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l3 Sys Rep Analog Control Ss

The document discusses analog control systems, focusing on transfer functions derived from differential equations and state space models. It contrasts modern control theory with conventional control theory, emphasizing the applicability to various system types and stability analysis. Additionally, it covers BIBO stability and provides examples related to mechanical systems and DC motors.

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39 views36 pages

l3 Sys Rep Analog Control Ss

The document discusses analog control systems, focusing on transfer functions derived from differential equations and state space models. It contrasts modern control theory with conventional control theory, emphasizing the applicability to various system types and stability analysis. Additionally, it covers BIBO stability and provides examples related to mechanical systems and DC motors.

Uploaded by

Rabia
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
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ANALOG CONTROL

SYSTEMS

CHAPTER II

SYSTEMS REPRESENTATIONS

Assoc. Prof. Savaş Şahin

2017-2018 SPRING
Transfer Functions from Diff. Equations
Taking Laplace Transforms converts the differential
equation into the following algebraic equation

s Y (s) +an -1s - Y (s) +:::+a0Y(s)


n n 1

= bn- 1s - U(s) +:::+b0U(s) +f (s;xo)


n 1

G(s) is called the transfer function.


Transfer Functions from Diff. Equations
Taking Laplace Transforms converts the differential
equation into the following algebraic equation

If the system inverse also exists and it is a stable system,


the system called as minimum phase system
Transfer Functions for Continuous Time
State Space Models
Modern Control Theory Versus Conventional Control Theory. Modern control
theory is contrasted with conventional control theory in that the former is applicable
to multiple-input, multiple-output systems, which may be linear or nonlinear, time
invariant or time varying, while the latter is applicable only to linear time invariant
single-input, single-output systems. Also, modern control theory is essentially time-
domain approach and frequency domain approach (in certain cases such as (H-
infinity control), while conventional control theory is a complex frequency-domain
approach. Before we proceed further, we must define state, state variables, state
vector, and state space.

Katsuhiko Ogata. Modern Control Engineering 5th Edition. Pg.29


Transfer Functions for Continuous Time
State Space Models
If vector functions f and/or g involve time t
explicitly, then the system is called a timevarying
system. These Eqs. are linearized about the
operating state, then we have the following
linearized state equation and output equation

If vector functions f and g do not involve time t explicitly then the


system is called a time-invariant system.

Katsuhiko Ogata. Modern Control Engineering 5th Edition. Pg.29


Transfer Functions for Continuous Time
State Space Models
Transfer Functions for Continuous Time
State Space Models
Katsuhiko Ogata. Modern Control Engineering 5th Edition. Pg.29
Taking Laplace transform in the state space model
equations yields

Hence,

G(s) is the system


transfer function.
Transfer Functions for Continuous Time
State Space Models
Transfer Functions for Continuous Time
State Space Models

Please write the state space representation


Eigenvalues and Eigenvectors
|𝑠𝐼 − 𝐴|=| 𝜆 𝐼 − 𝐴|=0 Characteristic Eq.

Transformation of System Rep. Ch9 Ogata


nonsingular

or
CONTROLLABILITY DUAL OBSERVABILITY
𝑇 =𝑀𝑊 𝑄=(𝑊𝑁 )
−1
1st sol.way

2nd sol.way
Obtain
Transfer
Funcion G(s) G(s)= 1/(s^3+s^2+s)

TF -> SS Direct, Serial and parallel parsing or decomposition Kuo pg.256


The Meaning of s-Domain Transfer Function for LTI Systems
LTI
System
x(t) = e st
h(t) y(t)
H(s
)

e st
is an eigenfunction for an LTI system
∞ ∞ ∞
y(t) = ∫ h(τ) x(t - τ) d τ = ∫ h(τ) e s(t- τ)
d τ = e st∫ h(τ) e d
- sτ
-∞ -∞ -∞
τ

y(t) = H(s) e st

H(s) is called an eigenvalue of the specific LTI system


∞

∫
-∞
and H(s) = h(t) e –st
dt is the Laplace transform of h(t)
Stability for LTI, LTV and Nonlinear Ones
System

x(t) h(t) y(t)

Homogen/Zero/ Transient behaviors of the system


i.e. The roots of the characteristic equation
Natural Solution:

Forced/Zero Input Solution: Forced input solutions of the system


i.e. The roots of the numerator of the TF

Stability: 1) Zero solution response


2) Zero input response
3) 1 + 2 should be satisfied
LTI Systems I/O BIBO Stability and Impulse Resp
LTI
System
x(t) h(t) y(t)

