AUTOMATIC CONTROL SYSTEM IN PRACTICE

Lesson 1: MATLAB APPLICATION IN SYSTEM MATHEMATICAL DESCRIPTION

Name - Student ID: Confirmation of lecturer

Nguyễn Thế Hùng - 21151018
Dương Hoàng Khôi - 21151027
Group: 5
Date: 22/08/2023

1.3. Required tasks:

1.3.1. Find the transfer functions of the systems shown in figure 1.1 and 1.2.

Figure 1.1: Block diagram 1

Figure 1.2: BLock diagram 2

 a. Using theoretical calculation.

Block diagram 1:

=> Transfer function:

Block diagram 2:
=> Transfer function:

b. Using functions in Matlab.

G1=tf([5],[1]);

G2=tf([1],[1 1]);

G4=tf([1],[1 1]);

G3=tf([1 0],[1]);

G5=tf([1 0],[1]);

G6=tf([1 2],[1]);

H1=tf([1]);

H2=tf([1],[1 0]);

H3=tf([3],[4 1]);

- Hình 1.1:

Ga=G1+G3;

Gb=feedback(G2,H1);

Gc=feedback(Ga*Gb,1);

- Hình 1.2:

Gd=G3+G6*(1/G4);

Ge=feedback([G4*G5],[H3]);

Gf=feedback([G2*Gd*Ge],[H2]);

Gg=feedback([G1*Gf],[H1]);
1.3.2. Represent the above transfer functions using state space equations.

a. Using theory to calculate:

Figure 1.1:

𝑠+5 𝐶 (𝑠 )
=
2𝑠 + 7 𝑅(𝑠)
⇔ (𝑠 + 5)𝑅(𝑠) = (2𝑠 + 7)𝐶 (𝑠)
⇔ 𝑠𝑅(𝑠) + 5𝑅(𝑠) = 2𝑠𝐶 (𝑠) + 7𝐶 (𝑠)
𝐿−1
⇒ → 𝑟̇ (𝑡 ) + 5𝑟(𝑡 ) = 2𝑐̇ (𝑡 ) + 7𝑐 (𝑡 )
⇔ 0.5𝑟̇ (𝑡 ) + 2.5𝑟(𝑡 ) = 𝑐̇ (𝑡 ) + 3.5𝑐 (𝑡 )
𝐴𝑠𝑠𝑢𝑚𝑒: 𝑥1 (𝑡 ) = 𝑐 (𝑡 )
⇔ 𝑎1 = 3.5; 𝑎0 = 0.5
𝑏1 = 2.5; 𝑏0 = 0.5
𝛽0 = 𝑏0 = 0.5
𝛽1 = 𝑏1 − 𝑎1 ∗ 𝑏0 = 2.5 − 3.5 ∗ 0.5 = 0.75
⇒ 𝐴 = [−3.5]; 𝐵 = [1]
𝐶 = [0.75]; 𝐷 = [0.5]

b. Using functions in Matlab.

Gh11=ss(Gc)
Gh12=ss(Gg)
1.3.3. When the transfer function of the system in Figure 1.3 is calculated according to
the Matlab functions as follows:

Figure 1.3: Block diagram 3

a. Explain the Matlab functions in the above calculation.

- The append function is used to declare all the transfer function elements contained in the
block diagram (Figure 1.3). The blocks are numbered from 1 to 9.

- Matrix Q: each row specifies one of the connections or summing junctions in terms of the
input vector and output vector of T1

+ The first column is the ordinal number

+ Each row includes inputs of the block in that row

- inputs=9: Assuming G9 is the input of the system and number 9 is the ordinal number of G9

- outputs=7: According to the block diagram, block G7 is the output of the system and
number 7 is the ordinal number of G7.

- Connect function:

+ Connect computes an aggregate model for a block diagram interconnection of dynamic

systems. The block diagram connectivity can be specified in two ways: Name-based
interconnection and Index-based interconnection

+ In exercise 1.3.3, the index-based interconnection is used. Starting from 1 (G1) to 9 (G9)

b. Apply the above functions to calculate the transfer functions of figure 1.1 and 1.2
Transfer function of figure 1.1:

Transfer function of figure 1.2:

1.4. Open Questions:

1.4.1. Why do we need to simplify the transfer function of the system?

Simplifying the transfer function of a system is an important principle in system controlling,
design and management for several reasons:

1. Design and Tuning: When the transfer function is simplified, it becomes easier to design
and tune controllers for the system.

