Scribd
Upload
30 views

Lecture 3 - 2

This document discusses closed-loop control systems and state-space modeling. It introduces key concepts like the reference input, feedback signal, error signal, transfer functions, and effect of disturbances. It compares classical and modern control theories. It then covers state, state vectors, state space, and developing state-space models from physical systems using state and output equations. Examples are provided on modeling RLC circuits and converting transfer functions to state-space models.

Uploaded by

faruktokuslu16
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
30 views

Lecture 3 - 2

This document discusses closed-loop control systems and state-space modeling. It introduces key concepts like the reference input, feedback signal, error signal, transfer functions, and effect of disturbances. It compares classical and modern control theories. It then covers state, state vectors, state space, and developing state-space models from physical systems using state and output equations. Examples are provided on modeling RLC circuits and converting transfer functions to state-space models.

Uploaded by

faruktokuslu16
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 42

KON 317E

CONTROL SYSTEMS

LECTURE 3
02/11/2020
Closed-Loop System

• R(s): reference input signal


• C(s): output signal
• B(s): feedback signal
• E(s): actuating error signal
• G(s): TF of the system
• H(s): TF of the feedback element
Closed-Loop Transfer Function
Effect of Disturbance

• Superposition Principle:
• First assume that only acts,

• Then, assume only acts,

• Then add them:


Since

We can write:
Assuming and acts

+
-
Control Analysis

Classical Control Theory Modern Control Theory

-Transfer Function Can be used for


-Frequency Domain Models -MIMO
Linear or nonlinear
Mostly suitable for Time-invariant or time varying
-SISO systems
-Linear Systems with nonzero
-Time-Invariant Systems initial conditions
Initial conditions must be zero
State
The state of a dynamic system is the smallest set of variables
(called state variables) such that knowledge of these variables at
together with knowledge of the input u for ,
completely determines the behavior of the system for any time
.

State Variables
The state variables of a dynamic system are the variables
making up the smallest set of variables that determine the
state of the dynamic system. If at least n variables
are needed to completely describe the behavior of a dynamic
system (so that once the input u is given and
the initial state at is specified, the future state of the
system is completely determined), then such n variables are a
set of state variables.
State Vector
If n state variables are needed to completely describe the
behavior of a given system, then these n state variables can
be considered the n components of a vector x. Such a
vector is called a state vector. A state vector is thus a vector
that determines uniquely the system state for any
time , once the state at is given and the
input for is specified.

State Space
The n-dimensional space whose coordinate axes consist of the
axis , axis, ……….. axis, where
are state variables, is called a state space.
Any state can be represented by a point in the state space.
In the most general case (nonlinar, time-varying systems):

State and output equations


• For linear and time-varying systems, these equations reduce
to:

state equation
output equation

state matrix

input matrix

output matrix

direct transmission matrix


For linear and time-invariant systems:

state equation

output equation

• Note that:
x: n x 1 A: n x n
u: p x 1 B: n x p
y: q x 1 C: q x n
D: q x p
Dimension Analysis

x: n x 1 A: n x n
u: p x 1 B: n x p
y: q x 1 C: q x n
D: q x p

X dot
Example
Example
Example
Example
Select the state variables
Conversion from state space model to transfer function

We assume:
Example Find
Solving the state equation
• The state equation is a differential equation:

• Remember that the solution of a diff. equation consists


of two parts:

is the solution of
Transformation of Models with MATLAB
 How do we determine the number of state variables?
Number of state variables
= The degree of the diff.equation that describes the system
= The degree of the denominator of the TF
= The number of energy storing elements in the system

 For example, in electrical systems inductor stores kinetic


energy, capacitor stores potential energy.
 In a mechanical system, damper stores kinetic energy, spring
stores potential energy.

 The elements of the state vector must be selected as the


minimum number of state variables and they must be linearly
independent.
Modelling Physical Systems
 The first step in dynamical system analysis is derivation of the
mathematical model.
 The mathematical model is derived by using the physical laws
(Newton’s law, Kirshoff’s law…….)
 It is possible to derive different mathematical models for the
same system, with different levels of complexities and some
models can be more practical than others.
 Complexity Accuracy
 As complexity increases, accuracy also increases.
 However, it may not practical to use very accurate and very
complex models. It is better to prefer a level of complexity
adequate for the purpose of application.
 Generally, in modelling all physical details are not taken into
account. Instaed of a very accurate and complicated model, a
simplified model is preferred.
 All models are valid for the conditions and parameter intervals
that they have been derived for.
 You cannot generally derive a model valid for all conditions
and all parameters.
 Physical systems can be electrical, mechanical, hydraulic,
pneumatic, thermic, chemical, etc…..
In this course, we will be studying three types of systems:
1) Electrical
2) Mechanical
a) Translational
b) Rotational
3) Electromechanical (Motors)
a) Field controlled DC motor
b) Armature controlled DC motor
Modelling of Electrical Systems
• Kirchhoff’s Node law:
The algebraic sum of all currents entering and leaving a node is
equal to zero.

(This means that the sum of entering currents is equal to the


sum of leaving currents.)

• Kirchhoff’s Voltage law:


The algebraic sum of the voltages around any loop of the
circuit at any time is equal to zero (The sum of voltage drop is
equal to the voltage rise.)
Example: Modelling an RLC circuit

Take the Laplace transform assuming that initial conditions


are zero.
• State space representation:
Example:
Example:
Output:

State equation:

Output equation:

You might also like