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SYSTEM AND CONTROL
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0% found this document useful (0 votes)
58 views22 pagesControl System1 Lecture 3
SYSTEM AND CONTROL
Uploaded by
fouadbalomiCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
/ 22
Sh Pe f Contvo\ sastevs =
Cowlertaaols Tea
—€ State Equation fr Physica systems —
The siete of a syste is ceseribeok by Phe seh oP. Rist onlar iftacrel
equations wither in kerms of the shite Variables (ttn yx---s2¢n) These first
Order chifferontal equations can be wilten in genetall form as
N= WI FAyQhet---~ tain + yy» 2*2}-biemlim
a uy
Keg saa titagghyt---~taankint buat vee + baring
:
. a, 4------ 42nnXntbnils seared bamtunr
Rey = Any One
Where Y= lt
ht
Ths this gat of sinmmltancous oliffetential eqaabions can be Writien in
matrix Sora ag Galles *
X an Ly Eee an _
Xa) lon am -- am | lee
‘ - ‘ Ff
' : i
Xn an ana —--- Gann
OOO e ree
‘ t
x A
As TS GN TUK 1) Squate matrin
Bs fs an nk matrix
As ts the vectsr of input signals
X45 is the state vecksr \e ‘the oulpils & alinay” systow can be Felatest to the, shit Variables anck
the. input siqnats by the, onbput equation
Where 4 is the set & eutpat signals exptessecl i Glumn Vector fain
22 Cz is the outpit malin
Ds ts the dlitect transmission marin
A block iagrans representation & Equations 1) ancl (2) is
Shown in Fate below.
= Aw
lhe stehe & a system fg aset of Variables such that Krowleclae
oP these Varjables ance Yhe pir Rarchions With, Wile Hhe equahions
dleseyi bing, the ob}namn(cS> provicle the future shake cinel odprhok
The systema, Example o—
Considel the mechanical system show IW Squire below {5 4 line
Sistem
Mechanical syshews
Vinal the state-space representation fF the mmechanveal apsfe:
Solution
)- Sst we must Girel the oliPterertial equitions Fal Khe system
M g 1 by aky =4 Dy =lbey — by 49) aL tks bina
The sashem fs seconcl order, Thi
Involves two Integrators .
2) Seen. define the shate VeViable s
Xi) =4&
Nal = 4@
Shen we obtain
Xi =%r =4
kee Geb Cky-bgpat y
™
is means that She system
oe OR
wicker
io2-Kk 4
Xr mo -breslus
aly ° \ 7 ° a
ea ‘|. \tel! |
mm ™
The ottogh equation for thes ot [s
Se Cha.
vo apy
block chagras L the mechanical Suchen shou in Raule
a
u ey pps . ed
The
belo
Xe Ax+Bu
Ye Ca +Du
A
[te | C aaa Gah ol ,0=0
m ™m m
-4- ¥ Crrelation Between Transfer Funchions ancl Slate Spuce a
few Jleer) aios Il aronstee Oe au
(s)
Ks) Shem Ms
The transfer funchton of the system {5 given by
Gur. ote Yess
“Inet UG)
The.
