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Interactive Session4 System ID With Solution

This document provides an overview of the topics and schedule for Week 3 of the Automatic Control Systems course MTE 360. It includes modeling of electromechanical systems and system identification using step responses of first-order systems. It outlines a virtual lab assignment on transfer function identification from simple responses and P-control. The objectives are to practice recalling step responses of LTI systems and using the time constant and final value to identify first-order transfer functions. A formative quiz is also provided to assess understanding of LTI system responses.

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Vincent GHEROLD
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
32 views

Interactive Session4 System ID With Solution

This document provides an overview of the topics and schedule for Week 3 of the Automatic Control Systems course MTE 360. It includes modeling of electromechanical systems and system identification using step responses of first-order systems. It outlines a virtual lab assignment on transfer function identification from simple responses and P-control. The objectives are to practice recalling step responses of LTI systems and using the time constant and final value to identify first-order transfer functions. A formative quiz is also provided to assess understanding of LTI system responses.

Uploaded by

Vincent GHEROLD
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Automatic Control Systems

Week 3, interactive session 4

MTE 360

Arash Arami
1
Tentative Schedule
Week Topic(s)
1 Introduction, Basic concepts, (Self Review of Linear Systems and Signals, Laplace Transform)
2 Modeling Mechanical and Electrical Systems, Linearization, Tutorial 1
3 Modeling Electromechanical Systems, System Identification, Poles and time response,
1st order systems, Tutorial2, MATLAB tutorial
4 Block diagram algebra review, Partial Fractions, Tutorial 3, Lab1
5 2nd order system specifications, time response, basic controller design, Tutorial 4
6 Reading week
7 Midterm
8 More on Basic controllers, Zeros and response, stability, Tutorial 5
9 Stability, Sensitivity, Disturbance, P, PD, PI controllers, Lab2, Tutorial 6, Mini Project
10 System Type, Controller Type, Tracking error and disturbance rejection, PID controller,
Tutorial 7, Lab2
11 Frequency response, frequency domain specification, Bode plots, Lead controller, Tutorial 8,
review session for mini project
12 Root Locus and controller design, Tutorial 9, Mini project due
2
13 Controller design review and practice problems
Virtual Lab 1
Transfer Function Identification from simple responses
P-control
Release: Week 4
Deadline: Week 5

3
Today Objectives

• Become more familiar with system identification


• Practice to recall step response of simple LTI system
• A formative quiz on LTI system response
• Use the time constant and final value of step response
to identify 1st order systems

4
Previously on MTE 360 ...

Modeling – System Identification


Having a model of system allows us to design controller for it.

Direct modeling:
Known physics (e.g. if it is a mass-spring damper, DC motor, …)
Known parameters (e.g. m=10Kg, K=500N/m,…)

Don’t know either of those  use system identification techniques:


• Apply different input signals
• Measure the outputs
• Fix a parametric model
• Estimate parameters of the model so that output of actual system and
model become similar
5
Previously on MTE 360 ...

Step response (first-order systems)


/ /
Step response: y / 1 1

Time constant (τ)


Time τ when the step response is (1- ) times the final value
Step response
Time τ when the impulse response is times initial value
1

Steady-state response
Impulse response
Steady-state step response amplitude:

6
Previously on MTE 360 Review

Final value theorem to find the steady state


response
Theorem : lim lim
→ →

Applying to Y(s) : lim lim


→ →

lim lim
→ → !

lim lim
→ → !

lim
→

This could be applied to any system of any order, if the system is stable.
7
Let’s identify these two systems
(find the Simulink file at:
Learn>Content>Main Lectures>Week 3)
• Let’s assume a 1st order model for each
• Find the transfer functions
Sys 1 step response
Sys 2 step response
A 5-min Survey on LEARN
LEARN>Submit>Surveys
https://learn.uwaterloo.ca/d2l/lms/survey/admin/modify/survey_new
edit_properties.d2l?si=195099&ou=712417
Quiz time (Formative)
MTE360
Sep 22, 2021
Go to https://b.socrative.com/login/student/
Room name: MTE360
Quiz time

MTE 360
Sep 22, 2021
4 problems each 4 minutes ~ total time: 16 minutes
Today you don’t need to fully solve them, use the knowledge
of LTI response, and final value theorem to find the answer.
Solution will be posted after the session.
Quiz 1
Quiz 2
Quiz 3

Find the corresponding Transfer Function to the


obtained unit step response.
Quiz 4

To identify a cart system we applied some step


inputs and measured the response as shown.
Find the gain (G) and pole (P) of the first order
system Transfer Function.

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