect to
beat hemp in Bridewell all the days of my life,” Molendum mihi est
usque in pistrina, Ter. Phormio, act 2. “He looks as grave as an
alderman,” Tristis severitas inest in vultû, Ibid. Andria, act 5.—The
same author makes the ancient heathen Romans and Greeks swear
British and Christian oaths; such as “Fore George, Blood and ounds,
Gadzookers, ’Sbuddikins, By the Lord Harry!” They are likewise well
read in the books both of the Old and New Testament: “Good b’ye,
Sir Solomon,” says Gripus to Trachalion, Salve, Thales! Pl. Rudens,
act 4, sc. 3; and Sosia thus vouches his own identity to Mercury, “By
Jove I am he, and ’tis as true as the gospel,” Per Jovem juro, med
esse, neque me falsum dicere, Pl. Amphit. act 1, sc. 1.[55] The same
ancients, in Mr. Echard’s translation, are familiarly acquainted with
the modern invention of gunpowder; “Had we but a mortar now to
play upon them under the covert way, one bomb would make them
scamper,” Fundam tibi nunc nimis vellem dari, ut tu illos procul hinc
ex oculto cæderes, facerent fugam, Ter. Eun. act 4. And as their
soldiers swear and fight, so they must needs drink like the moderns:
“This god can’t afford one brandy-shop in all his dominions,” Ne
thermopolium quidem ullum ille instruit, Pl. Rud. act 2, sc. 9. In the
same comedy, Plautus, who wrote 180 years before Christ, alludes to
the battle of La Hogue, fought a.d. 1692. “I’ll be as great as a king,”
says Gripus, “I’ll have a Royal Sun[56] for pleasure, like the king of
France, and sail about from port to port,” Navibus magnis
mercaturam faciam, Pl. Rud. act 4, sc. 2.
In the Latin poems of Pitcairne, we remark an uncommon felicity
in cloathing pictures of modern manners in classical phraseology. In
familiar poetry, and in pieces of a witty or humorous nature, this has
often a very happy effect, and exalts the ridicule of the sentiment, or
humour of the picture. But Pitcairne’s fondness for the language of
Horace, Ovid, and Lucretius, has led him sometimes into a gross
violation of propriety, and the laws of good taste. In the translation
of a Psalm, we are shocked when we find the Almighty addressed by
the epithets of a heathen divinity, and his attributes celebrated in the
language and allusions proper to the Pagan mythology. Thus, in the
translation of the 104th Psalm, every one must be sensible of the
glaring impropriety of the following expressions:
 Dexteram invictam canimus, Jovemque
Qui triumphatis, hominum et Deorum
Præsidet regnis.

Quam tuæ virtus tremefecit orbem

Juppiter dextræ.

Et manus ventis tua Dædaleas

Assuit alas.

facilesque leges
Rebus imponis, quibus antra parent
Æoli.

Proluit siccam pluvialis æther

Barbam, et arentes humeros Atlantis.

Que fovet tellus, fluviumque regnum

Tethyos.

Juppiter carmen mihi semper.

Juppiter solus mihi rex.

In the entire translation of the Psalms by Johnston, we do not find

a single instance of similar impropriety. And in the admirable version
by Buchanan, there are (to my knowledge) only two passages which
are censurable on that account. The one is the beginning of the 4th
Psalm:

O Pater, O hominum Divûmque æterna potestas!

which is the first line of the speech of Venus to Jupiter, in the 10th
Æneid: and the other is the beginning of Psalm lxxxii. where two
entire lines, with the change of one syllable, are borrowed from
Horace:

Regum timendorum in proprios greges,

Reges in ipsos imperium est Jovæ.

