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Chapter 5 PDF
Chapter 5 PDF
Step 1 of 18
Step 2 of 18
Figure 2: Signal flow graph.
Step 3 of 18
Step2:
Assign a variable to each sampler input.
Let the system
and
Step3:
Consider each sample output to be a source node.
(1)
... (2)
... (3)
Where,
Step4:
Take the starred transform for Equations (1), (2), and (3).
(4)
(5)
(6)
Substitute Equation (5) in Equation (4) and find
Substitute the
in Equation (6):
b)
Find the expression
shown in Figure 1.
as a function of the input and output of the transfer function of the system as
Step 4 of 18
Step1:
Construct the original signal flow graph as shown in Figure (4).
Step 5 of 18
Figure 4: Signal flow graph.
Step 6 of 18
Step2:
Assign a variable to each sampler input.
Let the system
and
Step 7 of 18
Step3:
Consider each sample output to be a source node.
(1)
(2)
(3)
Where,
Step4:
Take the starred transform for Equations (1), (2), and (3).
(4)
(5)
(6)
Substitute the
in Equation (5):
(7)
Step 8 of 18
Substitute
and
Step 9 of 18
in Equation (6):
c)
To find the express
(5)
as a function of the input and output of the transfer function as shown in Figure
Step 10 of 18
Step1:
Construct the original signal flow graph as shown in Figure (6)
Step 11 of 18
Step2:
Assign a variable to each sampler input.
Let the system
Step3:
Consider each sample output to be a source node:
... (1)
(2)
Where,
.
Step4:
Take the starred transform of Equation (1)
(3)
Take the starred transform of Equation (2):
(4)
Step 12 of 18
Substitute
in Equation (4).
d)
To find the express
(7)
as a function of the input and output of the transfer function as shown in Figure
Step 13 of 18
Step1:
Construct the original signal flow graph as shown in Figure (8)
Step 14 of 18
Figure (8): Signal flow graph
Step 15 of 18
Step2:
Assign a variable to each sampler input.
Let the system
Step3:
Consider each sample output to be a source node:
(1)
(2)
Where,
Step4:
Take the starred transform of Equations (1) and (2):
(3)
(4)
Step 16 of 18
Substitute
in Equation (4).
e)
To find the express C(z) as a function of the input and output of the transfer function as shown in Figure (9)
Step 17 of 18
Step2:
Assign a variable to each sampler input.
Let the system
and
Step3:
Consider each sample output and input to be a source node:
(1)
(2)
Where,
Step4:
Take starred transform for Equations (1) and (2):
(3)
(4)
Step 18 of 18
Substitute
in Equation (4).
Chapter 5 Problem 2P
Step 1 of 19
Step 2 of 19
Figure 2: Signal flow graph.
Step 3 of 19
Step2:
Assign a variable to each sampler input.
Let the system
and
Step3:
Consider each sample output to be a source node:
(1)
(2)
(3)
Where,
.
Step4:
Take the starred transform of Equations (1), (2), and (3):
(4)
(5)
(6)
Solve Equation (4) and substitute the
Substitute the
in the equation.
in Equation (6):
Step 4 of 19
b)
To find the express
Step1:
Construct the original signal flow graph.
Step 5 of 19
Step 6 of 19
Figure 4: Signal flow graph.
Step 7 of 19
Step2:
Assign a variable to each sampler input.
Let the system
and
Step3:
Consider each sample output to be a source node:
(1)
... (2)
... (3)
Where,
Step4:
Take the starred transform of Equations (1), (2), and (3):
(4)
(5)
(6)
Solve Equation (4) and substitute the
value:
Substitute the
Step 8 of 19
c)
To find the express
Step 9 of 19
Step 10 of 19
Figure 6: Signal flow graph.
Step 11 of 19
Step2:
Assign a variable to each sampler input.
Let the system
and
be the gain
Step3:
Consider each sample output to be a source node:
(1)
(2)
(3)
Where,
Step4:
Take the starred transform of Equations (1), (2), and (3).
(4)
(5)
(6)
Solve Equation (5) and substitute the
Substitute the
value and
value:
Step 12 of 19
d)
To find the express
Step 13 of 19
Step 14 of 19
Figure 8: Signal flow graph.
