Modelling and Identification

Prof. Dr. Ping Zhang

Institute for Automatic Control

WS 2023/24
 Review: Modelling strategies

Example: One-tank system

Theoretical modelling Experimental modelling

dh Flow rate Water level

Mass balance: A  Qinflow  Qoutflow
dt

Torricelli‘ law: Qoutflow  aA0 2 gh 0 t 0 t

dh K
A  Qinflow  aA0 2 gh H ( s)  Qin flow ( s )
dt Ts  1

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 Organisation of this course

Chapter 1: Introduction
Chapter 2: Theoretical Modelling
Chapter 3: Experimental modelling
Chapter 4: Least-Squares methods
Chapter 5: Prediction error methods
Chapter 6: Instrumental variable methods
Chapter 7: Subspace identification methods (SS model!)
Chapter 8: Some practical aspects

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 Organisation of this course

Chapter 1
Introduction

Chapter 2 Chapter 3
Theoretical Modelling Experimental Modelling

Chapter 4
Least-Squares methods

Chapter 5 Chapter 6
Prediction error methods Instrumental variable methods

Chapter 7
Subspace identification

Chapter 8
Some practical aspects

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 Chapter 3
Experimental Modelling

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 Measurement of frequency response

An improved approach:

System

If , then

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 Measurement of frequency response

An improved approach:

System

If , then

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 Measurement of frequency response

The direct measurement of freuency response using sinusoidal test

signal
 Pointwise determination of the frequency response
 Good results but time-consuming for systems with slow
dynamics

The improved approach

 Reduce the effect of noises
 Employed in many commercial frequency response
measurement devices and software tools

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 Get transfer function from system response

For simple systems, it is sometimes possible to read the parameters

of transfer functions directly from system response to a test signal.
2 3 2.5

2
1.5
2 1.5
1
1
1
0.5
0.5

0
0 10 20 30 40 0 0
0 20 40 0 20 40 60 80
Bode Diagram
80
70
2.5 7 60
50
40
30
6

Magnitude (dB)
20
2 10
0
5 -10
-20
-30
1.5 4
-40
-50
-60
-70
-80

1 3 -90

2 -120

Phase (deg)
0.5
1
-150

0 0
0 1 2 3 0 2 4 6 8 10
-180
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/s)

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 Step response of 1. order system
Given a first order system described by

Under the control input signal , the system output is

Step response (K=2)

2
T=1
1.5 T=2

y(t)
T=3
1

0.5

0
0 2 4 6 8 10
t

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 Step response approach – 1. order system
Assume that the system is approximated by a first order system

Step response ( )
2 Read characteristic
Tangent line at 𝑡 = 0 values:
1.5  final value
 time
1

0.5

0
0 10 20 30 40

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 Step response approach – 1. order system

Identification procedure:

1. Calculate the gain .

2. Draw the tangent line at .
3. Read

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 Step response approach – 1. order system
Assume that the system is approximated by a first order system

Step response ( )
2 Read characteristic
values:
1.5  final value
 time . : the time at
1 which the output reaches
63% of the final value
0.5

0
0 10 20 30 40
.

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 Step response approach – 1. order system

Identification procedure:

1. Calculate the gain .

2. Read time . , i.e. the time at which the output reaches 63% of the
final value
3. Get . .

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 Step response approach – systems with
derivative action
Approximation by a first order system with derivative action

Step response ( )

2.5

Read characteristic values:

1.5

0.5

0
0 1 2 3

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 Step response approach – systems with
derivative action
Approximation by a first order system with derivative action

Step response ( )

2.5
According to the initial value
2
theorem,
1.5
→ →

1
→

0.5

0
0 1 2 3

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 Step response approach – systems with
derivative action
Identification procedure:

1. Calculate the gain .

2. Draw the tangent at .
3. Read and .
( )
4. Calculate .

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 Step response approach – systems with
derivative action
Example 1: Approximate the system with the following step response by

Step response ( )

2.5

1.5

0.5

0
0 1 2 3

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 Step response approach – systems with
derivative action
Example 2: Approximate the system with the following step response by

Step response ( )

0
0 1 2 3

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 Step response approach – systems with
integral action
Approximation by a -th system with integral action

Step response ( )
7

0
0 2 4 6 8 10

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