In the latter example, the poet probably judged that the change of
Jovis into Jovæ removed all objection; and Ruddiman has attempted
to vindicate the Divûm of the former passage, by applying it to
saints or angels: but allowing there were sufficient apology for both
those words, the impropriety still remains; for the associated ideas
present themselves immediately to the mind, and we are justly
offended with the literal adoption of an address to Jupiter in a hymn
to the Creator.
If a translator is bound, in general, to adhere with fidelity to the
manners of the age and country to which his original belongs, there
are some instances in which he will find it necessary to make a slight
sacrifice to the manners of his modern readers. The ancients, in the
expression of resentment or contempt, made use of many epithets
and appellations which sound extremely shocking to our more
polished ears, because we never hear them employed but by the
meanest and most degraded of the populace. By similar reasoning
we must conclude, that those expressions conveyed no such mean
or shocking ideas to the ancients, since we find them used by the
most dignified and exalted characters. In the 19th book of the
Odyssey, Melantho, one of Penelope’s maids, having vented her
spleen against Ulysses, and treated him as a bold beggar who had
intruded himself into the palace as a spy, is thus sharply reproved by
the Queen:

Παντως θαρσαλεη κυον αδδεες, ουτι με ληθεις

Ερδουσα μεγα εργον, ὁ ση κεφαλη αναμαξεις.
 These opprobrious epithets, in a literal translation, would sound
extremely offensive from the lips of the περιφρων Πηνελοπεια,
whom the poet has painted as a model of female dignity and
propriety. Such translation, therefore, as conveying a picture
different from what the poet intended, would be in reality injurious
to his sense. Of this sort of refinement Mr. Hobbes had no idea; and
therefore he gives the epithets in their genuine purity and simplicity:

Bold bitch, said she, I know what deeds you’ve done,

Which thou shalt one day pay for with thy head.

We cannot fail, however, to perceive, that Mr. Pope has in fact

been more faithful to the sense of his original, by accommodating
the expressions of the speaker to that character which a modern
reader must conceive to belong to her:

Loquacious insolent, she cries, forbear!

Thy head shall pay the forfeit of thy tongue.

A translator will often meet with idiomatic phrases in the original

author, to which no corresponding idiom can be found in the
language of the translation. As a literal translation of such phrases
cannot be tolerated, the only resource is, to express the sense in
plain and easy language. Cicero, in one of his letters to Papirius
Pætus, says, “Veni igitur, si vires, et disce jam προλεγομενας quas
quæris; etsi sus Minervam,” Ep. ad Fam. 9, 18. The idiomatic phrase
si vires, is capable of a perfect translation by a corresponding idiom;
but that which occurs in the latter part of the sentence, etsi sus
Minervam, can neither be translated by a corresponding idiom, nor
yet literally. Mr. Melmoth has thus happily expressed the sense of the
whole passage: “If you have any spirit then, fly hither, and learn
from our elegant bills of fare how to refine your own; though, to do
your talents justice, this is a sort of knowledge in which you are
much superior to your instructors.”—Pliny, in one of his epistles to
Calvisius, thus addresses him, Assem para, et accipe auream
fabulam: fabulas immo: nam me priorum nova admonuit, lib. 2, ep.
20. To this expression, assem para, &c. which is a proverbial mode
of speech, we have nothing that corresponds in English. To translate
the phrase literally would have a poor effect: “Give me a penny, and
take a golden story, or a story worth gold.” Mr. Melmoth has given
the sense in easy language: “Are you inclined to hear a story? or, if
you please, two or three? for one brings to my mind another.”
But this resource, of translating the idiomatic phrase into easy
language, must fail, where the merit of the passage to be translated
actually lies in that expression which is idiomatical. This will often
occur in epigrams, many of which are therefore incapable of
translation: Thus, in the following epigram, the point of wit lies in an
idiomatic phrase, and is lost in every other language where the same
precise idiom does not occur:
On the wretched imitations of the Diable Boiteux of Le Sage:

Le Diable Boiteux est aimable;

Le Sage y triomphe aujourdhui;
Tout ce qu’on a fait après lui
N’a pas valu le Diable.

We say in English, “’Tis not worth a fig,” or, “’tis not worth a
farthing;” but we cannot say, as the French do, “’Tis not worth the
devil;” and therefore the epigram cannot be translated into English.
Somewhat of the same nature are the following lines of Marot, in
his Epitre au Roi, where the merit lies in the ludicrous naïveté of the
last line, which is idiomatical, and has no strictly corresponding
expression in English:
 J’avois un jour un valet de Gascogne,
Gourmand, yvrogne, et assuré menteur,
Pipeur, larron, jureur, blasphémateur,
Sentant la hart de cent pas à la ronde:
Au demeurant le meilleur filz du monde.