2. Reduced Complexity: A simplified transfer function reduces the complexity of the

system's mathematical representation. This can lead to easier model manipulation,
computation, and simulation.

3. Implementation: Simplified transfer functions are often easier to implement in software

or hardware. This is particularly important when implementing control algorithms or real-
time systems.
4. Stability Analysis: Simplified transfer functions often enable straightforward stability
analysis. Engineers can analyze stability margins and determine whether the system will
remain stable under different conditions

5. Model Approximation: In many cases, complex systems can be accurately approximated

by simpler models without significantly sacrificing accuracy.

6. Ease of Analysis: A complex transfer function can make it difficult to analyze the
behavior of the system. By simplifying the transfer function, engineers can gain a clearer
understanding of how the system responds to different inputs and disturbances.

7. Resource Efficiency: In resource-constrained systems, such as embedded control systems,

a simpler transfer function might require fewer computational resources and memory, leading
to more efficient system implementation.

8. Troubleshooting: When a system exhibits unexpected behavior, a simplified transfer

function can aid in identifying the root cause of the issue more quickly.

=> In summary, simplifying the transfer function of the system provides many important
benefits for the development, management, and maintenance of the system.

1.4.2. When converting a differential equation or a state variable equation to a transfer

function, what condition is necessary?

When converting a differential equation or a state variable equation to a transfer function, the
system should generally meet the following conditions:

1. Linearity: The system must be linear. This means that the principle of superposition holds,
and the response to a sum of inputs is the sum of the individual responses to each input. If the
system contains terms that are nonlinear, the transfer function representation might not be
accurate.

2. Time-Invariance: The system's parameters and dynamics should not change with time. In
other words, the system's behavior remains consistent over time. If the system's parameters
change with time, the transfer function representation may not accurately capture the system's
behavior.

3. Zero Initial Conditions: When deriving the transfer function from a state space
representation, it's assumed that the initial conditions are zero. If non-zero initial conditions
exist, they can be included as part of the input to the system and considered in the analysis.

4. Stability: The system should be stable, meaning that all its poles have negative real parts.
If the system has poles with positive real parts, it might be unstable or marginally stable,
leading to complications when deriving the transfer function.
5. Properness: A proper system is one where the degree of the denominator polynomial in
the transfer function is greater than or equal to the degree of the numerator polynomial. This
condition ensures that the system's response to a bounded input is also bounded.

6. Well-Defined Outputs: The system should produce meaningful and well-defined outputs
for all possible inputs. Some physical systems might have limitations or singularities that
could affect the transfer function representation.

7. Causal System: The system should be causal, meaning that the output at any given time
depends only on past and present inputs. If the system produces outputs based on future
inputs, the transfer function representation might not be appropriate.

8. Sufficiently Smooth System: The system's behavior should be sufficiently smooth and
continuous. Systems with discontinuities, impulses, or singularities might not be accurately
represented by transfer functions.

1.4.3. What is the meaning of system modeling?

System modeling is the process of creating an abstract and simplified version of the actual
system in a form that can be more easily understood, analyzed, and worked with. Model
description is important in many fields such as science, engineering, technology and
management. Here are some of the main meanings of the system's model description:

1. Models help us better understand how the actual system works. By creating a simpler and
more abstract version of the system, we can capture important aspects and relationships
between components.

2. Models allow us to make analyzes and predictions about how the system will react in
different situations. By adjusting the parameters and conditions in the model, it is possible to
predict the impact of the changes on the actual system.

3. Models allow us to test new ideas or system variations without having to make direct
changes to the actual system. This saves time and resources, and helps evaluate the feasibility
and effectiveness of ideas before implementation.

4. The model helps to simplify the complexity of the actual system by focusing on the most
important aspects. This helps to clarify the structure and operation of the system, and
minimizes the possibility of errors due to unnecessary complexity.

5. Models are an easier way to convey information about the system to others. Others can
understand and interact with the model without having to know all the intricate details of the
actual system.
6. Models can be used to support decisions in the design, development, and management of
systems. By testing and testing the model, decision makers can make more informed
decisions.

=> In summary, describing a model of a system offers many important benefits, from better
understanding the system, predicting the future, testing new ideas, to simplifying and
conveying information.