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Excercise 2021

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20 views

Excercise 2021

Uploaded by

jonatan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Exercise for Lecture 4

Course Modeling and Simulations


By: Petar Durdevic, AAUE

Exercise 1
Given the transfer function, find the following (NOTE, when I say by hand it means that you can
use matlab as a calculator but you have to write the equations your selves instead of calling matlab
functions):
1
2
3𝑠𝑠 + 3𝑠𝑠 + 2
1. Find the system poles and zeros and plot, by hand
2. Plot the system step response using Matlab
3. What is the DC gain of the system? Check if it fits the step response steady state value?
4. What can you say about the system from its pole and zero locations?
5. Find the Damping and natural frequency of the system by hand (use matlab as a calculator
only) and sketch in the pole zero map, hint (𝑟𝑟 = �𝑥𝑥 2 + 𝑦𝑦 2 )
Hint: use the relations from chapter 3 ‘Franklin’ and solve it in Matlab.

Exercise 2
Given the following system block diagram, where 𝒙𝒙 is the direction of movement (output) and 𝒖𝒖
id s force applied in the direction of movement (input) to move the object with the mass 𝒎𝒎

6. Derive the differential equation (hint lecture 3)

7. Convert into state space

8. find the transfer function (hint lecture 3)

9. Compare TF and SS

1. Step

2. Impulse

3. Poles

Exercise 3
Given the state space model of a pendulum:
0 1 0
𝜃𝜃
𝑥𝑥̇ = �− 𝑔𝑔 � �
0 𝜃𝜃̇ � + � 1 � 𝑢𝑢
𝑙𝑙 𝑚𝑚𝑙𝑙 2
𝜃𝜃
𝑦𝑦 = [1 0] � ̇ �
𝜃𝜃
Where m = 100, l = 10, g=9.82
a) Is the model stable
• Find the poles
b) Is the model controllable
c) Is the model observable
d) Simulate a step response of the system in Matlab
Hint. Calculate using the presented methods (use Matlab only as a calculator), validate using Matlab
functions.

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