LTI system is BIBO stable iff h(t) is absolutely integrable


Proof of “if part”:

If ‫׀‬x(t) ‫׀‬ ≤ B for all t, then


∞

‫׀‬y(t) ‫ ∫׀ ≤ ׀‬h(τ) x(t - τ) d τ ‫׀ ≤ ∫ ׀‬ ‫׀׀‬x(t - τ) ‫׀‬d τ


∞

h(τ)
-∞ -∞

‫׀‬y(t) ‫׀‬ ≤ B ∫ ‫׀‬h(τ) ‫׀‬d τ


∞

-∞
LTI Systems I/O BIBO Stability
LTI
System
u(t) g(t) y(t)

Characteristic Eq. and BIBO Stability

1) If roots are real, then BIBO is satisfied


2) If roots are located on jw axis or the right of the s-plane, (), then should
be appropriate for the BIBO is satisfied because
BIBS Stability
LTI
System
u(t) g(t):= y(t)
X(t)
In the sense of Lyapunov Ogata 3rd Ed. Ch 13

Nonlinear System

Let’s take the solution


f(x(t),t) y(t)

Let’s take eq. point


1st way to solution

2nd way to solution Solvable function


Let’s take the initial cond
Asymptotically Stable Ogata 3rd Ed. Ch 13

Nonlinear System

f(x(t),t) y(t)
Find h(t) for
SISO system

G(s)= 1/(s^3+s^2+s)

Determine

BIBO Stability =

Global Asymptotic Stability in the sense of Lyapunov

h(t) = ?
Example for Time Delay Systems:
The heating system is simple example of systems having
pure time delay

The transfer function

from input (the voltage applied to


the heating element)
to the output (the temperature as
seen by the thermocouple)
is approximately of the form:
V. Block Diagram E(s) Y(s)
IIII
Representations
for LTI
Control Systems

Y(s) = G1(s) G2 (s) E(s)


= G1(s) G2 (s) [R(s) – H(s)Y(s)]

Y(s) [1+ G1(s)G2(s)H(s)] = G1(s) G2 (s)


R(s)
Block Diagram Reduction:
Example: Find the equivalent transfer function
Transfer Functions Assume
of Mechanical Systems
system initially at rest

M1: F(t) – b2v1(t) – b1[v1(t) – v2(t)] = M1

dv1(t)/dt
t
M2: -b1[v2(t) – v1(t)] – K

v d
2 = M2 dv2 (t)/dt

M1: F(s) = V1(s)[M1 s + b1+ b2] + V2(s)[- b1 ]

M2: 0 = V1(s)[- b1 ] + V2(s)[M2 s + b1+ k/s ]

F(s) - b1
0 M2 s + b1+ k/s F(s) [M2 s + b1+ k/s]
V1(s) = =
M1 s + b1+ b2 - b1 ∆ (s)
- b1 M2 s + b1+ k/s

V1(s)/F(s) = [M2 s + b1+ k/s] / ∆ (s)

where ∆ (s) = [M1 s + b1+ b2 ][M2 s + b1+ k/s] – b1 2


DC Field Current-controlled Motor

θ(s)/Vf (s) = Km /[s(Js+b)(Lf s + Rf)]


Example: Transfer Functions of DC Motors
Field Current-Controlled Motor

θ(s)/Vf (s) = Km /[s(Js+b)(Lf s + Rf )]

Armature Current-Controlled Motor

θ(s)/Va(s) = Km /[s(Js+b)(Las + Ra ) + KbKm]


Example: Design Problem
Angular velocity control
• Use tachometer for monitoring
actual velocity
Linearize nonlinear
• Differential power
amplifier for
amplifier
“difference”
v element
= 2e v1t => Δv ≈ 540 Δv
2 2 2 =>
V2 (s) ≈ 540 V1(s)

v1 =[1+R2 /R1]/[1+R3 /R4]vin-KtR2/R1vin

Km=10, Ra=1, La=1, J = 2,


b=0.5, Kb=0.1, Kt=0.1

When system is in balance (locked)


v1 = 0, vin = 10V
ω(s)/ω0(s) = 540G1G2/(1+ 540.1G1G2 )

ω(s)/ω0(s) = 2700/(s Set [1+R2 /R1]/[1+R3 /R4] = KtR2 /R1 =


2
+1.25s+2700.75) 1

poles: s12 = -0.6 ± j52 highly => R2 /R1 = R2 /R1 = 10


oscillatory

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