pence may represented in sate space by the Following,
X=Ax+Bu —s
DCU
where X fs the shate Vectors u ts the input, yrs the output
the Laplace transforons of Equations (3) anol W) ate given by
SXG)—X (0) = AX) 4 Guts) -—2(5)
YG) 2CX) 49UG) ~~ (6)
When the inital Gonclitions aye tero we set Xo) by be Zero
* $X63) 2 AX) +Bucs)
SX(S)-AKG) = Ruts)
(ST-A) Xés) = But)
By malhplying (SI-AT ‘to both sicles we qet
i
XG) 2 (SI-A) BUCS) _-- >)
hating Equation @) into Equabton(C) we qeb
<1
Visy= C(SI-A) BUGS) +DUG)
-§-
BY subse Yisl=[¢(e1 -tley 6JUS)---—-@
The trans Bey funchon = onteat yo)
Jbwals Toot Ws)
7\GlS) = =O)
tm C (stn). B+D
Example e
Function
EL, IRM
Yo +Du = Lt 6 al
Selution *
The trans Per Punchion
For the system below Fine he tans Per
-l
Gts=¢ (S1-Al BaD
lean Fb
=[i 4 (. onl \ ape» 2d gi aiid! OS
a)
-l a -b
Si
a] ¢ «|
fs a4)
| “A
sb)
deta se Seba _(- at a
A +Bs ( WE JSF gaie
CAA. Toyb\ 4 =
se | SPUN EL So gd A) pallpobisc®
P
(S+Aei fsx) 5
Sub oe i |
ma ™ fe 3
Substitating (sr ay m
eee) =o. O\
=
=E1 ol to (ee aap
vars | oe Lz]
=-\
oka. Seb she
= Vim
Aig
Stab Sak
mPa
5 \
i oe
Gs mst DER |
Cs) Travels of 2x2 mabrtn
1 CSUs af Loy Do!
Ae\\ 3 ¢ ee
o ls Dovgreliccls CPOs dV 129) =
5 6 6
* ft
y4 , / oe.
oN v2 Geewic ctel Useless ES
> 0.
sey ye | Cla 140) + (2aS#S) 4 (32026)
SN,
wo =O +504+0=50
° So 0
is % 90 Ct A) Jewt bo br eVi pe L's ae iar
bo
op Un (S#14 3) 4(6 #S4]]4 (02002)
7 bo | = IS+ 30 +40
af Ol x9
=4S
The determinant Az |Rl= So-4s =5
adj) LBA erzepes Ord
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bo So SG PIB bs Bl ado sre-
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é6 So ee 7 "OW 2 Jove VIS"
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Ne ee a eae iG ret
os o| é Gc
6 adj(pjz[-30 25-5)
4 6 3
GPP 8 Pye! CoA | ben Se Hl ole Wee
adi(n) [2 @ G) [ao 8 4
@ “Is. @|-\s + $
@Oon 5 4 |
ae) .
op. Lvadjia) _) |-30 19 F
IA Ss
2S -ls -S] =
-S 4 |
Al. -6 «18/5 oe
-I as Ve JE EXarple o—
oO
a the given system below finol the HencRr Function
I= Yosyys) 5 Where UCS) tg tre inet ancl vis) {s the
output
Y= \ © \0
“Be il?
12 3
4=L10 ol x
Solubton
TS = Ys) \
cin €&t-Alea0
O ts not Yiven ,then D=zo
(St-A)<[y 0 0 o 1 0
2 Oo ¢ 42 oz
7 4g -l oO
|
to CSesp
CSAS ag
~ bad I-A)
Gera) EG lo — det (stn). |S. “0 3 a
o US SAPS 8
1 ggg ul, Na,
\
ae ol-Lo C231 +(e) |
= Sessa 25]
det(sta= SL ss%oct |
ady (S1-A) -
(® ° 6
4 .
fr 2 R Csin \ ‘|
° ®
hea) Fee.
te (sag) \ en | F 2 |
| @
IS Fe) ©
_ \S$ ag42) -\ 3
= (2S)
(943) SCg43) ¥
1
ise
4 g
-W- e342) A) Gs)
“\@an)> *s(e43) 2
©
BA - C342) (sas) 4
“crm \ 4 ster) 8
-s -t28y) gt?
“erat ca adoiisrm
Gray! 2! (Sassi) CS
Sze | 7 sew og
Z -¢ -(as'4) st
"substitute 4
"o (stay | ey Caper
b
=F 6 eet _ eso GN A110
ssiafe fF san 8 |
pr
“3 -agny # 6
cl&— 3
TM) 2 1 aly o op | oss
Fe 355254) 210
-l0s
= | gy 100 S09
S3e3542 S41
To) = 10(stss¢2)
Lsphastl
ls
“Ww ZO
ee
-I2— The time vesponse ancl the hte ansitbien matrik O__
TF is often clesivable to cltain The Awe Yesgerse of state Variables
of a cantval system cincl Hus examine the performance R the
S8EM