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Basics of Control Systems

This document discusses system modeling and control systems. It defines a system as a collection of interacting entities working toward a goal. A model represents a system to study it and is usually a simplification. Linear systems satisfy additivity and homogeneity. Transfer functions and state variable approaches are classical and modern methods to model systems. Transfer functions relate output and input Laplace transforms, while state variable models use state vectors and matrices. The document compares the two approaches and outlines what to study before the next class.

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Siva Kumar
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31 views

Basics of Control Systems

This document discusses system modeling and control systems. It defines a system as a collection of interacting entities working toward a goal. A model represents a system to study it and is usually a simplification. Linear systems satisfy additivity and homogeneity. Transfer functions and state variable approaches are classical and modern methods to model systems. Transfer functions relate output and input Laplace transforms, while state variable models use state vectors and matrices. The document compares the two approaches and outlines what to study before the next class.

Uploaded by

Siva Kumar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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* Control Systems-2011

Group home page:


http://groups.google.com/group/controlsystems2011
* Group email address:[email protected]
[email protected]
System Modelling
Definition: Asystem is a collection of entities that act and
interact toward the accomplishment of some logical end.
The key emphasis here is "mutual interaction," in that something is occurring
between the parts, over time, which maintains the system. A system is different
than a heap or a collection, mostly.
This definition of a system implies something beyond cause and effect.
Rather than simply A affects B, there is an implication that B also affects.
Systems generally tend to be dynamic their status changes over
time. To describe this status, we use the concept of the state of a
system.
MODELS
A model is defined as a representation of a system for the
purpose of studying the system.
A simplification of reality intended to promote
understanding.
Sometimes, the actual system is available for investigation (at
reasonable cost and effort)
Sometimes, only a model of a system can be used and usually has
to be constructed explicitly:
A model of a system is also a system
Built to capture some relevant properties of the original system
Simplified with respect to original system, reduced complexity
Models appear in many different kinds, with many different
characteristics
Linear Systems
Systems that satisfy both homogeneity and additives are
considered to be linear systems.
In words, this means that a linear system produces the same
output for two added signals, or for a signal multiplied by a
constant, whether those operations are carried out before or after
the signals pass through the system.
In algebraic notation it is written:
f(x1+x2) = f(x1) +f(x2)
f(kx) = kf(x)
Classical Approach- Transfer Function Approach
Modern Approach - State Variable Approach
Transfer Function is defined as the Laplace transform of the output
divided by Laplace transform of the input when initial conditions
are zero.
First order systems are represented by where is the
time constant
Second order systems are represented by
where is the natural frequency and is the damping ratio
1
1
) (

s
s G

1 2
) (
2
2

n
n
s
s G

Classical and modern approaches of System Modeling


An Example
R=1;
L=.4;
C=1e-3;
n=1;
d=[L*C R*C 1];
s=tf(n,d)
1
------------------------
0.0004 s^2 + 0.001 s + 1

n
=sqrt(1/(L*C))= 50 =(R/2)*sqrt(C/L)=0.0250
0 1 2 3 4 5 6 7 8 9 1 0
1 0 0
1 0 0
1 0 0
1 0 0
1 0 0
1 0 0
1 0 0
1 0 0
Step response
Definition of State
The state of a dynamic system is the smallest set of
variables such that the knowledge of these variables at
t=t
0
, together with the input for t t
0
completely determines
the behaviour of the system for any time t t
0
u b x a x a x a
dt
y d
x
dt
y d
x
x
dt
y d
x
dt
y d
x
x
dt
y d
x
dt
dy
x
x
dt
dy
x y x
n n
n
n
n
n
n
n 0 1 2 1 1 0
1
1
4
3
3
3
2
2
3
3
2
2
2 2
2 1 1



u b y a
dt
dy
a
dt
y d
a
dt
y d
n
n
n
n
n
0 0 1
1
1
1


A system is represented in state space by the follwing
equations:
for and initial conditions, ,where
state vector
derivative of the state vector with respect to
time
output vector
input or control vector
system matrix
input matrix
output matrix
feedforward matrix
Du Cx y
Bu Ax x

D
C
B
A
u
y
x
x

0
t t
) (
0
t x
1 2
2 1 1
x x C
x x L Rx Vi

1 2
2 1 1
1
1 1
x
C
x
Vi
L
x
L
x
L
R
x

A=[-R/L -1/L;1/C 0];


>> eig(A)
ans =
-1.2500 +49.9844i
-1.2500 -49.9844i
R=1;
L=.4;
C=1e-3;
Analysis using models
; )d ( Bu e x(0) e x(t)
t
0
) A(t At



Du Cx y
Bu Ax x


D B A I C
U
Y

1
) (
) (
) (
s
s
s
BU(s) A) (sI x(0) A) (sI X(s)
1 1

)) ( ) ( ( ) (
1
s X s G L t Y

Relation between
between SS and TF
Solution
Poles of the transfer function and eigenvalues of A matrix are same.
Transfer fn. Approach Vs State variable Approach
Transfer function approach is valid only to linear time-
invariant single input single output systems
State variable approach is applicable to multiple input
multiple output systems, which may be linear or
nonlinear, time-invariant or time-varying.
Transfer function approach is a complex frequency
domain approach while state variable approach is a
time domain approach.
State variable approach enables us to include initial
conditions in the design.
State variable description gives complete physical
insight about the system
What you have to do before coming to next class
Understand the slides
How to find inverse Laplace transforms
Read the notes (in addition to these slides) which I will post in
the group
Install MATLAB in your PC/Laptop

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