Step 15 of 19
Step2:
Assign a variable to each sampler input.
Let the system
.
Step3:
Consider each sample output to be a source node:
(1)
... (2)
Where,
Step4:
Take the starred transform of Equations (1) and (2):
(3)
(4)
Solve Equation (4) and substitute the
in the equation.
Step 16 of 19
e)
To find the express
Step 17 of 19
Step1:
Construct the original signal flow graph.
Step 18 of 19
Figure 10: Signal flow graph.
Step 19 of 19
Step2:
Assign a variable to each sampler input.
Let the system
.
Step3:
Consider each sample output to be a source node:
(1)
(2)
... (3)
Where,
Step4:
Take the starred transform of Equations (1), (2), and (3):
(4)
(5)
(6)
Solve Equation (5) and substitute the
Substitute the
value:
Chapter 5 Problem 3P
Step 1 of 9
Step 2 of 9
Step 3 of 9
Step 4 of 9
Step 5 of 9
Step 6 of 9
Step 7 of 9
Step 8 of 9
Step 9 of 9
Chapter 5 Problem 4P
Step 1 of 10
Draw the original signal flow graph by using Figure 1. The original signal flow graph is shown in Figure 2.
Figure 2
Step 2 of 10
From Figure 2:
(1)
Where,
(2)
Rearrange Equation (2):
(3)
Step 3 of 10
From Figure 2, the
as a function of input:
(4)
Where,
is the s domain function for
is the input function for the given system
T is the data hold.
Take Z-transform for Equation (4):
(5)
Substitute Equation (3) in Equation (5).
Thus, the
(b)
When the given system
Figure 3
Step 4 of 10
Draw the original signal flow graph by using Figure 3. The original signal flow graph is shown in Figure 4.
Figure 4
Step 5 of 10
From Figure 4:
(6)
Where,
is the s domain function for
is the input function for the given system
T is the data hold.
Take Z-transform for Equation (6):
(7)
Rearrange Equation (7):
(8)
Step 6 of 10
From Figure 4, the
as a function of input:
(9)
Where,
is the s domain function for
is the input function for the given system
T is the data hold.
Step 7 of 10
Take Z-transform for Equation (9):
(10)
Substitute Equation (8) in Equation (10).
Thus, the
.
(c)
Draw the closed loop system is shown in Figure 5.
Figure 5
Step 8 of 10
Draw the original signal flow graph by using Figure 5. The original signal flow graph is shown in Figure 6.
Figure 6
Step 9 of 10
From Figure 6:
(11)
Take Z-transform for Equation (11):
(12)
Rearrange Equation (12):
(13)
Step 10 of 10
From Figure 6:
(14)
Take Z-transform for Equation (14):
(15)
Substitute Equation (13) in Equation (15).
Thus, the
Chapter 5 Problem 5P
Step 1 of 10
From Figure 1, the system Equation is,
(1)
Where,
is the s domain function for
T is the data hold.
Take Z-transform for Equation (1):
(2)
Step 2 of 10
From Figure 1, the system Equation is given by,
(3)
Take Z-transform for Equation (3):
(4)
Step 3 of 10
Substitute Equation (2) in Equation (4).
(5)
Step 4 of 10
The output of the system equation is,
(6)
Take Z-transform for Equation (6):
(7)
Step 5 of 10
Substitute Equation (2) in Equation (4):
(b)
Draw the original signal flow graph by using given diagram.
The original signal flow graph is shown in Figure 2.
Figure 2
Step 6 of 10
From Figure 2, the system Equation is,
(8)
Take Z-transform for Equation (8):
(9)
Step 7 of 10
From Figure 2, the system Equation is,
(10)
Take Z-transform for Equation (10):
(11)
Step 8 of 10
Substitute Equation (9) in Equation (11)
(12)
Step 9 of 10
The term
(12).
is reduce to
(13)
Note:
Step 10 of 10
(14)
From Figure 2, the system Equation is,
(15)
Substitute Equation (13) in Equation (15).
in Equation
is
Chapter 5 Problem 6P
Step 1 of 4
Draw the original signal flow graph by using Figure 1.
The original signal flow graph is shown in Figure 2.
Figure 2
Step 2 of 4
From Figure 2, write the system equation.