Although we have idioms in English that are nearly similar to this,

we have none which has the same naïveté, and therefore no justice
can be done to this passage by any English translation.
In like manner, it appears to me impossible to convey, in any
translation, the naïveté of the following remark on the fanciful
labours of Etymologists: “Monsieur,—dans l’Etymologie il faut
compter les voyelles pour rien, et les consonnes pour peu de chose.”
 CHAPTER XII
DIFFICULTY OF TRANSLATING DON QUIXOTE, FROM ITS IDIOMATIC
PHRASEOLOGY.—OF THE BEST TRANSLATIONS OF THAT ROMANCE.—
COMPARISON OF THE TRANSLATION BY MOTTEUX WITH THAT BY SMOLLET.

There is perhaps no book to which it is more difficult to do perfect

justice in a translation than the Don Quixote of Cervantes. This
difficulty arises from the extreme frequency of its idiomatic phrases.
As the Spanish language is in itself highly idiomatical, even the
narrative part of the book is on that account difficult; but the
colloquial part is studiously filled with idioms, as one of the principal
characters continually expresses himself in proverbs. Of this work
there have been many English translations, executed, as may be
supposed, with various degrees of merit. The two best of these, in
my opinion, are the translations of Motteux and Smollet, both of
them writers eminently well qualified for the task they undertook. It
will not be foreign to the purpose of this Essay, if I shall here make a
short comparative estimate of the merit of these translations.[57]
Smollet inherited from nature a strong sense of ridicule, a great
fund of original humour, and a happy versatility of talent, by which
he could accommodate his style to almost every species of writing.
He could adopt alternately the solemn, the lively, the sarcastic, the
burlesque, and the vulgar. To these qualifications he joined an
inventive genius, and a vigorous imagination. As he possessed
talents equal to the composition of original works of the same
species with the romance of Cervantes; so it is not perhaps possible
to conceive a writer more completely qualified to give a perfect
translation of that romance.
Motteux, with no great abilities as an original writer, appears to
me to have been endowed with a strong perception of the ridiculous
in human character; a just discernment of the weaknesses and
follies of mankind. He seems likewise to have had a great command
of the various styles which are accommodated to the expression
both of grave burlesque, and of low humour. Inferior to Smollet in
inventive genius, he seems to have equalled him in every quality
which was essentially requisite to a translator of Don Quixote. It may
therefore be supposed, that the contest between them will be nearly
equal, and the question of preference very difficult to be decided. It
would have been so, had Smollet confided in his own strength, and
bestowed on his task that time and labour which the length and
difficulty of the work required: but Smollet too often wrote in such
circumstances, that dispatch was his primary object. He found
various English translations at hand, which he judged might save
him the labour of a new composition. Jarvis could give him faithfully
the sense of his author; and it was necessary, only to polish his
asperities, and lighten his heavy and aukward phraseology. To
contend with Motteux, Smollet found it necessary to assume the
armour of Jarvis. This author had purposely avoided, through the
whole of his work, the smallest coincidence of expression with
Motteux, whom, with equal presumption and injustice, he accuses in
his preface of having “taken his version wholly from the French.”[58]
We find, therefore, both in the translation of Jarvis and in that of
Smollet, which is little else than an improved edition of the former,
that there is a studied rejection of the phraseology of Motteux. Now,
Motteux, though he has frequently assumed too great a licence,
both in adding to and retrenching from the ideas of his original, has
upon the whole a very high degree of merit as a translator. In the
adoption of corresponding idioms he has been eminently fortunate,
and, as in these there is no great latitude, he has in general
preoccupied the appropriated phrases; so that a succeeding
translator, who proceeded on the rule of invariably rejecting his
phraseology, must have, in general, altered for the worse. Such, I
have said, was the rule laid down by Jarvis, and by his copyist and
improver, Smollet, who by thus absurdly rejecting what his own
judgement and taste must have approved, has produced a
