Professional Documents
Culture Documents
systems:
Chapter 3: • Simplicity versus accuracy: it is possible to improve the
accuracy of mathematical model by increasing its complexity.
P⎡ −αt ⎛ 1 c ⎞⎤
y (t ) = − ⎜ ω + ω ⎟⎥
k ⎢⎣
1 e cos( t ) sin( t )
⎧ ⎫ ⎝ ω ⎠⎦
( )
s 1 k mk
L−1 ⎨ ⎬ = ae at − bebt
⎩ ( s − a )( s − b) ⎭ (a − b)
⎧ ⎫
( )
1 1 From first partial fraction
L−1 ⎨ ⎬ = e at − ebt From real part of the
⎩ ( s − a )( s − b) ⎭ (a − b) second partial fraction.
C (s) G (s)
=
R( s) 1 + G ( s) H ( s)
C ( s) = CR ( s) + CD ( s) =
G2 ( s )
[G1 ( s) R( s) + D( s)]
1 + G1 ( s ) G2 ( s ) H ( s )
Rules of Block Diagram Algebra
Example: the block diagram shown in figure (a) can be
simplified step by step as it is shown in figures (b) through (e)
An LTI system is represented in state-space format by the • System variables: Any variable that responds to an
vector-matrix differential equation (DE) as: input or initial conditions.
• State vector: An (n x 1) column vector whose • the order of the DE’s describing the system.
elements are the state variables. • the order of the denominator polynomial of its
transfer function model.
• State space: The n-dimensional space whose axes • the number of independent energy storage elements
are the state variables. in the system.
Remember
Rememberthethestate
statevariables
variablesmust
mustbebelinearly
linearly
independent!
independent! If not, you may not be ableto
If not, you may not be able tosolve
solvefor
forall
allthe
the
other system variables, or even write the state equations.
other system variables, or even write the state equations.
In General:
Linearization
Example: Converting a Transfer Function to State Space
x 2 = y& ⇒ x&1 = x 2
Y ( s ) = C X ( s ) + DU ( s ) = C [sI − A] BU ( s ) + DU ( s )
First row of state equations −1
M
n −1
d y
[ ]
= C [sI − A] B + D U ( s )
−1
⎡ x1 ⎤ ⎡ 0 1 0 K 0 ⎤ ⎡ x1 ⎤ ⎡ 0 ⎤
⎢x ⎥ ⎢ 0 0 1 K 0 ⎥⎥ ⎢⎢ x2 ⎥⎥ ⎢⎢ 0 ⎥⎥
d ⎢
2 ⎥ ⎢
⎢ M ⎥=⎢ M M M L M ⎥⎢ M ⎥ + ⎢ M ⎥
dt ⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢ xn −1 ⎥ ⎢ 0 0 0 L 1 ⎥ ⎢ xn −1 ⎥ ⎢ 0 ⎥
⎢⎣ xn ⎥⎦ ⎢⎣− a0 − a1 − a2 L − an −1 ⎥⎦ ⎢⎣ xn ⎥⎦ ⎢⎣b0 ⎥⎦ equivalent
⎡ x1 ⎤ block diagram showing
⎢x ⎥ phase-variables.
⎢ 2 ⎥ Note
Notethe
thetransfer
transferfunction
functionformat
format
y = [1 0 0 L 0]⎢ M ⎥
Note: y(t) = c(t)
⎢ ⎥ Y ( s) b0
⎢ xn −1 ⎥ = n n −1
U ( s ) s + a n − 1 s +L + a 1 s 1 + a 0
⎢⎣ xn ⎥⎦
2. Therefore,
⎡ ⎤ ⎡ ⎤
⎡ x1 ⎤ ⎢ 0 1 0 ⎥ ⎡ x1 ⎤ ⎢ 0 ⎥
d ⎢ ⎥ ⎢ ⎥⎢ ⎥
x = 0 0 1 ⎥ ⎢ x 2 ⎥ + ⎢⎢ 0 ⎥⎥u
dt ⎢ 2 ⎥ ⎢ a 0 a a 1
⎢⎣ x 3 ⎥⎦ ⎢− − 1 − 2 ⎥ ⎢⎣ x 3 ⎥⎦ ⎢ ⎥
⎢⎣ a 3 a3 a 3 ⎥⎦ ⎢⎣ a 3 ⎥⎦
Transfer Function with Numerator Polynomial Example:
(continued)
C ( s) = Y ( s) = (b2 s 2 + b1 s + b0 ) X 1 ( s) = b2 s 2 X 1 + b1 sX 1 + b0 X 1
But, sX 1 = X 2 and sX 2 = X 3
So, Y ( s) = b2 X 3 + b1 X 2 + b0 X 1
⎡ x1 ⎤
⎢ ⎥
[
y = b0 b1 ]
b2 ⎢ x 2 ⎥
⎢⎣ x 3 ⎥⎦
Example
gives
Example
Electrical Systems
Basic laws governing electrical circuits are Kirchhoff’s current
law and voltage law.
• The complex Impedance Z(s) of a two terminal circuit is the ratio of E(s),
the Laplace transform of the voltage across the elements to I(s), the
Laplace transform of the current through the element.
Example Example
For turbulent flow
Liquid level systems
V
C =
H
Example Example
Thermal systems