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Introduction
The time-domain techniques can be utilized for nonlinear, timevarying, and multivariable systems (a system with several input and
output signals).
Terms
y1(t)
u1(t)
System
u2(t)
Input Signals
y2(t)
Output Signals
u(t) Input
Dynamic System
State x(t)
dx
x& =
dt
. .
dt .
xn a n1 a n 2 a nn
x1
b11....b1m u1
x2 + ............ .
.
bn1....bnm u m
xn
D(t)
+
u(t)
B(t)
x (t )
+
dt
x(t)
C(t)
y(t)
+
A(t)
Appied torque Ta (t ) (N - m)
Linear velocity v(t ) (m/sec)
Linear position x(t ) (m)
d 2 x(t )
dv
Fa (t ) = M
=M
dt
dt 2
1 t
v(t ) =
Fa (t )dt
M t0
x (t) v (t)
Fa(t)
x1 (t ) = y (t )
dy (t )
x2 (t ) =
dt
d2y
dy
M 2 + b + ky = u (t )
dt
dt
dx2
+ bx2 + kx1 = u (t )
M
dt
dx1
= x2 ;
dt
dx2
1
b
k
= x2
x1 +
u
dt
m
M
M
u(t)
b
Wall friction
y(t)
k : Spring constant
10
..
m y + b y + ky = u
This is a second order system. It means it involves two integrators.
Let us define two variables : x1 (t ) and x2 (t )
.
x1 (t ) = y (t ); x2 (t ) = y (t ); then x1 = x2
.
k
b
1
x1 x2 + u
m
m
m
The output equation is : y = x1
x2 =
1
0
x
1
b + 1 u (State Equation)
x 2
m
m
x
y = [1 0] 1 (Output Equation)
x2
The state equation and the output equation are in the standard form :
.
x = Ax + Bu; y = Cx + Du
1
0
0
A= k
b , B = 1 , C = [1 0], D = 0
m m
m
11
Mechanical
Electrical
Kinetic
Mass / Inertia
0.5 mv2 / 0.5 j2
Inductor
0.5 Li2
Potential
Gravity: mgh
Spring: 0.5 kx2
Capacitor
0.5 Cv2
Dissipative
Damper / Friction
0.5 Bv2
Resistor
Ri2
12
Resistance, R (ohm)
i(t)
v(t)
1
i (t ) = v(t )
R
13
Inductance, L (H)
i(t)
v(t)
14
Capacitance, C (F)
i(t)
v(t)
dv(t )
i (t ) = C
dt
15
= (1 / 2)Li L2 + (1 / 2)Cvc2
iL
dvc
= +u (t ) i L
dt
di L
= RiL + vc
dt
The output of the system is represented by : vo = RiL (t )
iC
u(t) vC
+
V
o
-
dx1
1
1
= x2 + u (t )
dt
C
C
dx2 1
R
+ x1 x2
dt L
L
The output signal is then : y1 (t ) = vo (t ) = Rx2
16
1
.
0 - C
x=
x + C u (t )
1 - R
0
L
L
The output is
y = [0 R ] x
When R = 3, L = 1, C = 1/2, we have
2
0 - 2
x+ u
x=
1 - 3
0
y = [0 3] x
.
17
Vf(s)
R1(s)
G(s)
(s)
G11(s)
Y1(s)
G12(s)
G21(s)
R2(s)
G22(s)
Y2(s)
1
Pk k
b,c
d,e,f
k = cofactor of the kth forward path determinant of the graph with the loops
touching the kth forward path removed, that is, the cofactor k is obtained from
by removing the loops that touch path Pk .
19
1/L
1/s
1/s
x1
U(s)
R
x2
vo
-1/C
Vo ( s )
=
G(s) =
U ( s) s 2 + s +
.
1
1
x2 + u (t )
C
C
.
1
R
x 2 = x1 x2 ; vo = Rx2
L
L
Vo( s )
R / LCs 2
R / LC
=
;
=
U ( s ) 1 + (R / Ls ) + 1 / LCs 2
s 2 + (R / L )s + (1 / LC )
x1 =
20
Y ( s ) s m + bm 1s m 1 + .... + b1s + bo
G (s) =
= n
U ( s ) s + an 1s n 1 + .... + a1s + ao
Y ( s ) s ( n m ) + bm 1s ( n m +1) + .... + b1s ( n 1) + bo s n
=
G (s) =
U ( s)
1 + a n 1s 1 + .... + a1s ( n 1) + ao s n
Y ( s ) k Pk k
=
G (s) =
U ( s)
k Pk
G (s) =
=
N
1 q =1 Lq 1 - sum of the feedback loop factor
21
1/s
1/s
x3
x4
1/s
1
U(s)
-a3
1/s
x4
1/s
x3
-a2
1/s
x2
1/s
-a1
x1
1/s
x2
Y(s)
bo
-a0
x1
Y(s)
b0
Y (s)
G ( s) =
= 4
U ( s ) s + a3 s 3 + a 2 s 2 + a1s + a0
=
1 + a3 s
b0 s 4
+ a2 s
+ a1s
+ a0 s
4
22
b3
b1
b2
1/s
1
U(s)
G ( s) =
=
1/s
x3
x4
-a3
-a2
b3 s
+ b2 s
+ b1s
+ b0 s
x2
-a0
bo
x1
Y(s)
s 4 + a3 s 3 + a2 s 2 + a1s + a0
2
-a1
1/s
x1 = x 2 ; x 2 = x3 ; x 3 = x 4
b3 s 3 + b2 s 2 + b1s + b0
1
1/s
1 + a3 s 1 + a 2 s 2 + a1s 3 + a0 s 4
x 4 = a0 x1 a1 x2 a 2 x3 a3 x4 + u
y (t ) = b0 x1 + b1 x2 + b2 x3 + b3 x4
x1 0
d x 2 0
=
dt x3 0
x4 - a0
1 0
0
0
1
0
0
0
1
- a1 - a2 - a3
x1
x2
y (t ) = Cx = [b0 b1 b2 b3 ]
x3
x4
x1 0
x
2 + 0 u (t )
x3 0
x4 1
23
Gc ( s ) =
( s + 1)
I(s)
U(s)
5( s + 1)
( s + 5)
Y(s)
16
( s + 3)
( s + 2)
6
(s + 3)
1
( s + 2)
5
1
1/s
R (s)
1/s
I (s) 6
1/s
U (s)
-5
- 3 6
.
