Professional Documents
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General
Controllability and Observability
= [
= 2
[1 ]
1 ]
Transient Characteristics
S plane poles
Sigma (real part of S Pole)
=
|| = | |
Damped Frequency
Damping Ratio
= 1 2
ln(% 0100)
=
2
+ ln2 (% 100)
Overshoot
Settling Time (2nd Order)
% = (1 ) 100
= 4
=
1 2
() = lim ()()
() = lim ()()
SSE
SSE of Open Loop SS (step input)
SSE of Closed Loop SS (step input)
() = 1 ()
() = 1 + 1
() = 1 + ( )1
General
Converting from Transfer Function to State Space
() =
Phase Variable
Controller Canonical
1 1 + + 1 + 0
+ 1 1 + + 1 + 0
0
1
0
0
0
0
0
1
0
0
=
+
0
0
0
1
0
[ 1]
[0 1 2 1 ]
= [0 1 2 1 ]
1 2 1 0
1
1
0
0
0
0
+
=
0
1
0
0
0
[ 0
[ 0]
0
1
0 ]
= [1 2 1 0 ]
Observer Canonical
1 1
0
= 2
1
0
0
[ 0
= [1 0
0
1
0
0
0 0]
1
0
0 + 2
1
1
0]
[ 0 ]
To find time response convert SS to TF, but need to consider initial conditions (0 ), so use
the following,
() = ( )1 (0 + ())
() = () + ()
Model Development
Modelling with Transfer Functions
Electrical Systems
Component
Resistor
Inductor
Capacitor
Impedance
1/
1. Apply circuit theory such as KVL and KCL around meshes and at nodes
2
a. Look at combining parallel components = 1
+
1
2
b. Look for voltage dividers
2. Put into matrix form, [] = [][]
3. Solve using Cramers rule
1 2 1
1
[
] = [ ] [
]
2
3
4 2
1 2
det ([
])
2 4
1 =
1 2
det ([ ])
3
4
4. If variable 1 is not the quantity you are interested in, sub in equation to get desired
quantity. (i.e. if variable 1, was a current but wanted the voltage through the
component, use = to manipulate it into voltage)
Translational Systems
Component
Spring
Damper
Mass
Impedance
1. Develop system of equations by holding each mass in turn and seeing the forces acting
upon it.
2. Put into matrix form
3. Solve using Cramers rule
4. Manipulate current output quantity, from Cramers rule result, to desired quantity, if
required.
Rotational Systems
Component
Spring
Damper
Mass
Impedance
Model Development
Modelling with State Space
Electrical Systems
Component
Voltage - Current
Resistor
Inductor
Capacitor
=
=
[ ]
1
().
0
Current - Voltage
Voltage Charge
= []
1
= ().
0
=
2
[]
2
1
=
[ ]
1. Write equations for all energy storing elements. These will be differential equations,
with the differentiated quantities been a possible set of state variables.
2. Apply circuit theory, such as KVL and KCL, to obtain the unknown variables, in the
equations from step 1, in terms of the state variables.
3. Using the information from step 2 write out the state equations, and hence the SS
matrices
Translational
Rotational
Spring
Damper
[]
[]
Mass
2
[]
2
2
[]
2
1. (If there is a gearbox reflect system, and draw equivalent). Write differential motion
equations similar to that when using TF modelling by holding all but one mass still and
seeing the forces acting upon it. (Generally will get two states for every mass element in
the system)
2. Knowing that parts of your states will simply be [] = , rearrange equations from
step for the remaining differentiated quantity (generally velocity)
3. Write state equations and hence find the state space model. (Be careful with the output
equations for rotational systems, if impedances had to be reflected due to a gearbox)
Controller Design
Method 1 Using det( ( )) = 0
1. Check for controllability
2. Using original state space representation ( , , , ) find closed loop characteristic
equation using det( ( )) = 0
3. Find desired characteristic equation using pole placement
4. Equate coefficients from the two equations in steps 2 and 3, and solve for gains
PI Controller
0
0
[ ]=[
] + [ ] + [ ]
0
0
1
= [ 0]
0
[ ]=[
] + [ ]
0
= [ 0]
, = +
If need to transform gains, remember to only apply transform to not
Observer Design
Method 1 Using det( ( )) = 0
1. Check for observability
2. Using original state space representation ( , , , ) find closed loop characteristic
equation using det( ( )) = 0
3. Find desired characteristic equation using pole placement
4. Equate coefficients from the two equations in steps 2 and 3, and solve for gains
5. Get desired closed loop characteristic equation from phase variable state space
0 = + (1 + ) 1 + + (1 + 2 ) + (0 + 1 )
6. Find desired characteristic equation using pole placement
7. Equate coefficients from equations in steps 5 and 6, and solve for observer canonical gains
8. Transform observer canonical gains to original state space gains using = 1
Optimal Control
Design Methodology
If want integral control augment to open loop state space and use new A and B matrices in
the Riccatti equation. Will also need to compute new Q matrix as there is an added element
Discrete Systems
Z Transformation Methods
Backward Difference
=
1 1
Tustin Transform
2 1 1
=
1 + 1
Z Transform Table
Courtesy of http://lpsa.swarthmore.edu/LaplaceZTable/LaplaceZFuncTable.html
Discrete Systems
Difference Equations
1. Provided with the transfer function () = ()/() cross multiply to get
()() = ()()
2. Knowing that () = 1 transform equation from step 2 into a difference equation
3. Manipulate equation from step 3 to get =
Determining Stability
1. Get into z form. (i.e. = 201 + 602 becomes 1 = 20 1 + 60 2 which rearranges
to 0 = 2 + 20 + 60)
2. Find roots of z form equation. If magnitude of the roots are outside unit circle then the
system is unstable.
Discretising a Model
If Given Plant Model/Diagram That Does Not Include All Dynamic Aspects
1. Need to model the whole plant dynamics including elements such as Z.O.H
2. If Z.O.H need to use () = (1 1 ) {()}
3. Once found () write down discretised state space model from the discrete transfer
function, same as if it was a continuous model with a continuous transfer function
If Given Transfer Function/State Space That Does Include All Dynamic Aspects
1. If it is a continuous model:
a. Write down the continuous state space representation (, , , )
b. Compute and using
2
2
3
3
= + 2! + 3!
= ( . ) = 1 ( )
0
2. If is a discrete model:
a. Simply write down the discrete state space representation (, , , ), like you
would for a continuous system
Observer Topology