(1)
Where,
is the s domain function for
(2)
Rearrange Equation (2),
(3)
Step 3 of 4
From Figure 2, the
Where,
is the s domain function for
Step 4 of 4
Take Z-transform for Equation (4):
(5)
Substitute Equation (3) in Equation (5).
Thus, the
Chapter 5 Problem 7P
Step 1 of 4
Draw the original signal flow graph by using Figure 1.
The original signal flow graph is shown in Figure 2.
Figure 2
Step 2 of 4
From Figure 2, write the system equation.
(1)
Where,
is the s domain function for
(4)
Rearrange Equation (4).
(5)
Consider the following:
(6)
From Figure 2, write
as a function of input.
(7)
Step 3 of 4
Substitute Equation (6) in Equation (7).
(8)
Take Z-transform for Equation (8).
(9)
Substitute Equation (5) in Equation (9).
Step 4 of 4
Thus, the
Chapter 5 Problem 8P
Step 1 of 3
Draw the original signal flow graph by using Figure 1
The original signal flow graph is shown in Figure 2.
Figure 3
Step 2 of 3
From Figure 3, the system Equation is given by,
(1)
Where,
is the s domain function for
is the s domain function for
is the input function for the given system
T is the zero order hold.
Here,
(2)
Take Z-transform for Equation (2):
(3)
From Figure 3, the
as a function of input:
(4)
(5)
Thus, the
(6)
Substitute Equation (3) in Equation (6).
Thus, the
Step 3 of 3
(b)
Compare the Figure 1 and Figure 2, In Figure 1 the digital to analog converter is connected to the feedback
path. In Figure 2 the digital to analog converter is directly connected to the input signal.
The
(7)
Output of Equation (7) is identical and the output signal from the digital to analog converter is same on both
the case. Hence, we get the same output.
Chapter 5 Problem 9P
Step 1 of 7
From Figure 1, the
same time t.
and
and
(b)
The given closed loop system is shown in Figure 2.
Figure 2
Step 2 of 7
From Figure 2, the both inputs of the comparator have zero order hold. So, the output of the comparator
must be has the zero order hold.
Step 3 of 7
(c)
The given closed loop system is shown in Figure 3.
Figure 3
Step 4 of 7
From Figure 3, only
Step 5 of 7
(d)
The given closed loop system is shown in Figure 4.
is does
Figure 4
From Figure 4, only
is does not
Step 6 of 7
(e)
The given closed loop system is shown in Figure 5.
Figure 5
Step 7 of 7
From Figure 5, the
t.
and
as both are sampled at time t and output also available at same time
and
and
time t.
is does not contain any sample function. Therefore,
function of zero order.
and
(b)
The given closed loop system is shown in Figure 2.
Figure 2
Step 2 of 8
From Figure 2, the
and
time t.
is does not contain any sample function. Therefore,
function of zero order.
and
Step 3 of 8
(c)
The given closed loop system is shown in Figure 3.
Figure 3
Step 4 of 8
From Figure 3, only
and
are does not contain any sample function. Therefore,
are does not hold for transfer function of zero order.
and
Step 5 of 8
(d)
The given closed loop system is shown in Figure 4.
Figure 4
From Figure 4, only
and
are does not contain any sample function. Therefore,
not hold for transfer function of zero order.
and
,
are does
Step 6 of 8
(e)
The given closed loop system is shown in Figure 5.
Figure 5
Step 7 of 8
Redraw the Figure 5,
The modified closed loop system is shown in Figure 6.
Figure 6
Step 8 of 8
From Figure 6, only
is
Where,
is the s domain function for
is the s domain function for
T is the data hold
Take Z-transform for Equation (1).
(2)
The modified Z transform of a function is equal to the delayed Z transform with
1m.
(3)
Substitute value 0.1 for
in Equation (3).
(4)
Substitute Equation (4) in Equation (2).
(5)
Rearrange Equation (5).
Thus, the
Step 2 of 2
(b)
The given closed-loop system is shown in Figure 2:
which is replaced by
Figure 2
From Figure 2, write the equation for
Step 2 of 13
The block diagram of the system without disturbance input is shown in Figure 2.
Step 3 of 13
Step1:
Draw the original flow graph for the block diagram without disturbance input.
Step 4 of 13
Step2:
Assign a variable to each sampler input.
