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MCLECTURE15

This document contains lecture notes on state space modeling and analysis of control systems. It begins with an overview of representing higher order differential equations as sets of simultaneous first order equations using state variables. Examples are provided to demonstrate converting differential equations to state space form and vice versa using MATLAB functions. Further sections provide examples of computing step responses from transfer functions and determining closed loop transfer functions. The document aims to introduce students to modeling dynamic systems using state variables and analyzing control systems in state space.

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teknikpembakaran2013
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38 views40 pages

MCLECTURE15

This document contains lecture notes on state space modeling and analysis of control systems. It begins with an overview of representing higher order differential equations as sets of simultaneous first order equations using state variables. Examples are provided to demonstrate converting differential equations to state space form and vice versa using MATLAB functions. Further sections provide examples of computing step responses from transfer functions and determining closed loop transfer functions. The document aims to introduce students to modeling dynamic systems using state variables and analyzing control systems in state space.

Uploaded by

teknikpembakaran2013
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 40

11/2/2013 (C) 2001, Ernest L.

Hall, University of Cincinnati 1


Manufacturing
Controls
FALL 2001
Lecture 15
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 2
Syllabus
DATE TOPIC NOTES
1. Sep. 20 Mechatronics Design Process Ch. 1
2. Sep. 25 System Modeling and Simulation Ch. 2
3. Sep. 27 Laplace Transforms and Transfer Functions Ch. 2
4. Oct. 2 Electrical Examples Ch.2, Notes
5. Oct. 4 Mechanical Examples Ch.2, Notes
6. Oct. 9 More Examples, Thermal and Fluid Examples, QUIZ 1 (Take Home)
7. Oct. 11 Sensors and Transducers Ch. 3
8. Oct. 16 Digital control, Advanced MATLAB
9. Oct. 18 Analog and Digital Sensing Ch. 3,
Notes
10. Oct. 23 Actuating Devices, time and frequency response Ch. 4

11. Oct. 25 DC Motor Model, Ch. 4,
Notes
12. Oct. 30 Examples Ch. 5
13. Nov. 1 Boolean Logic ,Programmable Logic Controllers Ch. 5, Notes
14. Nov. 6 Stability and Compensators, P, PI and PD Ch. 6
15. Nov. 8 PID Controllers - Review Ch. 7
16. Nov. 13 QUIZ 2 (In Class - Open Book)
17. Nov. 15 Practical and Optimal Compensator Design Ch. 8
18. Nov. 20 Frequency Response Methods Ch. 9, Notes
19. Nov. 22 THANKSGIVING HOLIDAY Ch. 9, Notes
20. Nov. 27 Optimal Design of a Motion Control System Ch. 9, Notes
21. Nov. 29 QUIZ 3 (In Class - Closed Book)
22. Dec. FINAL EXAM (In Class - Closed Book) Comprehensive
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 3
Todays objective
To continue the
introduction to systems
theory by reviewing the
concepts of control
systems for digital control
and PID compensation of
a feedback control for the
motorized arm.
Compensator examples
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 4
Note
Quiz 2 in class next Tuesday

11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 5
State space descriptions
State variables are a basic approach to modern
control theory.
Mathematically, it is a method for solving an nth
order differential equation using an equivalent set of
n, simultaneous, first-order differential equations.
Numerically, it is easier to compute solutions to first-
order differential equations than for higher-order
differential equations.
Practically, it is a way to use digital computers and
algorithms based on matrix equations to solve linear
or non-linear systems.
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 6
Definitions
A system is described in terms
of its state variables, x, which
is the smallest set of linearly
independent variables that
describe the system,
its dynamic state variable,
dx/dt, the derivative of the
state variable,
its input, u
and its output, y.
A is the system matrix
B is the input matrix
C is the output matrix
D is the feedforward martix

dx
dt
Ax Bu = +

y Cx Du = +
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 7
Mathematical representation
An n-th order
differential equation
may be rewritten as a
set of n simultaneous
first order equations.
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 8
Given an n-th order differential
equation
u b y a
dt
dy
a
dt
y d
a
dt
y d
a
dt
y d
n
n
n
n
n
n
n
n
0 0 1
2
2
2
1
1
1
... = + + + + +

11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 9


Select a set of state variables
called phase-variables as:
1
1
2
2
3
2
1
.
.
.

=
=
=
=
n
n
n
dt
y d
x
dt
y d
x
dt
dy
x
y x
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 10
Now differentiate both sides of this equation
to obtain the dynamic state equation:
n
n
n
dt
y d
dt
dx
dt
y d
dt
dx
dt
y d
dt
dx
dt
dy
dt
dx
=
=
=
=
.
.
.
3
3
3
2
2
2
1
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 11
The last equation may be solved for from the
original differential equation to give:
u b y a
dt
dy
a
dt
y d
a
dt
y d
a
dt
y d
n
n
n
n
n
n
n
n
0 0 1
2
2
2
1
1
1
... + =

11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 12


Now the dynamic state equation may be
written:
u b x a x a x a
dt
dx
x
dt
dx
x
dt
dx
x
dt
dx
x
dt
dx
n n
n
n
n
0 1 2 1 1 0
1
4
3
3
2
2
1
. . .
.
.
.
+ =
=
=
=
=

11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 13


These equations may now be
put in matrix form:
u
b x
x
x
x
a a a
dt
dx
dt
dx
dt
dx
dt
dx
dt
dx
n n
n
n
(
(
(
(
(
(
(
(
(
(
(
(
(
(