x = 0 - 2
0
0
1
Y (s)
-2
0
0
- 20 x + 5 r (t )
1
- 5
-3
y = [1 0 0]x
24
-5
1/s
-20
-20
1
1/s
-3
30
Diagonal form or Canonical form
30( s + 1)
Y(s)
q( s)
= T ( s) =
=
( s + 5)( s + 2)( s + 3) ( s s1 )( s s 2 )( s s3 )
R( s)
k3
k1
k2
Y(s)
= T ( s) =
+
+
( s + 5) ( s + 2) ( s + 3)
R( s)
k1 = 20, k 2 = -10, and k 3 = 30
- 5 0 0
1
x = 0 - 2 0 x + 1 r (t ); y (t ) = [- 20 - 10 30]x
0 0 - 3
1
.
25
k3
k1
k2
Y(s)
= T (s) =
+
+
R(s)
( s + 5) ( s + 2) ( s + 3)
k1 = 20, k 2 = -10, and k 3 = 30
- 5 0 0
1
x = 0 - 2 0 x + 1 r (t )
0 0 - 3
1
y (t ) = [- 20 - 10 30]x
.
26
x = Ax + Bu
y = Cx
sX ( s ) = A X ( s ) + B U ( s )
Y ( s ) = CX ( s )
(sI A ) X( s) = BU ( s)
Since [sI - A ]1 = ( s )
X (s) = (s) B U (s)
27
dv(t )
= k1v(t ) k 2 y (t ) + k 3i (t )
dt
where v(t) = velocity, y(t) = position, and i(t) is the control-motor current. Put the equations
in state variable form and set up the matrix form for k1=k2=1
dy
v=
dt
dv
= k1v(t ) k 2 y (t ) + k 3i (t )
dt
1 y 0
d y 0
+ i
=
- k1 v k 3
dt v k 2
Define u = i, and let k1 = k 2 = 1
0
0 1
y
x = Ax + Bu; A =
, B = , x =
- 1 - 1
v
k 3
.
28
1
0
A=
1
1
x = Ax + Bu
Det (I - A) = Det
1
( + 1)
-1
= ( + 1) + 1 = + + 1 = 0
2
1
3
1
3
1 = + j
; 2 = j
2
2
2
2
29
E3.7: Consider the spring and mass shown in Figure 3.3 where M = 1
kg, k = 100 N/m, and b = 20 N/m/sec. (a) Find the state vector
differential equation. (b) Find the roots of the characteristic equation for
this system (DGD).
.
x1 = x 2
.
x 2 = 100 x1 20 x2 + u
0
1 0
x=
x + u
- 100 - 20 1
-1
2
=
+ 20 + 100
Det (I - A) = Det
100 + 20
.
= ( + 10 )2 = 0; 1 = 2 = -10
30
E3.8: The manual, low-altitude hovering task above a moving land deck
of a small ship is very demanding, in particular, in adverse weather and
sea conditions. The hovering condition is represented by the A matrix
(DGD)
0 1 0
A = 0 0 1
0 - 5 - 2
Det(I - A) = Det 0
0
-1
-1 =
= 2
+ 2 + 5) = 0
1 = 0; 2 = -1 + j 2; 3 = -1 - j 2
31
1
x1 = x2 x1
2
.
x 2 = x1 x2
- 1 1/2
x, y = [1 - 3/2]x
x=
1 - 3/2
5
1
s + s + 1 = (s + 2) s + = 0
2
2
0
2
z=
z; y = [- 0.35 - 1.79]z
0 - 1/2
.
32
P3.1 (DGD-ELG4152):
Apply KVL
di
v(t ) = Ri (t ) + L + +vc
dt
1
vc = idt
C
(a) Select the state variables as x1 = i and x2 = vc
(b) The state equations are :
.
1
R
1
v x1 x2
L
L
L
.
1
x 2 = x1
C
.
- R/L - 1/L
1/L
(c) x =
x+ u
0
1/C
0
x1 =
33