Let the system
Step 5 of 13
Step3:
Take the starred transform for Equation (1):
(3)
(5)
Thus, the transfer function of the given block without disturbance input is:
Step 6 of 13
b)
To find the transfer function for
Step 7 of 13
Step1:
Draw the original flow graph for the block diagram without disturbance input.
Figure (5): Signal flow graph for system with disturbance input
Step 8 of 13
Step2:
Assign a variable to each sampler input.
Let the system
The disturbance
Step 9 of 13
Step3:
Write the expression for the given system:
(6)
(7)
Where,
Step 10 of 13
Step4:
Take the starred transform of Equation (6):
(8)
Take the starred transform of Equation (7) and rearrange the equation:
(9)
Substitute Equation (9) in Equation (8):
(10)
Thus, the transfer function of the given block with disturbance input is:
Step 11 of 13
c)
To write the complete expression using superposition
According to superposition theorem, add Equation (5) and Equation (10).
The resultant force on any one charge equals the vector sum of the forces exerted by the other individual
charges that are present.
Step 12 of 13
Write Equations (5) and (10) to get superposition expression:
(11)
(12)
Step 13 of 13
Add the two transfer functions of Equation (11) and Equation (12):
Figure 1
Step 2 of 9
From Figure 1, the system transfer function:
Where,
Controller transfer function is represented as
Step 3 of 9
Step 4 of 9
(c)
From Figure 1, the transfer function for servomotor and gear:
(1)
(2)
The value of
:
(3)
(4)
Step 5 of 9
From Figure 1, consider the forward gain transfer function is
The value of
Substitute 1 for
is:
(5)
Taking Z transform for Equation (5):
(6)
Step 6 of 9
From Figure 1, the closed loop System transfer function is:
(7)
Step 7 of 9
(d)
From Equation (4):
The value of
(8)
Step 8 of 9
The MATLAB program:
The numerator and denominator values are taken from Equation (8).
num=[0 0 9.6];
den=[1 2 0 ];
[Ac, Bc, C, D]=tf2ss(num,den)
[A,B]=c2d(Ac, Bc, 0.1);
[n,d]= ss2tf(A,B,C,D);
tnum=n
tden=d+0.07*n
The MATLAB output:
tnum =
0 0.0450 0.0421
tden =
1.0000 -1.8156 0.8217
Step 9 of 9
From MATLAB output form an equation using the co-efficient.
The numerator is:
(8)
Equations (7) and (8) are equal.
Therefore, the system transfer function is verified using MATLAB.
is
:
(3)
Substitute
for attitude angle and 0.02 for sensor gain in Equation (3).
is
Step 2 of 10
(c)
(a)
Calculate the maximum voltage level for
Step 3 of 10
(b)
The input signal
:
(4)
Substitute
for attitude angle and 0.02 for sensor gain in Equation (4).
is
Step 4 of 10
The block diagram of a satellite control system is shown in Figure 1.
Figure 1
(d)
From Figure 1, the system transfer function:
Where,
Controller transfer function is represented as
Satellite transfer function is represented as
.
.
Step 5 of 10
(e)
From Figure 1, consider the forward gain transfer function is
The value of
Substitute 1 for
(5)
Step 6 of 10
Taking Z transform for Equation (5).
(6)
Step 7 of 10
From Figure 1, the closed loop System transfer function:
(7)
(f)
From Figure 1, the amplifier and satellite transfer function:
(8)
Step 8 of 10
The MATLAB program:
The values for num and den are taken from Equation (8).
num=[0 0 20];
den=[1 0 0 ];
[Ac, Bc, C, D]=tf2ss(num,den);
[A,B]=c2d(Ac, Bc, 1);
[n,d]= ss2tf(A,B,C,D);
tnum=n
tden=d+0.02*n
Step 9 of 10
The MATLAB output:
tnum =
0 10.0000 10.0000
tden =
1.0000 -1.8000 1.2000
Step 10 of 10
From MATLAB output form a equation using the co-efficient.
Numerator is:
(9)
Equations (7) and (9) are equal.
Therefore, the system transfer function is verified using MATLAB.
Figure 1
Step 2 of 8
Where,
The input signal is represented as
Antenna angle is represented as
.
.
