A structure M (or model) in a signature σ assigns to each symbol in σ a concrete mathematical object: constants become elements, function symbols become operations, and relation symbols become sets of tuples. The universe (domain) of M is the non-empty set over which these interpretations are defined.
Work through explicit examples: the group (Z, +) as a model of the group signature, or (R, 0, 1, +, ·, <) as a model of the ordered field signature. Verify satisfaction of key axioms.
A structure is not an abstract syntax tree—it is a concrete assignment. Distinct structures can satisfy the same theory but differ in their interpretations of function/relation symbols.
You have already studied signatures and satisfaction at an abstract level. Model instantiation is the process of making this abstract machinery concrete: given a signature σ (a list of constant, function, and relation symbols), you choose an actual mathematical object — a set, a group, a graph, the integers — and specify what each symbol in σ means within that object. The result is a σ-structure M, also called a realization of σ.
Let's trace through a specific example. The group signature σ_G contains one binary function symbol · (multiplication) and one constant symbol e (identity). To instantiate σ_G as the integers under addition, you set: the domain (universe) of M to be ℤ, the interpretation of · to be ordinary integer addition +, and the interpretation of e to be the integer 0. Now M = (ℤ, +, 0) is a σ_G-structure. Separately, M' = (ℝ*, ×, 1) — the nonzero reals under multiplication — is *also* a σ_G-structure. Both M and M' are instantiations of the same signature, and both satisfy the group axioms, but they are structurally very different: ℤ under + has no element of order 2 except... actually it does: (-1) has order 2 in (ℤ,+) since -1 + -1 = -2 ≠ 0. Point being: same signature, same theory satisfied, but the two structures have different internal properties.
The universe of a structure is the set over which all variables range and all functions operate — it must be non-empty by definition. This is why structures are sometimes called *interpretations*: every symbol in the signature gets interpreted as something specific in the universe. A relation symbol R of arity k gets interpreted as a subset R^M ⊆ M^k (the set of k-tuples satisfying R). A function symbol f of arity k gets interpreted as a total function f^M : M^k → M. A constant symbol c gets interpreted as a specific element c^M ∈ M. This three-way assignment is the complete definition of a structure.
Why does this matter? Because satisfaction is defined over structures, not over abstract symbols. When you ask "does the group axiom ∀x∀y (x·y = y·x) hold?", the answer depends entirely on which structure you're looking at. For (ℤ, +, 0) the answer is yes (integers commute). For (GL₂(ℝ), ×, I) — 2×2 invertible matrices — the answer is no (matrix multiplication does not commute). The same sentence, opposite truth values, in two different structures over the same signature. Instantiation is what transforms syntactic symbols into mathematical entities that can be true or false of, and this is the bridge between logic and mathematics.