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Background Review: - Initial Value Theorem - Final Value Theorem - Input Output Systems

The document summarizes key concepts in control systems including: (1) The initial value theorem and final value theorem relate the Laplace transform of a signal to its value at t=0 and t=∞; (2) Transfer functions describe the input-output relationship of systems using Laplace transforms; (3) Poles and zeros determine system stability and frequency response; (4) Examples illustrate calculating impulse and step responses from transfer functions.

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172 views25 pages

Background Review: - Initial Value Theorem - Final Value Theorem - Input Output Systems

The document summarizes key concepts in control systems including: (1) The initial value theorem and final value theorem relate the Laplace transform of a signal to its value at t=0 and t=∞; (2) Transfer functions describe the input-output relationship of systems using Laplace transforms; (3) Poles and zeros determine system stability and frequency response; (4) Examples illustrate calculating impulse and step responses from transfer functions.

Uploaded by

Rabih
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Background Review

• Initial value theorem


• Final value theorem
• Input output systems
– Transfer functions
– Frequency response (steady state sinusoidal
response)
– Poles and zeros
– Stability
• Matlab
Initial value theorem
If f (t ) ↔ F ( s ), that is : F ( s ) = L{ f (t )}

+
Then : f (0 ) = lim+ f (t ) = lim sF ( s )
t →0 s →∞

Conditions:
f(t) is continuous except finite step at t=0
or F(s) is proper: num deg <= den deg
Final value theorem
If f (t ) ↔ F ( s ), that is : F ( s ) = L{ f (t )}

Then : f (∞) = lim f (t ) = lim sF ( s )


t →∞ s →0

Conditions:
f(t) is finite and converges
or every pole of sF(s) has real part < 0
Examples
s +1
Y (s) =
( s + 2)( s + 3)
+ s ( s + 1)
y (0 ) = lim sY ( s ) = lim
s →∞ s →∞ ( s + 2)( s + 3)

s +s
2
2s + 1 2
= lim 2 = lim = lim = 1
s →∞ s + 5s + 6 s →∞ 2 s + 5 s →∞ 2

y (∞) = lim sY ( s ) = 0
s →0
>> s=sym('s')
s=
s

>> F=(s+1)/(s+2)/(s+3)
F=
(s+1)/(s+2)/(s+3)

>> f=ilaplace(F)
f=
-exp(-2*t)+2*exp(-3*t)

f(0)=1, f(inf)=0
Examples
s+6
Y ( s) =
s ( s + 2)( s + 3)
y (0 + ) = 0
y (∞ ) = 1

s+6
Y ( s) =
s ( s 2 + 6)
y (0 + ) = 0
y (∞) = does not apply
Examples
s+6
Y ( s) = 2
s ( s + 2)( s + 3)
+
y (0 ) = 0
y (∞) = does not apply

For final value, Y ( s ) can have one


pole at s = 0, all other poles must < 0!
Transfer Function
Transfer function from x to y is the ratio of
Laplace transform of y to Laplace transform of x :
Y ( s ) L [ y (t )] ∆
= = G ( s ), or H ( s ), L
X ( s ) L [x(t )]

Then : Y ( s ) = H ( s ) X ( s )
Transfer Function
Example : y& + ky = x
take Laplace transfor of equation :
sY ( s ) + kY ( s ) = X ( s )
solve for Y/X :
Y ( s) 1 1
= , Y (s) = X (s)
X ( s) s + k s+k
1
∴ T.F. from x to y is H(s) =
s+k
The inverse transform gives the unit impule response
h(t ) = e − kt u (t )
Example
Example :
&y&(t ) + 5 y& (t ) + 4 y (t ) = x& (t ) + 4 x(t )
Taking Laplace transform yields :
s 2Y ( s ) + 5sY ( s ) + 4Y ( s ) = sX ( s ) + 4 X ( s )
Solving for Y/X gives :
Y (s) s+4 s+4 1
H (s) = = 2 = =
X ( s ) s + 5s + 4 ( s + 1)( s + 4) s + 4
Inverse transform gives unit impulse response
h(t ) = e −t u (t )
Example
⎧ x& = Ax + Bu
State space model : ⎨
⎩ y = Cx + Du
⎧sX ( s ) = AX ( s ) + BU ( s )
take L : ⎨
⎩Y ( s ) = CX ( s ) + DU ( s )
( SI − A) X ( s ) = BU ( s )
−1
X ( s ) = ( SI − A) BU ( s )
Y ( s ) = [C ( SI − A) −1 B + D]U ( s )
144 42444 3
H (s)

A, B, C, D are matrices
Input Output System

• Input Output System:


Input Output
System
δ(t),u(t) y(t)

– If the input x(t) is unit impulse, x(t)=δ (t), the


output is called the impulse response.
– If the input x(t) is unit step, x(t)=u(t), the
output is called the step response.
Y (s)
If = G ( s ) or H ( s ), Y ( s ) = G ( s ) X ( s ) or H ( s ) X ( s )
X ( s)
X(s) Y(s)
H(s)

when x(t) = δ (t) Y(s) = H(s)X(s)


X(s) = 1 , = H(s)
∴ the impulse response is given by
−1
y ( t ) = h ( t ) = L [ H ( s )]
similarly, the step resp. is given by
−1 1
y (t ) = L [ H ( s ) ]
s
Frequency Response
• Frequency Response: Given T.F. H(s)

⎧| H ( jω ) | v.s. ω is amp. resp.