Step 3 of 8
(b)
From Figure 1, the closed loop system transfer function:
(2)
Where,
Satellite transfer function is represented as
Controller transfer function is represented as
.
.
Step 4 of 8
(c)
From Figure 1, Consider the forward gain transfer function is
The value of
Substitute 1 for
(3)
Taking Z transform for Equation (3):
(4)
Step 5 of 8
From Figure 1, the closed loop System transfer function:
(5)
Step 6 of 8
(d)
From Figure 1, the amplifier and satellite transfer function:
(6)
Step 7 of 8
The MATLAB program:
The numerator and denominator values are taken from Equation (6).
num=[0 0 400];
den=[1 6 0 ];
[Ac, Bc, C, D]=tf2ss(num,den);
[A,B]=c2d(Ac, Bc,.05);
[n,d]= ss2tf(A,B,C,D);
tnum=n
tden=d+0.4*n
Step 8 of 8
The MATLAB output:
tnum =
0 0.4535 0.4104
tden =
1.0000 -1.5594 0.9050
From MATLAB output form a equation using the co-efficient
Numerator is:
(7)
Equations (5) and (7) are equal.
Therefore, the system transfer function is verified using MATLAB.
(13)
From Equation (13), find the
(14)
Step 2 of 5
Find the determinant from Equation (14):
(15)
Step 3 of 5
We know the formula for
(16)
and
in Equation (16):
(17)
Step 4 of 5
Substitute
(18)
(19)
d)
To verify the transfer function using MATLAB
The MATLAB code for the transfer function is:
A = [0 1; -0.9 1];
B = [0; 1];
C = [-0.7 1.3];
D = 1;
[num,den] = ss2tf[A,B,C,D]
F = tf(num,den);
F
Step 5 of 5
MATLAB output:
Figure 1
Step 2 of 21
From Figure 1, the discrete state space equation is given by,
(1)
(2)
Substitute Equation (1) in Equation (2)
(3)
here,
and
Step 3 of 21
(a)
(c)
The characteristic equation is,
(4)
Substitute
and
in Equation (4)
(5)
The system transfer function from the state model is,
(6)
From Equation (5), Find
(7)
Substitute
(8)
Thus, the system transfer function from the state model is,
Step 4 of 21
(a)
(d)
The MATLAB program is,
A=[0.9];
B=[1];
C=[0.09];
D=[0.1];
[num,den]= ss2tf(A,B,C,D)
The MATLAB output is,
num =
0.1000 0.0000
den =
1.000 -0.9000
Step 5 of 21
From MATLAB output, form an equation using the numerator and denominator co-efficients.
Numerator is
The denominator is
Therefore the system transfer function is,
(9)
Equations (8) and (9) are equal.
Therefore, the system transfer function is verified using MATLAB.
Step 6 of 21
(b)
(a)
The given transfer function is given by,
Step 7 of 21
is
(b)
(b)
The discrete state model is shown in Figure 2.
Figure 2
Step 8 of 21
From Figure 2, the discrete state space equation is given by,
(10)
(11)
here,
and
(b)
(c)
Substitute
Find
and
in the equation,
Step 9 of 21
The system transfer function from the state model is,
Substitute
(12)
and
value.
Thus, the system transfer function from the state model is,
Step 10 of 21
(b)
(d)
The MATLAB program is,
A=[0.9];
B=[1];
C=[0.1];
D=[0];
[num,den]= ss2tf(A,B,C,D);
The MATLAB output is,
num =
0.000 0.1000
den =
1.000 -0.9000
Step 11 of 21
From MATLAB output, form a equation using the numerator and denominator co-efficients
Numerator is
The denominator is
Therefore the system transfer function is,
(13)
Equations (12) and (13) are equal.
Therefore, the system transfer function is verified using MATLAB.
Step 12 of 21
(c)
(a)
The given transfer function is,
is
(c)
(b)
The discrete state model is shown in Figure 3.
Figure 3
Step 13 of 21
From Figure 3, the discrete state space equation is,
here,
and
Step 14 of 21
(c)
(c)
Substitute
Find
and
in the equation,
Substitute
and
value.
