Math prerequisite- 1

Advanced Automotive Engineering

Automatic Controls

Math prerequisite

Prof. Carlo Rossi

DEI-University of Bologna
Phone: 051 2093020
Email: [email protected]

Prof. Carlo Rossi Automatic Controls

 Math prerequisite- 2

Complex numbers
§  Ordered pair of real numbers
s = (σ , ω ) = σ + j ω σ = Re( s), ω = Im( s)

§  Basic operations
s1 + s2 = σ1 + σ 2 + j (ω1 + ω2 )
s1 ⋅ s2 = (σ1 ⋅ σ 2 − ω1 ⋅ ω2 ) + j (σ1 ⋅ ω2 + σ 2 ⋅ ω1 )

§  Complex conjugate
s = σ − jω
2
s s = s = σ 2 + ω 2 , s + s = 2 Re( s ); s − s = 2 j Im( s )

§  Division
s1 s1 s2 s1 s2 σ1 σ 2 + ω1 ω2 + j (σ 2 ⋅ ω1 − σ1 ⋅ ω2 )
= = 2
=
s2 s2 s2 s2 σ 22 + ω22

Prof. Carlo Rossi Automatic Controls

 Math prerequisite- 3

Complex plane
Ø  Complex numbers as vectors on plane

ω s ⎧r = σ 2 + ω 2
⎪⎪ r = module
r ⎨ ⎛ω ⎞ ⎛ ω ⎞ θ = argument
⎪θ = arctan ⎜ ⎟ = arcsin ⎜⎜ ⎟
⎟
⎝σ ⎠ 2 2
θ ⎪⎩ ⎝ σ +ω ⎠
σ ⎧σ = r cos (θ )
⎨
⎩ ω = r sin (θ )
§  Polar form
s = r ( cos θ + j sin θ ) = r e j θ = s e j arg( s )
§  Exponential represent a rotation on complex plane
§  Euler formulas ⎧ e jθ + e − jθ
( )
jθ − jθ ⎪cos θ =
s = re − jθ ⎪ (
⎧ s + s = 2 Re( s ) = 2r cos θ = r e + e ) ⇒
⎪ 2
⎨ ⎨
⎪ s − s = 2 j Im( s ) = 2 j r sin θ = r e jθ − e − jθ
( ) ⎪ e jθ − e − jθ
( )
⎩ ⎪sin θ =
⎩ 2j
Prof. Carlo Rossi Automatic Controls
 Math prerequisite- 4

Complex functions
§  Multiplication and division in polar form
j (θ1 +θ 2 ) s1 r1 j (θ1 −θ 2 )
s1 s2 = r1 r2 e = e
s2 r2
Ø  Functions of complex variable
z = f (s) z ∈ !, s ∈ !
f (s) = u(s) + j v(s) = u(σ ,ω ) + j v(σ ,ω ) u,v,σ ,ω ∈ "
f (s) = M (s)e j θ (s) M (i) : ! → " θ (i) : ! → "
§  Usually, phase function has values in
5

