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Second Order System

This document describes a second order system and provides the equations of motion. It then provides sample parameter values and simulates the system in MATLAB/Simulink to obtain the control action, error, output, and control parameters over time. The simulation examines the control action needed to reduce the error between the required and actual output of the system.

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Melanie Powell
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70 views5 pages

Second Order System

This document describes a second order system and provides the equations of motion. It then provides sample parameter values and simulates the system in MATLAB/Simulink to obtain the control action, error, output, and control parameters over time. The simulation examines the control action needed to reduce the error between the required and actual output of the system.

Uploaded by

Melanie Powell
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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Second Order system

Equations
= =
+2 +
+ B
= = =
+ + A
T
u=
R
na = 2, nb = 1, d = na nb = 1, nr = nb + d 1 = 1, ns = na 1 = 1, = + + 1 = 3, n = 32
=1 =1
R = s+r ,S = s s+s ,T = t +
y BT ( + )(t + )
= =
u + ( + + )(s + r ) + ( + )(s + )
( + )(t + )
= =
( + + )(s + r ) + ( + )(s + )

= y


= y

= u

= u


= u


= y


= y

= u

= u


= u

Let = 0.7, = 1, = 2, = 1
Note: let there is a gain multiplied by the observer pole to have a model with unity dc gain | |

Code for output % Control Action


clc; close all;
h = figure(1);
sim('Second_Order_system');
plot(time, u(:, 2), 'LineWidth', 1.5);
time = err(:, 1);
grid on
xlabel('time') plot(time, ContParam(:, 2), 'LineWidth',
ylabel('Control Action (u)') 1.5);
title('Control Action (u) Vs Time') plot(time, ContParam(:, 3), 'LineWidth',
print(h,'-dpng','- 1.5);
r1000','Control_Action') plot(time, ContParam(:, 4), 'LineWidth',
1.5);
% Error plot(time, ContParam(:, 5), 'LineWidth',
h = figure(2); 1.5);
plot(time, err(:, 2), 'LineWidth', 1.5); plot(time, ContParam(:, 6), 'LineWidth',
grid on 1.5);
xlabel('time') grid on
ylabel('error = y - y_m') xlabel('time')
title('Error Between the Required Model ylabel('Control Parameters')
Output and the Actual Output') title('Control Parameters Vs Time')
print(h,'-dpng','-r1000','Error') legend('r_1', 's_0', 's_1', 't_0', 't_1')
print(h,'-dpng','-
% Output r1000','Control_Parameters')
h = figure(3);
hold all
plot(time, output(:, 2), 'LineWidth',
1.5);
plot(time, output(:, 3), 'LineWidth', Simulink Data
1.5); clc; close all; clear all;
plot(time, output(:, 4), 'LineWidth', global den;
1.5); global num;
grid on global gamma;
xlabel('time')
ylabel('Simulation Output') zeta = 0.7;
title('Simulation Output Vs Time') wn = 1;
legend('G_m Model Output', 'Adjusted obs = 2;
Output', 'Input (Required Output)')
print(h,'-dpng','-r1000','Output') Am = [1 2*zeta*wn wn^2];
A0 = [1 obs]
% Control Parameters
h = figure(4); den = conv(Am, A0);
hold all num = [wn^2*obs];
gamma = 1;

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