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  • Wasan Shakir: University of Technology Conrtol and System Engineering Department Mechatronics Branch

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    Wasan Shakir
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    1. The document discusses converting a transfer function to state-space representation and converting a continuous state-space model to a discrete state-space model using different discretization methods like zero-order hold (ZOH), first-order hold (FOH), Tustin's approximation, and matched discretization. 2. An example is provided to convert a transfer function to state-space and then discretize it using different methods. The response of the discrete system is plotted. 3. The discussion section provides more examples of converting a transfer function to state-space and discretizing the resulting continuous state-space model.

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    1. The document discusses converting a transfer function to state-space representation and converting a continuous state-space model to a discrete state-space model using different discretization methods like zero-order hold (ZOH), first-order hold (FOH), Tustin's approximation, and matched discretization. 2. An example is provided to convert a transfer function to state-space and then discretize it using different methods. The response of the discrete system is plotted. 3. The discussion section provides more examples of converting a transfer function to state-space and discretizing the resulting continuous state-space model.

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    23 views14 pages

    Wasan Shakir: University of Technology Conrtol and System Engineering Department Mechatronics Branch

    Uploaded by

    Wasan Shakir
    1. The document discusses converting a transfer function to state-space representation and converting a continuous state-space model to a discrete state-space model using different discretization methods like zero-order hold (ZOH), first-order hold (FOH), Tustin's approximation, and matched discretization. 2. An example is provided to convert a transfer function to state-space and then discretize it using different methods. The response of the discrete system is plotted. 3. The discussion section provides more examples of converting a transfer function to state-space and discretizing the resulting continuous state-space model.

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    of 14

    UNIVERSITY OF TECHNOLOGY

    CONRTOL AND SYSTEM ENGINEERING


    DEPARTMENT

    MECHATRONICS BRANCH

    4 th Stage

    EXP.(6)

    “digital state – space model”

    Wasan shakir
    Obiectives:
    1-to study how to converts transfer function to state-space
    representation
    2-to converts continuous state-space to digital state-space
    Introduction:
    There are several different ways to describe a system of linear
    differential equations.Where x is an n by 1 vector representing the state
    (commonly position and velocity variables in mechanical systems), u is
    a scalar representing the input (commonly a force or torque in
    mechanical systems), and y is a scalar representing the output. The
    matrices A (n by n), B (n by 1), and C (1 by n) determine the
    relationships between the state and input and output variables. Note that
    there are n first-order differential equations. State space representation
    can also be used for systems with Multiple- Inputs-Multiple-Outputs
    (MIMO). In the conventional control theory, only the input, output and
    error signals are considered important; the analysis and design of
    control systems are carried out using transfer function, together with a
    variety of graphical techniques such as root locus plots and Nyqist
    plots. The unique characteristic of conventional control theory is that it
    is based on the input-output relation of the system, or the transfer
    function.The main disadvantage of conventional control theory is that,
    it is applicable only to linear time-invariant systems having a single
    input and single output. It is powerless for time-varying systems,
    nonlinear systems and multiple-input-output systems.
    Producer:
    “Zoh”
    sysf=feedback(sys,1)
    figure(1)
    step(sysf)
    %producer2
    [a,b,c,d]=tf2ss(n,d)
    %producer3
    [az,bz,cz,dz]=c2dm(a,b,c,d,0.5,'zoh')
    [nd,dd]=ss2tf(az,bz,cz,dz);
    Sysz=tf(nd,dd,0.5);
    Syszf = feedback(Sysz,1)
    %producer4
    [numz,dumz]=tfdata(Syszf,'v');
    figure(2)
    dstep(numz,dumz)
    “Foh”
    %producer3
    [az,bz,cz,dz]=c2dm(a,b,c,d,0.5,'foh')
    [nd,dd]=ss2tf(az,bz,cz,dz);
    Sysz=tf(nd,dd,0.5);
    Syszf = feedback(Sysz,1)
    %producer4
    [numz,dumz]=tfdata(Syszf,'v');
    figure(2)
    dstep(numz,dumz)
    az =
    0.6023 -0.3700 0
    0.4021 0.8999 0
    0.1089 0.4827 1.0000
    bz =
    0.3016
    0.1926
    0.0607
    cz =
    1.0000 1.5100 0.1770
    dz =
    0.2754
    Syszf =
    0.2754 z^3 - 0.08593 z^2 - 0.3171 z + 0.1457
    --------------------------------------------
    1.275 z^3 - 2.588 z^2 + 1.876 z - 0.545
    Sample time: 0.5 seconds
    Discrete-time transfer function.