R, without being restricted to teh 3

principal interval, in order to achieve 2

continuity in s

argomento
0

-1

f ( s ) = (1 + jω )(2 + jω )(3 + jω ) -2

⎛ω ⎞ ⎛ω ⎞ -3

θ ( s ) = arctan (ω ) + arctan ⎜ ⎟ + arctan ⎜ ⎟

⎝2⎠ ⎝3⎠
-4

-5
-10 -8 -6 -4 -2 0 2 4 6 8 10
omega

Prof. Carlo Rossi Automatic Controls

 Math prerequisite- 5

Complex functions
Ø  Limit of a complex function
lim f ( s ) = λ ∀ε > 0 ∃δ > 0 ⇒ s − s0 < δ → f (s) − λ < ε
s → s0
Ø  Continuity
lim f ( s ) = f ( s0 )
s → s0
Ø  Derivative: it exists finite the limit
f ( s0 + Δs ) − f ( s0 )
lim
Δs →0 Δs
u(σ 0 + Δσ ,ω0 ) + jv(σ 0 + Δσ ,ω0 ) − u(σ 0 ,ω0 ) − jv(σ 0 ,ω0 ) ∂u ∂v
lim = +j
Δσ →0 Δσ ∂σ ∂σ
u(σ 0 ,ω0 + Δω ) + jv(σ 0 ,ω0 + Δω ) − u(σ 0 ,ω0 ) − jv(σ 0 ,ω0 ) 1 ∂u ∂v
lim = +
Δω →0 jΔω j ∂ω ∂ω
∂u ∂v
=
∂σ ∂ω Cauchy-Riemann conditions
∂u ∂v Necessary and sufficient conditons for
=− function to be analytic
∂ω ∂σ
Prof. Carlo Rossi Automatic Controls
 Math prerequisite- 6

Analytic functions
Ø  Analytic in all the points of a domain including s0
§  Can be represented by power series expansion
∞ n f (n) (s) 1 f (s)
f (s) = ∑ c
n=0 n ( s − s0 ) cn =
n!
=
2π j !
∫ Γ n+1
ds
(
s − s0 )
Ø  Analytic in all the points of a domain including s0, but in s0
§  Can be represented by Laurent series expansion
∞ n 1 f (s)
f (s) = ∑
n=−∞ (
cn s − s0 ) cn =
2π j !
∫ Γ n+1
ds
(s − s0 )
§  If Laurent series start from negative finite n, s0 is a pole
§  The coefficient of the -1 term of the Laurent series is the residue
associated the pole
1
c−1 =
2π j !
∫ Γ
f (s) ds

Prof. Carlo Rossi Automatic Controls

 Math prerequisite- 7

Polynomial functions
Ø  Defined by a polynomial of degree n
f (s) = a0 s n + a1s n−1 +…+ an−1s + an
§  Zero of the function: z solution of
f (s) = a0 s n + a1s n−1 +…+ an−1s + an = 0
§  The algebra fundamental the: every non-zero degree n polynomial with
complex coefficients has, counted with multiplicity, exactly n complex
zeros n
n n−1
f (s) = a0 s + a1s +…+ an−1s + an = a0 ∏ s − zi( )
i=1
§  If the coefficients are real, the zeros are reals or come in complex conjugate
pairs
r ( n−r ) / 2
f ( s ) = a0 ∏ ( s − σ i ) ∏ ( s − z j )( s − z j )
i =1 j =1

Prof. Carlo Rossi Automatic Controls

 Math prerequisite- 8

Rational functions
Ø  Polynomials ratio
b0 s m + b1s m−1 +…+ bm−1s + bm
f (s) =
s n + a1s n−1 +…+ an−1s + an
§  Numerator zeros are the function zeros,
m
Denominator zeros are the functions poles ∏ ( s − zi )
i =1
f ( s ) = b0 n
∏ (s − p j )
j =1
§  Rational functions are analytic function but in the function poles, they
can be expanded in Laurent series
§  The can be expanded also in partial fraction
§  if m<n, in the partial fraction expansion there are only terms with negative n
§  If poles are all distinct, it results:
m
∏ ( s − zi ) n ki
i =1
f ( s ) = b0 n
=∑
∏ ( s − p j ) i =1 s − pi
j =1

Prof. Carlo Rossi Automatic Controls

 Math prerequisite- 9

Rational functions
§  Residues computation:
n n s − pj
ki
( s − p j ) f (s) = ( s − p j ) ∑ s − p = k j + ∑ ki s − p
i =1 i i =1 i
i≠ j

(
k j = s − p j f (s)) s= p j
§  Residues’ properties
§  if n=m+1, sum of residues is equal to b0
§  if n>m+1, sum of residues is equal to 0

§  If there are poles with multiplicity ri bigger than 1; expansion is

m
∏ ( s − zi ) r r
i =1
i kij r
f ( s ) = b0 n
= ∑∑ r − j +1 ∑ ri = n
∏ ( s − p
j =1j ) i =1 j =1 ( s − pi ) i
i =1

1 d j −1 ri
kij = j 1
( s − pi ) f (s)
( j − 1)! ds −
s = pi
Prof. Carlo Rossi Automatic Controls