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50 views8 pages

Ex1 3

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Pietro Testa
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© © All Rights Reserved
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Modern Control Systems Exercise 01 RWTH Aachen University

Example 1

+
R +- G1 G2 + Y

G3

+
-

Figure 1.1

Figure 1.2

1
Prof. Antonello Monti
Institute for Automation of Complex Power Systems
Modern Control Systems Exercise 01 RWTH Aachen University

Figure 1.3

Figure 1.4

2
Prof. Antonello Monti
Institute for Automation of Complex Power Systems
Modern Control Systems Exercise 01 RWTH Aachen University

Figure 1.5

Figure 1.6

3
Prof. Antonello Monti
Institute for Automation of Complex Power Systems
Modern Control Systems Exercise 01 RWTH Aachen University

Figure 1.7

Figure 1.8

4
Prof. Antonello Monti
Institute for Automation of Complex Power Systems
Modern Control Systems Exercise 01 RWTH Aachen University

Figure 1.9

Figure 1.10

Figure 1.11

5
Prof. Antonello Monti
Institute for Automation of Complex Power Systems
Modern Control Systems Exercise 01 RWTH Aachen University

Figure 1.12

Figure 1.13

Source: https://www.youtube.com/watch?v=QJNAZ86rKlk

6
Prof. Antonello Monti
Institute for Automation of Complex Power Systems
Modern Control Systems Exercise 01 RWTH Aachen University

Example 2
Consider a second order system with transfer function

1 1 1 1
𝐻(𝑠) = = = −
𝑠2 + 3𝑠 + 2 (𝑠 + 1)(𝑠 + 2) 𝑠 + 1 𝑠 + 2

These three expressions of 𝐻(𝑠) correspond to three different block diagram representations of the
system. The last two expressions are, respectively, the cascade and parallel forms composed of two sub-
systems, and they can be easily implemented as shown below.

1
+
𝑠

x(t) +
-1 + y(t)
-

1
+ 𝑠

-2

Figure 2.1

7
Prof. Antonello Monti
Institute for Automation of Complex Power Systems
Modern Control Systems Exercise 01 RWTH Aachen University

1 1
+ +
x(t) .
z(t)
s . s
z(t) y(t) y(t)

-1 -2

Figure 2.2

Alternatively, the first expression, a direct form, can also be used. To do so, we first consider a general
system

𝑌(𝑠) 1
𝐻(𝑠) = = 2
𝑋(𝑠) 𝑠 + 𝑎𝑠 + 𝑏

i.e.

𝑠 2 𝑌(𝑠) + 𝑎𝑠𝑌(𝑠) + 𝑏𝑌(𝑠) = 𝑋(𝑠)

Or

𝑠 2 𝑌(𝑠) = 𝑋(𝑠) − 𝑎𝑠𝑌(𝑠) − 𝑏𝑌(𝑠)

Given 𝑠²𝑌(𝑠), we can first obtain 𝑠𝑌(𝑠) by an integrator 1/𝑠, and then obtain the output 𝑌(𝑠) from
𝑠𝑌(𝑠) by another integrator 1/𝑠. We see that this system can be represented as a feedback system with
two negative feedback paths of 𝑎 = 3 and 𝑏 = 2 from 𝑌(𝑠).

Figure 2.3

8
Prof. Antonello Monti
Institute for Automation of Complex Power Systems

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