⎨
⎩∠H ( jω ) v.s. ω is phase resp.
⎧20 log10 | H ( jω ) | v.s. log10ω
most time, plot ⎨
⎩∠ H ( j ω ) in o
v.s. log10ω
meaning :
Acosωt A | H ( jω ) | cos(ωt + ∠H ( jω ))
H(s)
Example
3
Example : H ( s ) =
s+3
If input = 10 cos(3t ), ω = 3
3 1 3
H ( jω ) = = , ∠H ( jω ) = ∠ = −45o
3 + j3 2 3 + j3
10
∴ output = cos(3t − 45o )
2

Works only if H(s) is stable


Poles and zeros
• Poles: values of s at which TF Æ infinity
– Most time, poles = roots of denominator
– When there are common factors in numerator
and denominator, cancel them first
• Zeros: values of s at which TF = 0
– Finite zeros: roots of numerator
– Number of zeros at infinity: n-m, n= den deg
and m = num deg
• Totally n poles and n zeros
• n is called the order of the system
• n – m the relative order
Example
10( s + 1)
G (s) = 2
s ( s + 4)( s + 6)
• Order: n = 4 = den deg
• m= num deg = 1
• Relative order = n-m = 3
• 4 poles at: 0, 0, -4, -6
• One fine zero at -1
• 3 zeros at infinity
Stability
• System is BIBO stable if any bounded
input generates bounded output
• Simple criteria:
– After common factor cancellation
– All poles have strictly negative real parts
Example

10( s + 1)
G1( s ) = 2
s ( s + 4)( s + 6)
10 s + 3
G1( s ) =
( s + 2)( s + 5)
s −1
G1( s ) = 2
s + 4s + 6
10( s + 1) 10( s + 1)
G ( s) = 2 = 3
s ( s + 4)( s + 6) ( s + 4 s )( s + 6)
2

n = 10 * [1 1]
d = conv([1 4 0 0], [1 6]);
[r , p, k ] = residue(n, d )
0.7 −6
− 0.9 −4
r= , p= , k = []
0.24 0
0.42 0
0.7 − 0.9 0.24 0.42
G ( s) = + + + 2
s+6 s+4 s s
Example
e−2s
2.1d G(s) =
10s(s +1)(s + 2)
poles: s = 0, −1, − 2
zeros: ∞, ∞, ∞
2.2d
1
g (t ) = sin( 2t ) cos(2t )u s (t ) = sin( 4t )u s (t )
2
1 2
G( s) =
2 s2 + 4
Example
• 2.5a &f& + 5 f& + 4 f = e −2t u (t )
s

1
( s + 5s + 4) F ( s ) =
2

s+2
1 1
F (s) = =
( s + 2)( s + 5s + 4) ( s + 2)( s + 1)( s + 4)
2

1 1 1
−
= 2 + 3 + 6
s + 2 s +1 s + 4
1 − 2t 1 −t 1 − 4t
f (t ) = − e u (t ) + e u (t ) + e u (t )
2 3 6
example
2.6c 100( s + 2) −s
G (s) = e
s ( s + 4)( s + 1)
2
144244 3
do P.F.E. of this

↓
50 L 20 − s
=( + 2 + )e
s s + 4 s +1
50 − s 20 − s As + B − s
= e + e + 2 e
1s23 s4
1 +2
143 s +4
↓ ↓

g (t ) = 50u (t − 1) + 20e −(t −1)u (t − 1)


+ ( A cos 2t + B sin 2t )u (t ) t =t −1
⎛ x1 ⎞
⎜ ⎟ ⎛ u1 ⎞
let x = ⎜ x2 ⎟, u = ⎜⎜ ⎟⎟
2.7 ⎜x ⎟ ⎝ u2 ⎠
⎝ 3⎠
x& = Ax + Bu
⎧ x&1 = − x1 + 2 x2
⎪
⎨ x&2 = −2 x2 + 3 x3 + u1
⎪ x& = − x − 3 x − x + u
⎩ 3 1 2 3 2
.
⎛ x1 ⎞ ⎛ − 1 + 2 0 ⎞⎛ x1 ⎞ ⎛ 0 0 ⎞
⎜ ⎟ ⎜ ⎟⎜ ⎟ ⎜ ⎟⎛ u1 ⎞
x& = ⎜ x2 ⎟ = ⎜ 0 − 2 + 3 ⎟⎜ x2 ⎟ + ⎜ 1 0 ⎟⎜⎜ ⎟⎟
⎜ x ⎟ ⎜ − 1 − 3 − 1 ⎟⎜ x ⎟ ⎜ 0 1 ⎟⎝ u2 ⎠
⎝ 3⎠ ⎝ ⎠⎝ 3 ⎠ ⎝ ⎠
A x B u
2.8c
&y&& +10&y& + 2 y& + y + 2∫ y = r& + 2r
Y
s Y (s) +10s Y + 2sY + Y + 2 = sR + 2R
3 2

s
2
(s +10s + 2s +1+ )Y = (s + 2)R
3 2

s
Y s(s + 2)
= 4
R s +10s + 2s + s + 2
3 1

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