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SysId Mid Review 2
SysId Mid Review 2
Introduction
Review
Decision making/Problem Solving
Dependent on access to adequate information about the
problem to be solved
System identification
The derivation of a relevant system description from observed
data
Model
The resultant system description from system identification
Model
input u(t)
output y(t)
state x(t)
noise (t)
Differential Equation
d i y m d ju n
d k
ai i b j j ck k
dt
dt
dt
i 0
j 0
k 0
n
State Equation
X (t ) Ax(t ) Bu (t )
(t)
y (t ) Cx(t )
B( s)
C ( s)
Y ( s)
x( s)
( s)
A( s)
A( s)
Transfer Function
u(t)
Sistem
y(t)
B( s) b0 b1s ... bm s m
A( s) a0 a1s ... an s n
x(t)
System Identification
Impulse response of
the system described
as differential
equation
Simply, with zero
initial condition,
transfer function can
be derived from
differential equation
by replacing d/dt -> s
Real Example
Transfer Function
Given a linear system, then the transfer
function, G(s), of the system is the ratio of
the transform of the output to the
transform of the input.
The system is linear.
The input is u(t), and the transform of the
input is U(s).
The output is y(t), and the transform of the
output is Y(s).
G(s) = Y(s)/U(s).
y(t)
u(t)
=
Gdc
Rearrange terms to isolate the input and output transforms and we have;
(s + 1)Y(s) = GdcU(s)
Y(s) = GdcU(s)/(s + 1)
G(s) = Y(s)/U(s) = Gdc/(s + 1)
By the way, the result is the generic form for a transfer function of a first
order, linear system.
Time Response
Discrete
Continuous
Step signal test
Model approach:
First order
Y (s)
K
X ( s ) s 1
Second order Y ( s)
X ( s)
High order
K
1 2 2
s
s 1
n2
n
Y (s)
e 1s
X ( s) 2 s 1 N
No
It may be a 2nd
order system. Get
DC Gain
Overshoot?
Oscillations?
Yes
Complex Roots!
Get natural
frequency and
damping ratio
No
2 Real Roots!
Get two time
constants
Gdc (n ) 2
s 2 2 n s (n ) 2
%Overshoot
(Cmax Csteady )
Csteady
100
1 2
ln(%OS / 100)
2 ln 2 (%OS / 100)
Tk
2
Td
k
n 1 2
Frequency Response
It's often possible to measure the frequency response of
a system using a sinusoidal input.
Test signal sinusoidal with constant magnitude and
variable frequency.
Those measurements can be used to produce a Bode'
plot of the frequency response. In a situation like that
you can use that measured data to calculate a transfer
function for a system.
Given a Bode' plot for a system
Determine the resonant frequency and damping ratio for
complex poles in the system.
Determine the DC gain for the system.
Bode Plots
A Bode Plot for a system is simply plots of log magnitude
and phase against log frequency
Both the log magnitude and phase effects are now
additive
Widely used for analysis and design of filters and
controllers
K
2
1
2 1 2
1
2
K = 10
K = 0.1
K=-10
S2
1/s
1/S2
(2s+1)
1/(5s+1)
Example
Using the derived graphs of the frequency response, obtain
the transfer function and compare it with that derived
directly from the impulse response
Solution
2
K
(
)
The net transfer function is of the form:
n
s 2 2 n s (n ) 2
Solution
The corner error of -1.55 dB and the d.c. gain of 6.15 dB
mean that the gain at the corner frequency (which is
undamped natural frequency) is 4.6 dB or 1.7
Since K = 2.03, this suggest a damping ratio of
approximately: =K/(2*1.7) = 0.6
The overall transfer function is now
2.03 52
G ( s) 2
s 2 0.6 5s 52
50.75
G ( s) 2
s 6 s 25
Simulation
Validation
Example
This table list the
experimentally
obtained
harmonic
responses for a
component of a
system,
following a
frequency
response test
using an input of
0.5 V peakpeak. Find the
component`s
transfer function
Plot
Solution
Initially the Bode gain plot has a slope of +20 dB/decade and the phase
plot shows a constant phase shift of +90 degree, so the system has a
zero at s=0.
Two corner frequencies can be identified at 0.1 and 20 rad/s and in both
cases the gain plot changes slope by -20 db/decade accompanied by a
fall in phase.
The Bode gain plot has a final slope of -20 dB/decade, but the phase
plot does not tend to -90 degree.
The final slope of the gain plot suggest that the system has one more
pole than zero
The phase plot appears not to be settling at all suggest that the
component under test contains a transport lag (time delay)
Solution
The system has one
more pole than zero,
suggest a transfer
function (minus time
delay) of the form.
G ( s)
Ks
s
s
1
1
0.1
20
20 log10 G ( j ) 20 log10 K
20 log10
2
1
0
.
1
20 log10
20 log10
1
20
Solution
At a frequency of = 1
rad/s the system gain
is about 4 dB, so
4
log10 K 0 1.0022 0.0005
20
K 101.203 16
G( s)
16se 0.01s
G(s)
(1 10 s )(1 0.05s )
16s
(1 10 s )(1 0.05s )
Simulation
Validation
Practical Example
A spring mass-damper system is shown in figure. The Bode diagram obtained
by experimental means using a sinusoidal forcing function is shown in figure
below. Determine the numerical values of m, f and k.
*Hint: The spring mass damper system is described by, m d 2y/dt2 + b dy/dt + k x
= r; define transfer function Y(s)/R(s), analyse the bode plot