(14)
Thus, the system transfer function from the state model is,
Step 15 of 21
(c)
(d)
The MATLAB program is:
A=[0.9];
B=[1];
C=[0.13];
D=[0.2];
[num,den]= ss2tf(A,B,C,D);
The MATLAB output is,
num =
0.2000 -0.05000
den =
1.000 -0.9000
From MATLAB output, form a equation using the numerator and denominator co-efficients
Numerator is
The denominator is
Therefore the system transfer function is,
(15)
Equations (14) and (15) are equal.
Therefore, the system transfer function is verified using MATLAB.
Step 16 of 21
(d)
(a)
The given transfer function is,
is
Step 17 of 21
(d)
(b)
The discrete state model is shown in Figure 4.
Figure 4
Step 18 of 21
From Figure 4, the discrete state space equation is,
(16)
(17)
The state vector
is,
and
(18)
here,
and
Step 19 of 21
(d)
(c)
Substitute
and
in the equation,
Step 20 of 21
Find
Substitute
Substitute,
and
value.
(19)
Thus, the system transfer function from the state model is
Step 21 of 21
(d)
(d)
The MATLAB program is,
A=[0 1;-0.8 1.6];
B=[0;1];
C=[0.7 0.8];
D=[0];
[num,den]= ss2tf(A,B,C,D);
The MATLAB output is,
num =
0 0.8000 0.7000
den =
1.0000 -1.6000 0.8000
From MATLAB output, form a equation using the numerator and denominator co-efficients
Numerator is
The denominator is
Therefore the system transfer function is,
(20)
Equations (19) and (20) are equal.
Therefore, the system transfer function is verified using MATLAB.
is
(3)
Substitute
(4)
Take Z-transform for Equation (4):
is
Step 2 of 6
(b)
Draw simulation diagram for
and
(5)
Write the feedback of the given system.
(6)
Step 3 of 6
Use Equations (5) and (6) to draw the simulation diagram for
Figure 1
and
as shown in Figure 1.
and
(c)
Write the discrete state space equation from Figure 1.
(7)
(8)
From Equations (7) and (8), form the state space model for the given system:
(9)
Step 4 of 6
The state vector
is,
and
(10)
Where,
Step 5 of 6
(d)
Determine the system characteristic equation from the transfer function:
The formula for system characteristic equation is:
(11)
Substitute Equations (5) and (6) in Equation (11):
Step 6 of 6
(e)
Determine the characteristic equation from the state model:
The characteristic equation is given by,
(12)
in Equation (12).
Thus, the system characteristic equation from the state model is,
.
Hence, the characteristic equation from the state model and the system characteristic equation from the
transfer function are same.
(3)
Substitute Equation (3) in Equation (2):
(4)
Step 2 of 11
Consider the forward gain transfer function is
The value of
is:
(5)
Substitute Equation (4) in Equation (5):
(6)
Step 3 of 11
Taking Z transform for Equation (6)
is,
Where,
indicates z-transform.
Re-arrange the above equation:
(7)
The z-transfer
formula is,
(8)
Step 4 of 11
Substitute Equation (8) in Equation (7):
(9)
Substitute 0.1 for T in Equation (9)
(10)
Use Equation (10), to draw the discrete state model is shown in Figure 1.
Figure 1
Step 5 of 11
From Figure 1, the discrete state space equation is given by,
(11)
(12)
and
Step 6 of 11
(b)
The plant differential equation is given by,
Step 7 of 11
A continuous-time simulation diagram is sketched using the above equation.
Figure 2
Step 8 of 11
From Figure 2, state equations representing the system are written below. Those are
(13)
and
(14)
Step 9 of 11
The state vector
is,
and
(15)
(16)
and
(17)
The state equations for the continuous portion of the system are written as below.
(18)
(19)
Where,
The input of the system is
The discrete state equations corresponding to Equation (18) and (19) are
(20)
(21)
Where,
and
Step 10 of 11
Compare the Equation (16) and (17) with Equation (16) and (17) to yield the value of
and
Then,
Step 11 of 11
Calculate the matrix
(22)
(23)
The input of the given system is,
(24)
Substitute Equation (23) in Equation (24):
(25)
Substitute Equation (25) in Equation (22):
and
Step 2 of 5
From Figure 1, write the following:
Write the input of the given system.
(3)
Substitute Equation (2) in Equation (3).
Step 3 of 5
Rearranging the above equation.
