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Lecture 3 PDF

The document describes a system of linear differential equations and how to derive the transfer function G(s) that relates the input u(s) to the output y(s) in the Laplace domain. The system is represented by equations (1)-(3) in the time domain and transformed to the Laplace domain in equations (4)-(7). The transfer function G(s) is obtained by solving for the output Y(s) in terms of the input U(s) as shown in equation (7).

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24 views

Lecture 3 PDF

The document describes a system of linear differential equations and how to derive the transfer function G(s) that relates the input u(s) to the output y(s) in the Laplace domain. The system is represented by equations (1)-(3) in the time domain and transformed to the Laplace domain in equations (4)-(7). The transfer function G(s) is obtained by solving for the output Y(s) in terms of the input U(s) as shown in equation (7).

Uploaded by

sanjay_dutta_5
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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dnc ( t ) d n-1c ( t ) dc ( t )

an + a n-1 + + a1 + a oc ( t )
dt n dt n-1 dt
dmr ( t ) d m-1r ( t ) dr ( t )
= bm + bm-1 + + b1 + bo r ( t ) (1)
dt m dt m-1 dt

a n sn C(s) + a n-1s n-1C(s) + + a1s C(s) + a o C ( s )


+ initial condition terms involving c(t)
= bms m R(s) + bm-1sm-1R(s) + + b1s R(s) + bo R ( s )
+ initial condition terms involving r(t) (2)
" # $

(as
n
n
+ a n-1sn-1 + ) (
+ a1s + a o C(s) = b ms m + bm-1sm-1 + )
+ b1s + bo R(s)

Then,
C (s)
=
( b sm
m
+ bm-1sm-1 + + b1s + bo ) = G(s)
R (s) ( a s n
n
+ a n-1s n-1
+ + a1s +a )
o

%
& ' & & (

di ( t ) 1
i(t)R + L + i ( t ) dt = v ( t ) (1)
dt C
dq
= i(t) (2)
dt
di ( t ) q
i(t)R + L + = v(t) (3)
dt C
di ( t ) R 1 1
= - i(t) - q(t) + v(t) (4)
dt L LC L
q
v L ( t ) = v ( t ) -i ( t ) R - (5)
C
x1 ( t ) = q ( t )
v( t) = u ( t) vL ( t ) = y ( t )
x2 ( t ) = i ( t )

$ ) *
x1 = x 2
1 R 1
x2 = - x1 - x2 + u
LC L L
1
y = - x1 - Rx 2 + u
C

0 1 0 1 x1
x1 x1 y = - -R +1u (7)
= 1 R + 1 u (6) ,
x2 - - x2 C x2
LC L L
+ ,
x1
x= x1
x2 x=
x2
- . / ,
0 1 0
x= 1 R x + 1 u
- -
LC L L
1
y= - - R x +1u
C
0 1 0
A= 1 R B= 1
x = Ax + Bu - -
LC L L
y = Cx + Du
1
C= - -R D =1
C

!" " # $ #
$ # $
% ! " $& '
!
& & & ( 0 &
!1 &
1
1

$1 1%
1

21 3
1
3& 4 1

)1 + 5 6
7 6
7 61

*1 " 7 6
1
1

"
8 & 9 '
x ( t ) = Ax ( t ) + Bu ( t ) (1)
y ( t ) = Cx ( t ) + Du ( t ) (2)
x ( t 0 ) = x0 (3)

! $
sx ( s ) - x(t 0 ) = Ax ( s ) + Bu ( s ) (4)
y ( s ) = Cx ( s ) + Du ( s ) (5)
or, sx ( s ) - x 0 = Ax ( s ) + Bu ( s ) (6)
y ( s ) = Cx ( s ) + Du ( s ) (7)
- sx ( s ) - x 0 = Ax ( s ) + Bu ( s )
or, sx ( s ) - Ax ( s ) = x 0 + Bu ( s )
or, ( sI-A ) x ( s ) = x 0 + Bu ( s )
or, x ( s ) = ( sI-A ) x 0 + ( sI-A ) Bu ( s )
-1 -1

'' !& () *
$%$ & ! + , - . #
y ( s ) = C ( sI-A ) x 0 + ( sI-A ) Bu ( s ) + Du(s)
-1 -1
.

or, y ( s ) = C ( sI-A ) x 0 + C ( sI-A ) B+D u(s)


-1 -1

8 # 1 1x 56

y ( s ) = C ( sI-A ) B+D u(s)


-1

y(s)
G (s ) = = C ( sI-A ) B+D
-1

u(s)

'' !& () *
$%$ & ! + , - . %
'/, 0 ) *
x1 = -7x1 - 12x 2 + u
x 2 = x1
y = x1 + 2x 2
1 2 13 ,

'' !& () *
$%$ & ! + , - . 4
5 6 73
8 9
x1 -7 -12 x1 1
= + u
x2 1 0 x2 0
x1
y= [1 2] +0u
x2
:

13

G ( s ) = C ( SI-A ) B + D = C ( SI-A ) B
-1 -1

Ans: G ( s ) =
( s+2 )
( s+3)( s+4 )

'' !& () *
$%$ & ! + , - . &

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