composition decidedly inferior, on the whole, to that of Motteux.
While I justify the opinion I have now given, by comparing several
passages of both translations, I shall readily allow full credit to the
performance of Smollet, wherever I find that there is a real
superiority to the work of his rival translator.
After Don Quixote’s unfortunate encounter with the Yanguesian
carriers, in which the Knight, Sancho, and Rozinante, were all most
grievously mauled, his faithful squire lays his master across his ass,
and conducts him to the nearest inn, where a miserable bed is made
up for him in a cock-loft. Cervantes then proceeds as follows:
En esta maldita cama se accostó Don Quixote: y luego la ventera
y su hija le emplastáron de arriba abaxo, alumbrandoles Maritornes:
que asi se llamaba la Asturiana. Y como al vizmalle, viese la ventera
tan acardenalado á partes á Don Quixote, dixo que aquello mas
parecian golpes que caida. No fuéron golpes, dixo Sancho, sino que
la peña tenia muchos picos y tropezones, y que cada uno habia
hecho su cardinal, y tambien le dixo: haga vuestra merced, señora,
de manera que queden algunas estopas, que no faltará quien las
haya menester, que tambien me duelen á mí un poco los lomos.
Desa manera, respondió la ventera, tambien debistes vos de caer?
No caí, dico Sancho Panza, sino que del sobresalto que tome de ver
caer á mí amo, de tal manera me duele á mí el cuerpo, que me
parece que me han dado mil palos.
Translation by Motteux
“In this ungracious bed was the Knight laid to rest his belaboured
carcase; and presently the hostess and her daughter anointed and
plastered him all over, while Maritornes (for that was the name of
the Asturian wench) held the candle. The hostess, while she greased
him, wondering to see him so bruised all over, I fancy, said she,
those bumps look much more like a dry beating than a fall. ’Twas no
dry beating, mistress, I promise you, quoth Sancho; but the rock
had I know not how many cragged ends and knobs, and every one
of them gave my master a token of its kindness. And by the way,
forsooth, continued he, I beseech you save a little of that same tow
and ointment for me too, for I don’t know what’s the matter with my
back, but I fancy I stand mainly in want of a little greasing too.
What, I suppose you fell too, quoth the landlady. Not I, quoth
Sancho, but the very fright that I took to see my master tumble
down the rock, has so wrought upon my body, that I am as sore as
if I had been sadly mauled.”
Translation by Smollet
“In this wretched bed Don Quixote having laid himself down, was
anointed from head to foot by the good woman and her daughter,
while Maritornes (that was the Asturian’s name) stood hard by,
holding a light. The landlady, in the course of her application,
perceiving the Knight’s whole body black and blue, observed, that
those marks seemed rather the effects of drubbing than of a fall; but
Sancho affirmed she was mistaken, and that the marks in question
were occasioned by the knobs and corners of the rocks among which
he fell. And now, I think of it, said he, pray, Madam, manage matters
so as to leave a little of your ointment, for it will be needed, I’ll
assure you: my own loins are none of the soundest at present.
What, did you fall too, said she? I can’t say I did, answered the
squire; but I was so infected by seeing my master tumble, that my
whole body akes, as much as if I had been cudgelled without
mercy.”
Of these two translations, it will hardly be denied that Motteux’s is
both easier in point of style, and conveys more forcibly the humour
of the dialogue in the original. A few contrasted phrases will shew
clearly the superiority of the former.
Motteux. “In this ungracious bed was the Knight laid to rest his
belaboured carcase.”
Smollet. “In this wretched bed Don Quixote having laid himself
down.”
Motteux. “While Maritornes (for that was the name of the Asturian
wench) held the candle.”
Smollet. “While Maritornes (that was the Asturian’s name) stood
hard by, holding a light.”
 Motteux. “The hostess, while she greased him.”
Smollet. “The landlady, in the course of her application.”
Motteux. “I fancy, said she, those bumps look much more like a
dry beating than a fall.”
Smollet. “Observed, that those marks seemed rather the effect of
drubbing than of a fall.”
Motteux. “’Twas no dry beating, mistress, I promise you, quoth
Sancho.”
Smollet. “But Sancho affirmed she was in a mistake.”
Motteux. “And, by the way, forsooth, continued he, I beseech you
save a little of that same tow and ointment for me; for I don’t know