(4)
Step 4 of 5
Substitute Equation (4) in Equation (1).
(5)
Step 5 of 5
Substitute Equation (4) in Equation (2).
(6)
Hence, the state space model for the closed-loop system is
and
.
Step 2 of 10
From Figure 1, write the following:
Write the input of the given system.
(3)
Substitute Equation (2) in Equation (3).
(4)
Step 3 of 10
Substitute Equation (4) in Equation (1).
(5)
Step 4 of 10
Substitute Equation (4) in Equation (2).
(6)
Step 5 of 10
(b)
Write the discrete state model.
(7)
(8)
Step 6 of 10
Substitute Equation (8) in Equation (3).
(9)
and
Step 7 of 10
Substitute Equation (9) in Equation (7).
(10)
Hence, the state space model for the closed-loop system is
and
Step 8 of 10
(c)
Consider the discrete state model.
(11)
(12)
Step 9 of 10
Substitute Equation (12) in Equation (3).
(13)
Step 10 of 10
Substitute Equation (13) in Equation (11).
(14)
Hence, the state space model for the closed-loop system is
and
is,
(2)
Step 2 of 9
The closed loop System transfer function is:
(3)
Step 3 of 9
Use Equation (3), the discrete state space equation is,
(4)
(5)
(6)
From Equation (4), Equation (5) , and Equation (6) , to form the state space model for the given system :
(7)
(8)
The state vector
is,
and
(9)
Where,
and
Step 4 of 9
(b)
Using Equation (1) and Equation (2), the discrete state model is shown in Figure 1:
Figure 1
Step 5 of 9
Write the discrete state space equation from Figure 1is:
(10)
(11)
(12)
Write the state space model for the given system from Equation (10), Equation (11), and Equation (12):
(13)
(14)
Step 6 of 9
Substitute Equation (9) in Equation (13) and Equation (14)
Where,
and
Step 7 of 9
(c)
The characteristic equation is given by,
(15)
Substitute
and
in Equation (15)
(16)
The system transfer function from the state model is,
(17)
From Equation (16), Find
(18)
Substitute
Substitute,
(19)
Equations (3) and (19) are equal.
Thus, the system transfer function from the state model is
Step 8 of 9
(d)
The discrete state space model for part (a) is,
Step 9 of 9
From the above Equations, it is evident that they are related by a similarity transformation which is given
by,
Hence, the state space model for part (a) and state space model for part (b) are related by a similarity
transformation which is
Substitute 1 for
is:
(1)
Taking Z transform for Equation (1).
(2)
Step 2 of 11
From Figure 1, the closed loop System transfer function:
(3)
Step 3 of 11
From Equation (3) , the discrete state space equation:
(4)
(5)
(6)
From Equation (4) , Equation (5) , and Equation (6) , to form the state space model for the given system :
(7)
(8)
and
(9)
and
Step 4 of 11
(b)
From Figure 1, the plant transfer function
(10)
Substitute 2 for K and Equation (2) in Equation (10):
. (11)
Step 5 of 11
Using Equation (11), the discrete state model is shown in Figure 1.
Figure 1
Step 6 of 11
From Figure 1, the discrete state space equation:
(12)
(13)
(14)
From Equation (12) , Equation (13) , and Equation (14) , to form the state space model for the given
system :
(15)
(16)
Step 7 of 11
The state vector
and
(17)
Where,
and
.
(c)
Determine the system transfer function from the state model:
The characteristic equation is given by,
(18)
Substitute
and
in Equation (18).
(19)
Step 8 of 11
The system transfer function from the state model is,
(20)
(21)
Substitute
Substitute,
Step 9 of 11
(d)
The MATLAB program:
A=[0 1;-1.2 1.8];
B=[0;2];
C=[5 5];
D=[0];
[num,den]= ss2tf(A,B,C,D);
Step 10 of 11
The MATLAB output:
num =
0 10.0000 10.0000
den =
1.0000 -1.8000 1.2000
Step 11 of 11
From MATLAB output, form a equation using the numerator and denominator co-efficients.
Numerator is:
(22)
Equations (3) and (22) are equal.
Therefore, the system transfer function is verified using MATLAB.
