Chapter 1 EEE8072
Chapter #1
EEE8072
Subsea Control and Communication Systems
Introduction
1st order dynamics
2nd order dynamics
Nonhomogeneous differential equations
Module Leader: Dr Damian Giaouris - [email protected] 1/11
Chapter 1 EEE8072
Introduction
System: is a set of objects/elements that are connected or related to each
other in such a way that they create and hence define a unity that performs a
certain objective.
Control: means regulate, guide or give a command.
Task: To study, analyse and ultimately to control the system to produce a
“satisfactory” performance.
Model: Ordinary Differential Equations (ODE):
dx d 2x
ΣF = ma ⇔ f − f friction = ma ⇔ f − Bω = ma ⇔ f − B = m 2
dt dt
Dynamics: Properties of the system, we have to solve/study the ODE.
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Chapter 1 EEE8072
dx
First order ODEs: = f ( x, t )
dt
Analytical solution: Explicit formula for x(t) (a solution which can be found
dx
using separate variables, integrating factor…) which satisfies = f ( x, t )
dt
Example:
dx
The ODE = a has as a solution x(t ) = at .
dt
dx
First order Initial Value Problem : = f ( x, t ), x(t 0 ) = x0
dt
dx
Analytical solution: Explicit formula for x(t) which satisfies = f ( x, t )
dt
and passes through x0 when t = t0
Example:
dx
= a ⇔ ∫ dx = ∫ adt ⇔ x(t ) = at + C ⇒ x(0 ) = C ⇒ x(t ) = at + x0
dt
Ö INFINITE curves (for all Initial Conditions (ICs)).
For that reason a different symbol is used for the above solution: φ (t , t 0 , x0 ) .
You must be clear about the difference to an ODE and the solution to an
IVP! From now on we will just study IVP unless otherwise explicitly
mentioned.
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Chapter 1 EEE8072
First order linear equations - (linear in x and x’)
⎧a (t ) x'+b(t ) x = c(t ), Non autonomous
General form: ⎨
⎩ax'+bx = c, Autonomous
Example: x'+ kx = u
Analytical Solutions:
Integrating factor (NOT ASSESSED MATERIAL):
k = const
e∫
kdt
= e kt
( )
e kt ( x'+ kx ) = e kt u ⇒ e kt x ' = e kt u
( )
⇒ ∫ e kt x ' dt = ∫ e kt udt
⇒ e kt x = ∫ e kt udt + c ⇒ x = e − kt ∫ e kt udt + e − kt c
t
or: x = e −kt
x(0 ) + e −kt
∫e
kt1
udt1
0
The equation that we derived is:
t
x=e −kt
x(0 ) + e −kt
∫e
kt1
udt1
0
Assuming that k>0 the first part is called transient and the second is called
steady state solution.
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Chapter 1 EEE8072
d 2x
Second order ODEs: 2 = f ( x' , x, t )
dt
Second order linear ODEs with constant coefficients: x' '+ Ax'+ Bx = u
u=0 => Homogeneous ODE; I need two “representative solutions”
x' '+ Ax'+ Bx = 0 , assume x = e rt => x' = re rt & x' ' = r 2 e rt =>
x' '+ Ax'+ Bx = 0 ⇔ r 2 e rt + Are rt + Be rt = 0 ⇔
r 2 + Ar + B = 0 ; Characteristic or Eigenvalue equation => Check its roots.
− A ± A2 − 4B
r= , these are the Characteristic values or Eigenvalues.
2
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Chapter 1 EEE8072
Roots are real and unequal: r1 and r2 ( A 2 > 4 B =>Overdamped system)
x1 = e r1t and x2 = e r2t are solutions of the ODE =>
x = C1 x1 + C 2 x2 = C1e r1t + C 2 e r2t . If r1 and r2<0 then x → 0.
