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ELE 4201 Control Systems Laboratory - 2

This document discusses representing systems using block diagrams in MATLAB. It describes how to combine series, parallel and feedback configurations of blocks to model larger systems. Series blocks are combined using 'series()', parallel using 'parallel()', and feedback using 'feedback()'. These functions allow reducing multiple blocks into a single transfer function or state space representation. Examples are provided of modeling various block diagram configurations in MATLAB.

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166 views6 pages

ELE 4201 Control Systems Laboratory - 2

This document discusses representing systems using block diagrams in MATLAB. It describes how to combine series, parallel and feedback configurations of blocks to model larger systems. Series blocks are combined using 'series()', parallel using 'parallel()', and feedback using 'feedback()'. These functions allow reducing multiple blocks into a single transfer function or state space representation. Examples are provided of modeling various block diagram configurations in MATLAB.

Uploaded by

Khandai Seenanan
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOC, PDF, TXT or read online on Scribd
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ELE 4201 Control Systems Laboratory

Laboratory: II Title: Representation of Systems in Block Diagram Form Objectives: To have each student become familiar with MATLAB by engaging
in exercises to reduce multiple block diagrams into a single block with a transfer function.
Figure 1 shows a block with a state space representation. Such a block represents a system or an element of a system. The MATLAB representation of such a system is given by sys = ss(A,B,C,D), where ss means state space. A physical system may involve many interconnected blocks. In what follows, we shall consider series, parallel, and feedback connected blocks. Combinations of the aforementioned blocks may represent any linear time-invariant system.

x = Ax +

Bu Fig. 1 y = Cx + Du
Series Connected Blocks

G2
Fig. 2 In Figure 2, G1 and G2 are series connected. System G1 (represented by sys1) and System G 2 (sys2) are respectively defined by (in state space) sys1 = ss(A1, B1, C1, D1) and sys2 = ss(A2, B2, C2, D2) The series connected system G1G2 is given by sys = series(sys1, sys2)

Parallel Connected Blocks

G2
Fig. 3 In Figure 3, G1 and G2 are parallel connected. The outputs from the two systems G 1 and G2 can take any combination of addition and subtraction. If G1 and G2 are defined in terms of state space, then sys1 = ss(A1, B1, C1, D1) and sys2 = ss(A2, B2, C2, D2) the parallel connected system G1 + G2 is given by sys = parallel(sys1, sys2) the parallel connected system G1 - G2 is given by sys = parallel(sys1, -sys2) Feedback Connected Blocks

H
Fig. 4

G2

Fig. 5

In Figure 4, G1 and H are in a feedback configuration. The feedback shown can either be negative or positive. In figure 5, both G1 and G2 are also in a feedback configuration but unlike figure 4, there is no subsystem in the feedback loop. This is known as unity feedback, where the feedback loop has a value of 1. If G and H are defined in terms of transfer functions, then sysg = [numg, deng] and sysh = [numh, denh] The entire feedback system is given by sys = feedback (sysg, sysh) or [num, den] = feedback(numg, deng, numh, denh) If the system has unity, then H = 1 and sys can be given by sys = feedback(sysg, [1]) Note that in treating the feedback system, MATLAB assumed that the feedback was negative. If the system involves a positive feedback, we need to add +1 in the argument of feedback as follows: sys = feedback(sysg, sysh, +1) Alternatively, we can use sysh in the statement sys; that is sys = feedback(sysg, -sysh) for the positive feedback system. For state space systems, you can use the following command for the transfer function system sys_ss = ss(sys) where sys is given in terms of transfer function

+ -

2/s

++

1/s

Fig. 6

MATLAB Program >> numg1 = [2]; deng1 = [1 0]; sysg1 = tf(numg1,deng1); >> numg2 = [1]; deng2 = [1 0]; sysg2 = tf(numg2,deng2); >> sysg3 = [1]; >> sys1 = parallel(sysg1,sysg3); >> sys2 = series(sysg1,sysg2); >> sys = feedback(sys2, [1]); MATLAB Response Transfer Function: s + 2/s^2 + s + 2 Type the following in MATLAB >> sys_ss = ss(sys) MATLAB Response a= x1 x2 x1 -1 -1 x2 2 0 b= x1 x2 c= y1 d= y1 u1 0 x1 1 x2 1 u1 1 0

The state space equation obtained is . .x1 = x2 = -1 2 -1 0 x1 x2 1 0 u1 u2

y=

x1 x2

0 0

u1 u2
4

Note that is state space representation is not unique. If we use the statement [A,B,C,D] = tf2ss(num,den) we obtain the following state space equations:

. .x1 =

x2 =

-1 1

-2 0

x1 x2

+ 0

u1 u2

y=

x1 x2

0 0

u1 u2

So if we use the transfer function from the earlier MATLAB response and add the transformation to state space command: >> num = [1 2]; den = [1 1 >> [A,B,C,D] = tf2ss(num,den) MATLAB Response A= -1 -2 1 0 B= 1 0 C= 1 D= 0 2 2];

EXAMPLE 1) Consider the system shown in figure 7. Obtain a state space representation of the closed loop system using two approaches: I Find the transfer function expression for the closed loop system and then transform that expression to a state space expression. II Find the state space representation of the entire closed loop system. - This will require you to make sure that order the numerator is less than or equal to the order of the denominator. - May need to manipulate and redraw the block diagrams. To obtain the corresponding transfer function, we use the statement: sys_tf = tf(sys)

Exercise 1.
Obtain the closed-loop transfer function Y(s)/U(s) with MATLAB.

+ -

(s + 1)2/s

2/s(s + 5)

Fig. 7

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