what’s the matter with my back, but I fancy I stand mainly in need
of a little greasing too.”
Smollet. “And now, I think of it, said he, pray, Madam, manage
matters so as to leave a little of your ointment, for it will be needed,
I’ll assure you: my own loins are none of the soundest at present.”
Motteux. “What, I suppose you fell too, quoth the landlady? Not I,
quoth Sancho, but the very fright,” &c.
Smollet. “What, did you fall too, said she? I can’t say I did,
answered the squire; but I was so infected,” &c.
There is not only more ease of expression and force of humour in
Motteux’s translation of the above passages than in Smollet’s, but
greater fidelity to the original. In one part, no fueron golpes, Smollet
has improperly changed the first person for the third, or the
colloquial style for the narrative, which materially weakens the spirit
of the passage. Cada uno habia hecho su cardenal is most happily
translated by Motteux, “every one of them gave him a token of its
kindness;” but in Smollet’s version, this spirited clause of the
sentence evaporates altogether.—Algunas estopas is more faithfully
rendered by Motteux than by Smollet. In the latter part of the
passage, when the hostess jeeringly says to Sancho, Desa manera
tambien debistes vos de caer? the squire, impatient to wipe off that
sly insinuation against the veracity of his story, hastily answers, No
cai. To this Motteux has done ample justice, “Not I, quoth Sancho.”
But Smollet, instead of the arch effrontery which the author meant
to mark by this answer, gives a tame apologetic air to the squire’s
reply, “I can’t say I did, answered the squire.” Don Quix. par. 1, cap.
16.
Don Quixote and Sancho, travelling in the night through a desert
valley, have their ears assailed at once by a combination of the most
horrible sounds, the roaring of cataracts, clanking of chains, and
loud strokes repeated at regular intervals; all which persuade the
Knight, that his courage is immediately to be tried in a most perilous
adventure. Under this impression, he felicitates himself on the
immortal renown he is about to acquire, and brandishing his lance,
thus addresses Sancho, whose joints are quaking with affright:
Asi que aprieta un poco las cinchas a Rocinante, y quédate a Dios,
y asperame aqui hasta tres dias, no mas, en los quales si no
volviere, puedes tú volverte á nuestra aldea, y desde allí, por
hacerme merced y buena obra, irás al Toboso, donde dirás al
incomparable señora mia Dulcinea, que su cautivo caballero murió
por acometer cosas, que le hiciesen digno de poder llamarse suyo.
Don Quix. par. 1, cap. 20.
Translation by Motteux
“Come, girth Rozinante straiter, and then Providence protect thee:
Thou may’st stay for me here; but if I do not return in three days,
go back to our village, and from thence, for my sake, to Toboso,
where thou shalt say to my incomparable lady Dulcinea, that her
faithful knight fell a sacrifice to love and honour, while he attempted
things that might have made him worthy to be called her adorer.”
Translation by Smollet
“Therefore straiten Rozinante’s girth, recommend thyself to God,
and wait for me in this place, three days at farthest; within which
time if I come not back, thou mayest return to our village, and, as
the last favour and service done to me, go from thence to Toboso,
and inform my incomparable mistress Dulcinea, that her captive
knight died in attempting things that might render him worthy to be
called her lover.”
On comparing these two translations, that of Smollet appears to
me to have better preserved the ludicrous solemnity of the original.
This is particularly observable in the beginning of the sentence,
where there is a most humorous association of two counsels very
opposite in their nature, the recommending himself to God, and
girding Rozinante. In the request, “and as the last favour and service
done to me, go from thence to Toboso;” the translations of Smollet
and Motteux are, perhaps, nearly equal in point of solemnity, but the
simplicity of the original is better preserved by Smollet.[59]
Sancho, after endeavouring in vain to dissuade his master from
engaging in this perilous adventure, takes advantage of the darkness
to tie Rozinante’s legs together, and thus to prevent him from stirring
from the spot; which being done, to divert the Knight’s impatience
under this supposed enchantment, he proceeds to tell him, in his
usual strain of rustic buffoonery, a long story of a cock and a bull,
which thus begins: “Erase que se era, el bien que viniere para todos
