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Widya Nila VELAYATI

Homework Modelling

Suppose that you have some data set with inputs u ∈ R1xNt and outputs y ∈ R identify a deterministic model: 1. Which kind of models can you test with the SysID toolbox?

N y xN t

for which you wish to

The models that we can test with the SysID toolbox are  Linear and nonlinear model  Continuous and discrete model.  We can also classify the model at the other way: o Dynamic System Models vs. Static Models. In general, Dynamic System Models represent systems that have internal dynamics, while Static Models represent static input/output relationships. o Numeric Models vs. Generalized Models. Numeric Models are the basic numeric representation of linear systems with fixed coefficients. Generalized Models represent systems with tunable or uncertain components. 2. Which functionalities are available for identification and model analysis? It can use the System Identification Toolbox block library to perform the following tasks: o Stream time-domain data source (iddata object) into a Simulink model. o Export data from a simulation in Simulink software as a System Identification Toolbox data object (iddata object). o Imports estimated models into a Simulink model, and simulate the models with or without noise. o Estimate parameters of linear polynomial models during simulation from single-output data Especially in Simulink, we can find the function (Figure 1) such as: AR, ARMAX, and ARX estimator, Box-Jenkins model estimator, Output-error model estimator and General model estimator using Predictive error method. These blocks have function to identifying linear model and get the model. Iddata Sink and Iddata Source have function for preparing the data. Idmodel for Simulate a linear identified model including process, linear polynomial, state-space, grey-box and transfer-function models. And the other function is Hammerstein-Wienner Model, Nonlinear ARX Model and Nonlinear Grey-Box Model that have function for simulate the model.

Figure 1. System Identification Toolbox in Simulink

Output y If we want to control this system. Figure 4 shows modeling the system with ARX.5 5 y 4 1.Widya Nila VELAYATI Homework Modelling Simple example: Given some data from physical dynamic identification of DC motor. Running of Modeling System in Simulink Figure 5.1 1 0.3 3 output 0 200 400 600 time 800 1000 1200 input 1. The type of input u is Pseudo Random Binary Square. length of data and model name (Figure 5). 1000 iterations is equal to 10 second. It is necessary to use dynamic identification to find parameters of system with determine the order of the system. In the box ARX. we can use ARX from the System Identification Toolbox in Simulink Matlab®. Figure 4.4 1.2 1. there is input u (Figure 2) and output y (Figure 3).8 0. Input u Figure 3. we can set the desired order of the model. 1. how often update model.9 2 1 0 0.6 u 1. It necessary to find model or transfer function. sample time. Time is in 10 second so.7 -1 0 200 400 600 time 800 1000 1200 Figure 2. Setting up parameters of ARX . The simple way.

2 9. We can change the form to continuous form with the d2c function and method Tustin. Figure 8 is the continuous form of the model.26 2.4 9.694 is .72 3 2.4 8.4 Time (secs) Error In Simulated Model 9.5 1 0. the simulated model output. the program shows us error or difference in simulated model.22 2.0001924s 2  0. We can see that the transfer function change every certain time sample. The Simulated Model Output (Blue Line) 2.28 2. The transfer function in continuous form 0. It is shown at Figure 7. Actual Output (Red Line) vs.8 9 9.6 9. we can see running of actual output vs.6 8. we got transfer function in the discrete form. At the same time. Difference between actual output and model From the result of modeling. At the other part.6 9.24 2.2 Time (secs) 9.5 2 output (y model) 1.6 8. So we can also see the difference between both. we can take the last iterations because the last transfer function is the result of system at all time.8 Figure 7. Continuous form of the model.5 0 0 10 20 30 time 40 50 60 Figure 8. s 2  9.07694s  7. The result of modelling Figure 6.2 8 x 10 5 0 -5 -10 8 8. It is shown at Figure 6.2 8. .221s  2.2 8.Widya Nila VELAYATI Homework Modelling When the program simulink is running.8 9 9.4 8.8 -4 8. the program shows us about the iterations of transfer function system and the noise model in the Command Window. Then.