    “Tustin”
    %producer3
    [az,bz,cz,dz]=c2dm(a,b,c,d,0.5,'tustin')
    [nd,dd]=ss2tf(az,bz,cz,dz);
    Sysz=tf(nd,dd,0.5);
    Syszf = feedback(Sysz,1)
    %producer4
    [numz,dumz]=tfdata(Syszf,'v');
    figure(2)
    dstep(numz,dumz)
    az =
    0.6097 -0.3702 0
    0.4024 0.9074 0
    0.1006 0.4769 1.0000
    bz =
    0.4024
    0.1006
    0.0252
    cz =
    1.1176 1.2972 0.1770
    dz =
    0.2794
    Syszf =
    0.2794 z^3 - 0.1186 z^2 - 0.2705 z + 0.1275
    -------------------------------------------
    1.279 z^3 - 2.636 z^2 + 1.949 z - 0.5747
    Sample time: 0.5 seconds
    Discrete-time transfer function.

    >>

    “Matched”
    %producer3
    [az,bz,cz,dz]=c2dm(a,b,c,d,0.5,'matched')
    [nd,dd]=ss2tf(az,bz,cz,dz);
    Sysz=tf(nd,dd,0.5);
    Syszf = feedback(Sysz,1)
    %producer4
    [numz,dumz]=tfdata(Syszf,'v');
    figure(2)
    dstep(numz,dumz)
    az =

    0.7511 1.0000 0
    -0.1266 0.7511 0.2529
    0 0 1.0000
    bz =

    0
    1.0153
    0.2491
    cz =

    0.1444 0.5777 0
    dz =

    0
    Syszf =

    0.5865 z^2 - 0.844 z + 0.2756


    ----------------------------------
    z^3 - 1.916 z^2 + 1.349 z - 0.4151
    Sample time: 0.5 seconds
    Discrete-time transfer function.

    >>
    Discussion :
    1-
    n=[1 -1];
    d=[1 1 0.3];
    sys=tf(n,d,0.1)
    [N,D]=tfdata(sys,'v')
    [A,B,C,D]=tf2ss(N,D)

    sys =
    z-1
    -------------
    z^2 + z + 0.3
    Sample time: 0.1 seconds
    Discrete-time transfer function.
    N=
    0 1 -1
    D=
    1.0000 1.0000 0.3000
    A=
    -1.0000 -0.3000
    1.0000 0
    B=
    1
    0
    C=
    1 -1
    D=
    0
    >>

    2-
    n=[79 916 1000];
    d1=conv([1 10],[1 10]);
    d2=conv([1 0],[1 10]);
    d=conv(d1,d2);
    sys=tf(n,d);
    sysf=feedback(sys,1)
    step(sysf);
    [a,b,c,d]=tf2ss(n,d)
    sysc=ss(a,b,c,d)
    [ac,bc,cc,dc]=c2dm(a,b,c,d,0.5,'zoh')
    [nd,dd]=ss2tf(ac,bc,dc,cc);
    79 s^2 + 916 s + 1000
    --------------------------------------
    s^4 + 30 s^3 + 379 s^2 + 1916 s + 1000

    Continuous-time transfer function.

    a=
    -30 -300 -1000 0
    1 0 0 0
    0 1 0 0
    0 0 1 0
    b=
    1
    0
    0
    0
    c=
    0 79 916 1000
    d=
    0
    sysc =
    a=
    x1 x2 x3 x4
    x1 -30 -300 -1000 0
    x2 1 0 0 0
    x3 0 1 0 0
    x4 0 0 1 0
    b=
    u1
    x1 1
    x2 0
    x3 0
    x4 0
    c=
    x1 x2 x3 x4
    y1 0 79 916 1000
    d=
    u1
    y1 0
    Continuous-time state-space model.
    ac =
    0.0236 0.6738 5.0535 0
    -0.0051 -0.1280 -0.8422 0
    0.0008 0.0202 0.1247 0
    0.0009 0.0271 0.2828 1.0000
    bc =
    -0.0051
    0.0008
    0.0009
    0.0002
    cc =
    0 79 916 1000
    dc =
    0

    3-
    A=[0 1;-4 -2];
    B=[0;2];
    C=[1 0];
    D=[0]
    [AD,BD,CD,DD]=c2dm(A,B,C,D,0.1,'foh')
    sys=ss(AD,BD,CD,DD,0.1)
    step(sys)

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