+
(
(
(
(
(
(
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
(
(
(
(
(
(


=
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

0
3
2
1
1 1 0
1
3
2
1
.
.
.
0
0
0
.
.
.
*
1 . . . 0 0 0 0 0 0
.
.
.
0 . . . 0 1 0 0 0 0
0 . . . 0 0 1 0 0 0
0 . . . 0 0 0 1 0 0
0 . . . 0 0 0 0 1 0
.
.
.
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 14
Finally the solution to the differential
equation may be written as:
| |
(
(
(
(
(
(
(
(
(
(
(
(
(
(

=
n
x
x
x
x
y
.
.
.
* 0 0 . . . 0 10
3
2
1
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 15
In matrix form
State equation





Output equation

dx
dt
Ax Bu = +

y Cx Du = +
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 16
Example

) (
2
2
2
t T
MgL
dt
d
D
dt
d
J = + + u
u u
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 17
Using the phase variables as state
variables
x
x
d
dt
1
2
=
=
u
u
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 18
Then the dynamic state equations may be
developed using the definition and the
system equation

dx
dt
x
dx
dt
MgL
J
x
D
J
x
T t
J
1
2
2
1 2
=
=

+ sin( )
( )
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 19
This is the state variable form for the
dynamic system. The output y is simply x
1
These may be written in
the linear state
equations matrix form

dx
dt
x
dx
dt
D
J
x
MgL
J
x
T t
J
y x
1
2
2
2 1
1
=
= +
=
( )
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 20
Matrix definitions

] 0 [ ] 0 1 [
1
0 1 0
= =
(
(

=
(
(


=
D C
J
B
J
D
J
MgL
A
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 21
Matlab has built in conversions
ss2tf state space to transfer function

tf2ss transfer function to state space
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 22
Example try this
Num=[24];
Den=[1,9,26,24];
[A,B,C,D]=tf2ss(num,den)

A =

-9 -26 -24
1 0 0
0 1 0

B =

1
0
0

C =

0 0 24

D =

0

c y
dt c d x
dt dc x
c x
iables State
s s s s R
s C
=
=
=
=
+ + +
=
2 2
2 3
/
/
var
24 26 9
24
) (
) (
3
2
1
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 23
Now try ss2tf
[num,den]=ss2tf(A,B,C,D)
num =

0 0.0000 0.0000 24.0000

den =

1.0000 9.0000 26.0000 24.0000

11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 24
Practice exercises
Given a differential
equation
Write the transfer
function

) ( ) ( 24 26 9
2
2
3
3
t r t c
dt
dc
dt
c d
dt
c d
= + + +
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 25
Answer
24 26 9
1
) (
) (
2 3
+ + +
=
s s s s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 26
Given a transfer function write the
differential equation
6 2 9
2
) (
) (
2 3
+ + +
=
s s s s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 27
Answer
) ( 2 ) ( 6 2 9
2
2
3
3
t r t c
dt
dc
dt
c d
dt
c d
= + + +
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 28
Given a transfer function compute the
step response with Matlab
24 26 9
24
) (
) (
2 3
+ + +
=
s s s
s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 29
Answer
Num=[24];
Den=[1,9,26,24];
Sys=tf(num,den);
Step(Sys)
Time (sec.)
A
m
p
l
i
t
u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3
0
0.2
0.4
0.6
0.8
1
1.2
1.4
From: U(1)
T
o
:

Y
(
1
)
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 30
Cascade two transfer function into a single
equivalent block diagram
H1=1/(s+1) H2=s+1
G(s)
F(s)
G1(s)
=?
F(s)
G(s)
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 31
Answer
1
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 32
Compute the transfer function of a
closed loop system
=(s+2)/(s+3)
1
R(s)
C(s)
-
+
E(s)
F(s)
G
c
(s)=K
E(s)
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 33
Answer
) 2 ( 3
) 2 (
) (
) (
+ + +
+
=
s K s
s K
s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 34
Determine if a system is relatively stable
using the Matlab margin function.
G(s) = (s+2)/(s+3)
H(s) = 1
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 35
Answer
Num=[1,2];
Den=[1,3];
Margin(Num,Den)
As shown the phase
margin is greater than
40 degrees and the
gain margin is greater
than 10 dB so the
system is relatively
stable.
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-4
-3
-2
-1
0
Gm = Inf, Pm=-179.64 deg. (at 158.09 rad/sec)
10
-1
10
0
10
1
10
2
10
3
0
50
100
150
200
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 36
Determine if a system is absolutely
stable by examining the pole zero map
24 26 9
24
) (
) (
2 3
+ +
=
s s s s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 37
Answer
Num=[24];
Den=[1,9,-26,24];
Pzmap(num,den)
As shown the system is
absolutely stable since
the poles are all in the
left half plane.
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
-1.5
-1
-0.5
0
0.5
1
1.5
x 10
8
Real Axis
I
m
a
g

A
x
i
s
Pole zero map
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 38
Determine the absolute stability of the
following system using pole zero map

24 26
24
) (
) (
2
+
=
s s
s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 39
Answer
Num=[24];
Den=[1,-26,24];
Pzmap(Num,Den)
As shown it is
absolutely unstable
since it has two poles in
the rhp.
0 5 10 15 20 25 30
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Real Axis
I
m
a
g

A
x
i
s
Pole zero map
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 40
Any questions?

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