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GENG5503 Modern Control Systems Lab 1 Mathematical Modeling: V. Sreeram

This document provides instructions for a lab experiment on mathematical modeling concepts in MATLAB. The objectives are to introduce state-space equations, transfer functions, similarity transformations, system responses, and block diagram simplification. Students will write MATLAB functions to obtain different state-space representations for systems. They will also plot responses, calculate transfer functions, perform similarity transformations, and write functions for block diagrams. The report will include aims, theory, answers to lab questions, and conclusions relating results to objectives.

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Victor Sreeram
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279 views6 pages

GENG5503 Modern Control Systems Lab 1 Mathematical Modeling: V. Sreeram

This document provides instructions for a lab experiment on mathematical modeling concepts in MATLAB. The objectives are to introduce state-space equations, transfer functions, similarity transformations, system responses, and block diagram simplification. Students will write MATLAB functions to obtain different state-space representations for systems. They will also plot responses, calculate transfer functions, perform similarity transformations, and write functions for block diagrams. The report will include aims, theory, answers to lab questions, and conclusions relating results to objectives.

Uploaded by

Victor Sreeram
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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GENG5503 Modern Control Systems

Lab 1 Mathematical Modeling

∗
V. Sreeram

February 7, 2016

∗
School of Electrical, Electronic and Computer Engineering, University of Western Australia,
Crawley, Western Australia 6009.

0
1 Aim

The purpose of this experiment is to give an introduction to the mathematical mod-


eling concepts using MATLAB which include: state-space equations for some stan-
dard realisations, transfer functions, similarity transformations, system responses,
and block diagram simplification.

2 Introduction

MATLAB is a computer-aided engineering system that provides a control engineer


with a designer’s workbench. It provides an integrated software environment with
commands for matrix analysis, digital signal processing, control system design and
analysis, system identification, robust control, optimization, etc.

MATLAB can also be regarded as an interactive computer language that provides


an operating environment for the analysis and design of multivariable systems. Pow-
erful matrix-handling capabilities are provided without cumbersome syntax. Unix-
like file-handling commands provide access to data files on disk. Graphical outputs
are created using the same kind of natural commands that are used to manipulate
matrices. For the new user, MATLAB can be thought of as a computer-aided engi-
neering desk calculator. For the advanced user, MATLAB has syntax and commands
that form a complete very high-level programming language with facilities for direct
interfaces to users’ FORTRAN and C programs.

To invoke MATLAB, execute the command

$ matlab

MATLAB is extremely easy to use. A quick introduction to learn ”how to use”


MATLAB can be obtained by typing

demo

which brings up a menu of demonstrations.

An on-line HELP facility is also available, providing information on most MATLAB


topics. To get a list of HELP topics, type

1
help

To get HELP on a specific topic, type help topic. For example,

help eig

provides HELP information on the use of the eigenvalue function.

MATLAB is usually used in command-driven mode; when single-line commands


are entered, MATLAB processes them immediately and displays the results. MAT-
LAB is also capable of executing sequences of commands that are stored in files.
Together, these two modes form an interpretive environment.

The files that contain MATLAB statements are called M-files because they have a
file type of “.m” as the last part of the filename. For example, a file named bessel.m
might contain MATLAB statements that evaluate Bessel functions.

A M-file consists of sequences of normal MATLAB statements, possibly including


references to other M-files. A M-file can also call itself recursively.

M-files can also be used as function files. They allow new functions to be added
to the existing functions. Much of the power of MATLAB derives from this ability
to create new functions that solve user-specific problems.

3 Procedure

1. Given any system realization described by

ẋ = Ax + bu
y = cx

write function programs to obtain the following state-space representations:

(i) controller canonical form (0.5 marks)


(ii) controllability canonical form (0.5 marks)
(iii) observer canonical form (0.5 marks)
(iv) observability canonical form (0.5 marks)
(v) diagonal form (0.5 marks)

2
Note that MATLAB has controller, controllability, observer, observability, and
diagonal functions given the the state-space matrices of the individual subsys-
tems. However, you need to write your own functions to do the same.

Use the following third-order system to test your function program. (0.5 marks)

s2 + 9s + 20
G(s) =
s3 + 6s2 + 11s + 6

2. For the system defined by

ẋ = Ax + bu
y = cx

where
   
0 0 −2 1 h i
A =  1 0 −5  , b =  0  , and c = 4 8 8
   

0 1 −4 0

plot the states x1 (t), x2 (t), and x3 (t) and the output of the system y(t) for the
following inputs (1 mark):

(i) impulse function (ii) step function.

Solve the above problem using the following initial conditions (1 mark):

x(0) = [1, 1, 1] and x(0) = [0, 0, 0].

Calculate also the transfer function of the system. (1 mark)

3. Perform a similarity transformation on the realization given in question 2 to


obtain a new realization. (i) Calculate the transfer function of this new real-
ization (0.5 marks), and (ii) Calculate and plot the impulse and step response
of the new realization using the initial conditions given in question 2 (1 mark).
Compare the results with the results obtained in question 2 and comment on
whether the results agree with the theory (1 mark). Include the theoretical
derivations in your report (0.5 marks).

3
4. Write M-files to compute the transfer functions of the systems, shown by the
block diagrams (Figures 1-3) (2 marks). The transfer functions of the blocks
G1 (s) and G2 (s) in the figures are given by

(s + 1)(s + 4)
G1 (s) =
(s + 2)(s + 3)

(s2 + s + 2)
G2 (s) =
(s2 + 2s + 2)

Note that MATLAB has feedback, parallel and series functions to compute the
transfer functions given the transfer functions, or the state-space matrices of
the individual subsystems. However, you need to write your own functions to
do the same. In your report, show complete derivations both in frequency and
time domains (3 marks).

U (s) - g - G1 (s) - Yf (s)


+ 6
−

G2 (s) 

Figure 1: Feed-Back(or Closed-Loop) Interconnection

- G1 (s)
?+
U (s) g - Yp (s)
6+
- G2 (s)

Figure 2: Parallel Interconnection

U (s) - G1 (s) - G2 (s) -


Ys (s)

Figure 3: Serial Interconnection

4
4 Report Structure

1. Aim (1 mark)
- Describe the objectives of this lab

2. Theory related to lab (4 marks)


- Describe the state-space representation equations and transfer functions from
state-space equations (1 mark)
- Describe how to obtain the system responses (1 mark)
- Describe the similarity transform equations (1 mark)
- Discuss the block diagram representation of different transfer functions (1
mark)

3. Answers to questions in the procedure in Section 3 of lab manual (14 marks)

4. Conclusion (1 mark)
- Summarise the results obtained from the questions (0.5 marks)
- Link the results to the objectives of this lab (0.5 marks)

5 References

1. Dorf and Bishop, Modern Control Systems, Addison Wesley Longman Inc., 1998
(Section 2.10).

2. Kailath, Linear Systems, Prentice-Hall Inc., 1980 (Chapter 2).

3. Stefani, Savant, Shahian, and Hostetter, Design of Feedback Control Systems,


4th edition, Saunders College Publishing, 2001 (Chapter 8).

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