Lecture 5 Simulation Diagrams
Lecture 5 Simulation Diagrams
• Ideal Integrators;
• Ideal Amplifiers;
• Ideal Summers.
A state block diagram represents a system that is given in the state space
form. Integrators are used to solve the multiple differential equations
(refer to A Primer to control systems page 40).
I will illustrate this process in an example:
𝑥 2 3 𝑥1 3
[ ][
˙1
𝑥
˙2
=
−1 −4 ][ ] [ ]
𝑥2
+
7
𝑢
𝑥1
𝑦= [ 3 5]
[ ]
𝑥2
Write the state and output equations from the state space representation as
follows:
.
.
Draw integrator blocks, and assign a state variable to the output of each
block.
At the input to each block (which represents the derivative of its state
variable) draw a summing element.
Let’s work through the 1st state equation . Starting with the right hand side
(3u) and then working towards the left. Use the state equations to connect the
state variables and inputs to the summing elements through scaling operator
blocks.
Now add the next term (.
Thereafter add the next term (
Similarly we work through the 2nd state equation:
Finally we add the output equation to the diagram.
We expand the output equations and sum the state variables and inputs
through a set of scaling operators to form the components of the output.
Additional question
𝑥 4 2 𝑥1 4
[ ][˙1
𝑥
˙2
=
−3 −5 ][ ] [ ]
𝑥2
+
8
𝑢
𝑥1
𝑦= [ 2 6]
[ ]
𝑥2
Transfer function to state
spaceof a system is shown below. Obtain the simulation diagram and
The transfer function
hence find the state space representation of this system.
Solution:
Write as:
Now put:
Then:
and
Now assign the state variables to the integrator outputs starting from the
RHS.
Giving:
State space to transfer function
Refer to The Primer for control systems for derivation of the following
equation:
The state space model of a physical system is shown below. Find the transfer
function model from first principles.
The transfer function is given by:
But D = 0,
And
=
=
The cofactor = Cofactor
Find the cofactor of each element
=
=
Therefore =
References
1. Ogata, K. 2010, Modern control engineering, 5th, International edn, Pearson, Boston, Mass.
2. Van Vuuren, G.J. 2010, A primer for control systems, Rev. edn, Quad Technologies, Wandsbeck, South Africa.