sea, y el mal para quien lo fuere á buscar; y advierta vuestra
merced, señor mio, que el principio que los antiguos dieron a sus
consejas, no fue así como quiera, que fue una sentencia de Caton
Zonzorino Romano que dice, y el mal para quien lo fuere á buscar.”
Ibid.
In this passage, the chief difficulties that occur to the translator
are, first, the beginning, which seems to be a customary prologue to
a nursery-tale among the Spaniards, which must therefore be
translated by a corresponding phraseology in English; and secondly,
the blunder of Caton Zonzorino. Both these are, I think, most happily
hit off by Motteux. “In the days of yore, when it was as it was, good
betide us all, and evil to him that evil seeks. And here, Sir, you are to
take notice, that they of old did not begin their tales in an ordinary
way; for ’twas a saying of a wise man, whom they call’d Cato the
Roman Tonsor, that said, Evil to him that evil seeks.” Smollet thus
translates the passage: “There was, so there was; the good that
shall fall betide us all; and he that seeks evil may meet with the
devil. Your worship may take notice, that the beginning of the
ancient tales is not just what came into the head of the teller: no,
they always began with some saying of Cato, the censor of Rome,
like this, of “He that seeks evil may meet with the devil.”
The beginning of the story, thus translated, has neither any
meaning in itself, nor does it resemble the usual preface of a foolish
tale. Instead of Caton Zonzorino, a blunder which apologises for the
mention of Cato by such an ignorant clown as Sancho, we find the
blunder rectified by Smollet, and Cato distinguished by his proper
epithet of the Censor. This is a manifest impropriety in the last
translator, for which no other cause can be assigned, than that his
predecessor had preoccupied the blunder of Cato the Tonsor, which,
though not a translation of Zonzorino, (the purblind), was yet a very
happy parallelism.
In the course of the same cock-and-bull story, Sancho thus
proceeds: “Asi que, yendo dias y viniendo dias, el diablo que no
duerme y que todo lo añasca, hizo de manera, que el amor que el
pastor tenia á su pastora se volviese en omecillo y mala voluntad, y
la causa fué segun malas lenguas, una cierta cantidad de zelillos que
ella le dió, tales que pasaban de la raya, y llegaban á lo vedado, y
fue tanto lo que el pastor la aborreció de alli adelante, que por on
verla se quiso ausentar de aquella tierra, é irse donde sus ojos no la
viesen jamas: la Toralva, que se vió desdeñada del Lope, luego le
quiso bien mas que nunca le habla querido.” Ibid.
Translation by Motteux
“Well, but, as you know, days come and go, and time and straw
makes medlars ripe; so it happened, that after several days coming
and going, the devil, who seldom lies dead in a ditch, but will have a
finger in every pye, so brought it about, that the shepherd fell out
with his sweetheart, insomuch that the love he bore her turned into
dudgeon and ill-will; and the cause was, by report of some
mischievous tale-carriers, that bore no good-will to either party, for
that the shepherd thought her no better than she should be, a little
loose i’ the hilts, &c.[60] Thereupon being grievous in the dumps
about it, and now bitterly hating her, he e’en resolved to leave that
country to get out of her sight: for now, as every dog has his day,
the wench perceiving he came no longer a suitering to her, but
rather toss’d his nose at her and shunn’d her, she began to love him,
and doat upon him like any thing.”
I believe it will be allowed, that the above translation not only
conveys the complete sense and spirit of the original, but that it
greatly improves upon its humour. When Smollet came to translate
this passage, he must have severely felt the hardship of that law he
had imposed on himself, of invariably rejecting the expressions of
Motteux, who had in this instance been eminently fortunate. It will
not therefore surprise us, if we find the new translator to have here
failed as remarkably as his predecessor has succeeded.
Translation by Smollet
“And so, in process of time, the devil, who never sleeps, but wants
to have a finger in every pye, managed matters in such a manner,
that the shepherd’s love for the shepherdess was turned into malice
and deadly hate: and the cause, according to evil tongues, was a
certain quantity of small jealousies she gave him, exceeding all
bounds of measure. And such was the abhorrence the shepherd
conceived for her, that, in order to avoid the sight of her, he resolved