Where,
is the controller transfer function.
is the satellite transfer function
K is the amplifier gain
is the sensor gain
Step 2 of 12
From Figure 1, Consider the forward gain transfer function is
The value of
Substitute 1 for
(1)
Step 3 of 12
Taking Z transform for Equation (1):
(2)
From Figure 1, the closed loop System transfer function:
(3)
Step 4 of 12
Using Equation (3), The discrete state model is shown in Figure 2:
Figure 2
Step 5 of 12
From Figure 2, the discrete state space equation:
(4)
(5)
(6)
From Equation (4) , Equation (5) , and Equation (6) , to form the state space model for the given system:
(7)
(8)
The state vector
and
(9)
Step 6 of 12
Substitute Equation (9) in Equation (8) and Equation (7):
and
Step 7 of 12
(b)
From Figure 1, the plant transfer function
(10)
Substitute 20 for K and Equation (2) in Equation (10):
. (11)
Using Equation (11), the discrete state model is shown in Figure 3.
Figure 3
Step 8 of 12
(15)
(16)
The state vector
is,
and
(17)
Where,
and
Step 9 of 12
(c)
Determine the system transfer function from the state model:
The characteristic equation:
(18)
Substitute
and
(19)
in Equation (18).
Step 10 of 12
The system transfer function from the state model is,
(20)
From Equation (19), Find
(21)
Substitute
Substitute,
Step 11 of 12
(d)
The MATLAB program:
A= [0 1; -0.905 1.5594];
B= [0; 20];
C= [0.02052 0.02268];
D= [0];
[num,den]=ss2tf(A,B,C,D);
The MATLAB output:
num =
0
0.4536
0.4104
den =
1.0000 -1.5594
0.9050
Step 12 of 12
From MATLAB output, form a equation using the numerator and denominator co-efficients
Numerator is:
(22)
Equations (3) and (22) are equal. Therefore, the system transfer function is verified using MATLAB.
(2)
Where,
is the s domain function for
is the s domain function for
Servomotor and gear transfer function is represented as
(3)
Substitute Equation (3) in Equation (1).
From Figure 1, the transfer function for servomotor and gear is:
(4)
(5)
Step 2 of 10
The value of
:
(6)
(7)
Step 3 of 10
From Figure 1, Consider the forward gain transfer function is
The value of
Substitute 1 for
(8)
Taking Z transform for Equation (8):
(9)
Step 4 of 10
From Figure 1, the closed loop System transfer function:
(10)
Step 5 of 10
From Equation (10) , the discrete state model:
(11)
(12)
The state vector
and
(13)
Step 6 of 10
Substitute Equation (13) in Equation (12) and Equation (11):
and
.
(b)
From Figure 1, the plant transfer function
(14)
Substitute 2.4 for K and Equation (9) in Equation (14):
(15)
Step 7 of 10
Using Equation (15), the discrete state model is shown in Figure (2):
Figure 2
Step 8 of 10
From Figure 2, the discrete state model:
(16)
(17)
The state vector
and
(18)
Step 9 of 10
Substitute Equation (18) in Equation (16) and Equation (17).
Where,
and
.
Step 10 of 10
(c)
Determine the system transfer function from the state model:
The characteristic equation:
(19)
Substitute
and
in Equation (19)
(20)
The system transfer function from the state model:
(21)
From Equation (20), Find
(22)
Substitute
Substitute,
and
Step 2 of 7
From Figure 1,
The input of the given system is,
(4)
Substitute Equation (3) in Equation (4):
(5)
Substitute Equation (5) in Equation (2):
(6)
Step 3 of 7
Substitute Equation (6) and Equation (5) in Equation (1):
Hence, the state space model for the closed loop system is
and
Step 4 of 7
(b)
From the Equation (2), the given system is an algebraic loop.
The signal flow graph for the given condition is shown in Figure 2.
Figure 2
Step 5 of 7
From the Figure 2,
is a direct function of
and
is a direct function of
Step 6 of 7
(c)
When algebraic loop gain is 1 and it is evident that the state Equations does not exist.
Hence, the state Equations does not exist.
Step 7 of 7
(d)
Condition for not ignoring time delay
When algebraic loop gain is 1 and it is evident that the state Equations does not exist.
Hence, the time delay should not be ignored, if the delay result is an algebraic loop is equal to 1.