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Control Systems-2011: Group Home Page

This document discusses control systems modeling. It defines a system and model, and describes linear and nonlinear systems. It explains the classical transfer function approach and modern state variable approach to system modeling. An example of a second order system is modeled using state variables. The state of a dynamic system is defined as the smallest set of variables needed to determine the system's behavior given initial conditions and inputs. Systems are represented using state space equations relating the state vector, input, output and system matrices. Analysis can be done in state space or using transfer functions. The state variable approach is applicable to multiple-input multiple-output systems while transfer functions are for single-input single-output linear time-invariant systems. It also lists tasks for the next

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meenachintan3438
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© Attribution Non-Commercial (BY-NC)
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Download as PPT, PDF, TXT or read online on Scribd
43 views

Control Systems-2011: Group Home Page

This document discusses control systems modeling. It defines a system and model, and describes linear and nonlinear systems. It explains the classical transfer function approach and modern state variable approach to system modeling. An example of a second order system is modeled using state variables. The state of a dynamic system is defined as the smallest set of variables needed to determine the system's behavior given initial conditions and inputs. Systems are represented using state space equations relating the state vector, input, output and system matrices. Analysis can be done in state space or using transfer functions. The state variable approach is applicable to multiple-input multiple-output systems while transfer functions are for single-input single-output linear time-invariant systems. It also lists tasks for the next

Uploaded by

meenachintan3438
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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* Control Systems-2011

Group home page:


http://groups.google.com/group/controlsystems2011

* Group email address:


controlsystems2011@googlegroups.com

gopinath.pillai@gmail.com
System Modelling
Definition: A system is a collection of entities that act and
interact toward the accomplishment of some logical end.
The key emphasis here is "mutual interaction," in that something is occurring
between the parts, over time, which maintains the system. A system is different
than a heap or a collection, mostly.

This definition of a system implies something beyond cause and effect.


Rather than simply A affects B, there is an implication that B also affects.
Systems generally tend to be dynamic – their status changes over
time. To describe this status, we use the concept of the state of a
system.
MODELS

A model is defined as a representation of a system for the


purpose of studying the system.
A simplification of reality intended to promote
understanding.
• Sometimes, the actual system is available for investigation (at reasonable
cost and effort)
• Sometimes, only a model of a system can be used – and usually has to be
constructed explicitly:
• A model of a system is also a system
• Built to capture some relevant properties of the original system
• Simplified with respect to original system, reduced complexity

Models appear in many different kinds, with many different characteristics


Linear Systems

Systems that satisfy both homogeneity and additives are


considered to be linear systems.
In words, this means that a linear system produces the same
output for two added signals, or for a signal multiplied by a
constant, whether those operations are carried out before or after
the signals pass through the system.
In algebraic notation it is written:

f(x1+x2) = f(x1) +f(x2)


f(kx) = kf(x)
Classical and modern approaches of System Modeling

Classical Approach- Transfer Function Approach


Modern Approach - State Variable Approach
Transfer Function is defined as the Laplace transform of the output
divided by Laplace transform of the input when initial conditions
are zero.
where  is the
1
First order systems are represented by G ( s) 
 s 1
time constant
Second order systems are represented by
n 2
G (s) 
s 2  2 n  1
where n is the natural frequency and  is the damping ratio
An Example

R=1; ωn=sqrt(1/(L*C))= 50 ζ=(R/2)*sqrt(C/L)=0.0250


L=.4;
C=1e-3;
n=1;
d=[L*C R*C 1];
s=tf(n,d)

1
------------------------
0.0004 s^2 + 0.001 s + 1
100

100

100

100

100

100

100

100
0 1 2 3 4 5 6 7 8 9 10
Step response
Definition of State

The state of a dynamic system is the smallest set of


variables such that the knowledge of these variables at
t=t0, together with the input for t ≥ t0 completely determines
the behaviour of the system for any time t ≥ t0

dny d n1 y dy
n
 a n 1 n 1
   a1  a0 y  b0u
dt dt dt

dy
x1  y x1   x2
dt
dy d2y
x2  x 2  2  x3
dt dt
d2y d3y
x3  2  x 3  3  x4
dt dt
 
d n1 y dny
xn  n1 x n  n  a0 x1  a1 x2    an1 xn  b0u
dt dt
A system is represented in state space by the follwing
equations:
x  Ax  Bu
y  Cx  Du

for t  t0 and initial conditions, x(t0 ) ,where

x state vector
x  derivative of the state vector with respect to
time
y output vector
u input or control vector
A system matrix
B input matrix
C output matrix
D feedforward matrix
R=1;
L=.4;
C=1e-3;

A=[-R/L -1/L;1/C 0];


Vi  Rx1  Lx 1  x 2 >> eig(A)

Cx 2  x1 ans =

-1.2500 +49.9844i
-1.2500 -49.9844i
R 1 1
x 1   x1  x 2  Vi
L L L
1
x 2  x1
C
Analysis using models

Y (t )  L1 (G ( s )  X ( s ))

x  Ax  Bu
y  Cx  Du
t
Solution x(t)  e x(0)   e A(t  τ) Bu ( )d ;
At
0

X(s)  (sI  A)1 x(0)  (sI  A)1 BU(s)


Relation between
between SS and TF
Y( s )
 C( sI  A) 1 B  D
U( s )

Poles of the transfer function and eigenvalues of A matrix are same.


Transfer fn. Approach Vs State variable Approach

Transfer function approach is valid only to linear time-


invariant single input single output systems

State variable approach is applicable to multiple input


multiple output systems, which may be linear or
nonlinear, time-invariant or time-varying.

Transfer function approach is a complex frequency


domain approach while state variable approach is a
time domain approach.

State variable approach enables us to include initial


conditions in the design.

State variable description gives complete physical


insight about the system
What you have to do before coming to next class

• Understand the slides


• How to find inverse Laplace transforms
• Read the notes (in addition to these slides) which I will post in
the group
• Install MATLAB in your PC/Laptop

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