to absent himself from his own country, and go where he should
never set eyes on her again. Toralvo finding herself despised by
Lope, began to love him more than ever.”
Smollet, conscious that in the above passage Motteux had given
the best possible free translation, and that he had supplanted him in
the choice of corresponding idioms, seems to have piqued himself on
a rigid adherence to the very letter of his original. The only English
idiom, being a plagiarism from Motteux, “wants to have a finger in
every pye,” seems to have been adopted from absolute necessity:
the Spanish phrase would not bear a literal version, and no other
idiom was to be found but that which Motteux had preoccupied.
From an inflexible adherence to the same law, of invariably
rejecting the phraseology of Motteux, we find in every page of this
new translation numberless changes for the worse:
Se que no mira de mal ojo á la mochacha.
“I have observed he casts a sheep’s eye at the wench.” Motteux.
“I can perceive he has no dislike to the girl.” Smollet.
Teresa me pusieron en el bautismo, nombre mondo y escueto, sin
anadiduras, ni cortopizas, ni arrequives de Dones ni Donas.
“I was christened plain Teresa, without any fiddle-faddle, or
addition of Madam, or Your Ladyship.” Motteux.
“Teresa was I christened, a bare and simple name, without the
addition, garniture, and embroidery of Don or Donna.” Smollet.
Sigue tu cuenta, Sancho.
“Go on with thy story, Sancho.” Motteux.
“Follow thy story, Sancho.” Smollet.
Yo confieso que he andado algo risueño en demasía.
“I confess I carried the jest too far.” Motteux.
“I see I have exceeded a little in my pleasantry.” Smollet.
De mis viñas vengo, no se nada, no soy amigo de saber vidas
agenas.
“I never thrust my nose into other men’s porridge; it’s no bread
and butter of mine: Every man for himself, and God for us all, say I.”
Motteux.
“I prune my own vine, and I know nothing about thine. I never
meddle with other people’s concerns.” Smollet.
 Y advierta que ya tengo edad para dar consejos. Quien bien tiene,
y mal escoge, por bien que se enoja, no se venga.[61]
“Come, Master, I have hair enough in my beard to make a
counsellor: he that will not when he may, when he will he shall have
nay.” Motteux.
“Take notice that I am of an age to give good counsels. He that
hath good in his view, and yet will not evil eschew, his folly
deserveth to rue.” Smollet. Rather than adopt a corresponding
proverb, as Motteux has done, Smollet chuses, in this instance, and
in many others, to make a proverb for himself, by giving a literal
version of the original in a sort of doggrel rhime.
Vive Roque, que es la señora nuestra amo mas ligera que un
alcotan, y que puede enseñar al mas diestro Cordobes o Mexicano.
“By the Lord Harry, quoth Sancho, our Lady Mistress is as nimble
as an eel. Let me be hang’d, if I don’t think she might teach the best
Jockey in Cordova or Mexico to mount a-horseback.” Motteux.
“By St. Roque, cried Sancho, my Lady Mistress is as light as a
hawk,[62] and can teach the most dexterous horseman to ride.”
Smollet.
The chapter which treats of the puppet-show, is well translated
both by Motteux and Smollet. But the discourse of the boy who
explains the story of the piece, in Motteux’s translation, appears
somewhat more consonant to the phraseology commonly used on
such occasions: “Now, gentlemen, in the next place, mark that
personage that peeps out there with a crown on his head, and a
sceptre in his hand: That’s the Emperor Charlemain.—Mind how the
Emperor turns his back upon him.—Don’t you see that Moor;—hear
what a smack he gives on her sweet lips,—and see how she spits,
and wipes her mouth with her white smock-sleeve. See how she
takes on, and tears her hair for very madness, as if it was to blame
for this affront.—Now mind what a din and hurly-burly there is.”
Motteux. This jargon appears to me to be more characteristic of the
speaker than the following: “And that personage who now appears
with a crown on his head and a sceptre in his hand, is the Emperor
Charlemagne.—Behold how the Emperor turns about and walks off.
—Don’t you see that Moor;—Now mind how he prints a kiss in the
very middle of her lips, and with what eagerness she spits, and
wipes them with the sleeve of her shift, lamenting aloud, and tearing
for anger her beautiful hair, as if it had been guilty of the
transgression.”[63]
In the same scene of the puppet-show, the scraps of the old
Moorish ballad are translated by Motteux with a corresponding
naïveté of expression, which it seems to me impossible to exceed:

Jugando está á las tablas Don Gayféros,

Que y a de Melisendra está olvidado.

Now Gayferos the live-long day,

Oh, errant shame! at draughts doth play;
And, as at court most husbands do,
Forgets his lady fair and true. Motteux.

Now Gayferos at tables playing,

Of Melisendra thinks no more. Smollet.

Caballero, si á Francia ides,

Por Gayféros preguntad.
 Quoth Melisendra, if perchance,
Sir Traveller, you go for France,
For pity’s sake, ask, when you’re there,
For Gayferos, my husband dear. Motteux.

Sir Knight, if you to France do go,

For Gayferos inquire. Smollet.

How miserably does the new translator sink in the above

comparison! Yet Smollet was a good poet, and most of the verse
translations interspersed through this work are executed with ability.
It is on this head that Motteux has assumed to himself the greatest
licence. He has very presumptuously mutilated the poetry of
Cervantes, by leaving out many entire stanzas from the larger
compositions, and suppressing some of the smaller altogether: Yet
the translation of those parts which he has retained, is possessed of
much poetical merit; and in particular, those verses which are of a
graver cast, are, in my opinion, superior to those of his rival. The
song in the first volume, which in the original is intitled Cancion de
Grisōstomo, and which Motteux has intitled, The Despairing Lover, is
greatly abridged by the suppression of more than one half of the
stanzas in the original; but the translation, so far as it goes, is highly
poetical. The translation of this song by Smollet, though inferior as a
poem, is, perhaps, more valuable on the whole, because more
complete. There is, however, only a single passage in which he
maintains with Motteux a contest which is nearly equal:
 O thou, whose cruelty and hate,
The tortures of my breast proclaim,
Behold, how willingly to fate
I offer this devoted frame.
If thou, when I am past all pain,
Shouldst think my fall deserves a tear,
Let not one single drop distain
Those eyes, so killing and so clear.
No! rather let thy mirth display
The joys that in thy bosom flow:
Ah! need I bid that heart be gay,
Which always triumph’d in my woe. Smollet.

It will be allowed that there is much merit in these lines, and that
the last stanza in particular is eminently beautiful and delicate. Yet
there is in my opinion an equal vein of poetry, and more passion, in
the corresponding verses of Motteux:

O thou, by whose destructive hate

I’m hurry’d to this doleful fate,
When I’m no more, thy pity spare!
I dread thy tears; oh, spare them then—
But, oh! I rave, I was too vain—
My death can never cost a tear! Motteux.

In the song of Cardenio, there is a happy combination of

tenderness of expression with ingenious thought; the versification is
likewise of a peculiar structure, the second line forming an echo to
the first. This song has been translated in a corresponding measure
both by Motteux and Smollet; but by the latter with far inferior
merit.
 CANCION de CARDENIO

I
Quien menoscaba mis bienes?
Desdenes.
Y quien aumenta mis duelos?
Los Zelos.
Y quien prueba mi paciencia?
Ausencia.
De ese modo en mi dolencia,
Ningun remedio se alcanza;
Pues me matan la Esperanza,
Desdenes, Zelos, y Ausencia.

II
Quien me causa este dolor?
Amor.
Y quien mi gloria repuna?
Fortuna.
Y quien consiente mi duelo?
El Cielo.
De ese modo yo rezelo,
Morir deste mal extraño,
Pues se aunan en mì daño
Amor, Fortuna, y el Cielo.

III
Quien mejorará mi suerte?
La Muerte.
Y el bien de amor, quien le alcanza?
Mudanza.
Y sus malos quien los cura?
Locura.
De ese modo no es cordura
Querer curar la pasion;
Que e cu a a pas o ;
Quando los remedios son
Muerte, Mudanza, y Locura.