Example:
x' '+4 x'+3x = 0 ⇔ r 2 + 4r + 3 = 0 ⇔ (r + 3)(r + 1) = 0
x = C1e −3t + C2 e −t . Assume that x(0 ) = 1 and x' (0) = 0 :
x(0 ) = C1 + C 2 = 1 and x' = −3C1e −3t − C 2 e −t ⇒ x' (0 ) = −3C1 − C 2 = 0 =>
C1=-0.5, C2=3/2 => x = −0.5e −3t + 3 e −t :
2
Analytical Solution:
1.5
Overall
1 Part 2
0.5
Part 1
-0.5
0 5 10
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Chapter 1 EEE8072
Roots are real and equal: r1=r2 ( A 2 = 4 B Critically damped system)
x1 = e rt and x2 = te rt => x = C1 x1 + C2 x2 = C1e rt + C2te rt
Example: A=2, B=1, x(0)=1, x’(0)=0 => c1=c2=1
0.9 e-t
0.8
te-t
0.7 overall
0.6
0.5
0.4
0.3
0.2
0.1
0
0 2 4 6 8 10
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Chapter 1 EEE8072
Roots are complex: r=a+bj A 2 < 4 B
o Underdamped system A ≠ 0
So x = e rt = e (a +bj )t = e at +bjt = e at e jbt = e at (cos(bt ) + j sin(bt ) ) =Re+jIm.
Theorem: If x is a complex solution to a real ODE then Re(x) and Im(x) are
the real solutions of the ODE:
x1 = e at cos(bt ), x2 = e at sin(bt ) =>
x = c1 x1 + c2 x2 = c1e at cos(bt ) + c2 e at sin(bt )
= e at (c1 cos(bt ) + c2 sin(bt ) ) = e at G cos(bt − φ )
, & φ = tan −1 ⎛⎜ ⎞
c1 c2
where G =
⎝ c1 ⎟⎠
cos⎛⎜ tan −1 ⎛⎜ 2 ⎞⎟ ⎞⎟
c
⎝ ⎝ c1 ⎠⎠
A=1, B=1, x(0)=1, x’(0)=0 => c1=1, c2=1/sqrt(3)
1.5
1.5
C 1cos(bt)
1 eat
1
C 1cos(bt)+C 2 sin(bt)
C 1cos(bt)+C 2sin(bt)
0.5
0.5
0 0
-0.5 -0.5
C 2sin(bt)
Overall
-1 -1
-1.5 -1.5
0 2 4 6 8 10 0 2 4 6 8 10
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Chapter 1 EEE8072
o Undamped system A=0
x' '+0 + Bx = 0 ⇔ r 2 e rt + 0 + Be rt = 0 ⇒ r 2 = − B => Imaginary roots (If B<0
then I would have two equal real roots).
So r = jb => x = c1 cos(bt ) + c2 sin(bt ) = G cos(bt − φ )
A=0, B=1, x(0)=1, x’(0)=0 =>c1=1, c2=0:
0.8
0.6
0.4 Overall
0.2
-0.2
-0.4
-0.6
-0.8
-1
0 2 4 6 8 10
In all previous cases if the real part is positive then the solution will diverge
to infinity and the ODE (and hence the system) is called unstable.
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Chapter 1 EEE8072
Root Space
jb
jb
a
a
Name Oscillations? Components of solution
Overdamped No Two exponentials:
e k1t , e k 2 t , k1 , k 2 < 0
Critically No Two exponentials:
damped
e kt , te kt , k < 0
Underdamped Yes One exponential and one
cosine e kt , cos(ωt ) , k < 0
Undamped Yes one cosine cos(ωt )
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Chapter 1 EEE8072
NonHomogeneous (NH) differential equations
x' '+ Ax'+ Bx = u
u=0 => Homogeneous => x1 & x2.
Assume a particular solution of the nonhomogeneous ODE: xp
R
o If u(t)=R=cosnt => x P =
B
Then all the solutions of the NHODE are x = x P + c1 x1 + c2 x2
So we have all the previous cases for under/over/un/critically damped
systems plus a constant R/B.
If complementary solution is stable then the particular solution is called
steady state.
Example:
x' '+ x'+ x = 2 ⇒ x P = 2 , x = 2 + c1 x1 + c2 x2 = 2 + e at (c1 cos(bt ) + c2 sin(bt ) )
x(0)=1, x’(0)=0 => c1=-1, c2=-1/sqrt(3)
2.5
1.5
Particular solution
Overall
1
Homogeneous solution
0.5
-0.5
-1
0 2 4 6 8 10
Module Leader: Dr Damian Giaouris - [email protected] 11/11
