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Modelado Ejemplos Resueltos PDF
Modelado Ejemplos Resueltos PDF
Window opening/closing
(random noise)
noise
Water level control in an overhead tank
ADVANCED CONTROL SYSTEM DESIGN 3
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
State Space Representation
noise
z Input variable: Y Y*
control
Manipulative (control) System
Non-manipulative (noise) Z
Controller
z Output variable:
Variables of interest that can be either be
measured or calculated
z State variable:
Minimum set of parameters which completely
summarize the systems status.
ADVANCED CONTROL SYSTEM DESIGN 4
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Definitions
State : The state of a dynamic system is the smallest
number of variables (called state variables)
such that the knowledge of these variables at t = t0 ,
together with the knowledge of the input for t = t0 ,
completely determine the behaviour of the system
for any time t t0 .
X f ( t , X ,U )
Y h ( t , X ,U )
Y = h( X , U ) Y Rp
z Linear System
A - System matrix- n x n
X = AX + BU B - Input matrix- n x m
Y = CX + DU C - Output matrix- p x n
D - Feed forward matrix p x m
Ref.: K. Ogata,
Modern Control Engineering
3rd Ed., Prentice Hall, 1999.
dn y d n 1 y
n
+ an 1 n 1 + " + a0 y = u
dt dt
Choose output y(t ) and its (n 1) derivatives as state variables
dy
x1 = y x =
1 dt
dy
x2 = x = d y
2
dt 2 dt 2
differentiating
#
#
d y
n 1
n
x
n = n 1
d y
dt
x =
dt
n n
z State variables: x1 x, x2 x
x1 = x2 , x2 = 2x1 3x2 + u
Hence x1 0 1 x1 0
x = 2 3 x + 1 u
2
N
N 2 N
X A X B
x1
y = [1 0 ] + [ 0 ] u
N x2 N
C D
z State variables
x1 y, x2 y
z State dynamics
y x2
x1 =1
=
x 1 b b
2 ( ky cy ) + u ( kx1 cx2 ) + u
m m m m
ADVANCED CONTROL SYSTEM DESIGN 17
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 2
(spring-mass-damper system)
z State dynamics
0 1 0
x1 x1
x = k c + b u
2 x2
m m m
z Output equation
y x1
y = [1 " 0] X + [ 0] u
ADVANCED CONTROL SYSTEM DESIGN 18
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 3:
Translational Mechanical System
d 2 x1 dx1
M1 2 + D + K ( x1 x2 ) = 0 Ref: N. S. Nise:
dt dt Control Systems Engineering,
4th Ed., Wiley, 2004
d 2 x2
M 2 2 + K ( x2 x1 ) = f ( t )
dt
ADVANCED CONTROL SYSTEM DESIGN 19
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 3:
Translational Mechanical System
dx1 dx2
z Define v1 , v2
dt dt
dv1 K D K
z System equations = x1 v1 + x2
dt M1 M1 M1
dv2 K K 1
= x1 x2 + f (t )
dt M 2 M2 M2
0 1 0 0
x1 K x 0
z State space D K
0 1 0
v M
M1 M1 v1
equations in 1 = 1
+ 0 f (t )
x2 0 0 0 1 x2
standard form 1
v2 K K v2
0 0 M 2
M2 M2
ADVANCED CONTROL SYSTEM DESIGN 20
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 4:
Nonlinear spring in Example 3
d 2 x1 dx
M 1 2 + D 1 + K ( x1 x2 ) = 0
3
z Dynamic equations
dt dt
d 2 x2
M 2 2 + K ( x2 x1 ) = f ( t )
3
dt
M1 M1
x2 = v2
K 1
v2 = ( x2 x1 ) + f (t )
3
M2 M2
ADVANCED CONTROL SYSTEM DESIGN 21
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 5
The Ball and Beam System
The beam can rotate by applying a torque at the
centre of rotation, and ball can move freely along
the beam
z Equation x + 2c ( x 2 1) x + k x = 0
M {c, k > 0}
z State variables x1 x, x2 x
X
F(X )
(
U = VR WQ g sin + FAX + FTX / m )
( )
V = WP UR + g sin cos + FAY + FTY / m
W = UQ VP + g cos cos + ( F + F ) / m
AZ TZ
P = c1QR + c2 PQ+c3 ( L A + LT ) +c 4 ( N A + NT )
Q = c5 PR c6 ( P 2 R 2 ) + c7 ( M A + M T )
R = c8 PQ c2QR + c4 ( LA + LT ) + c9 ( N A + NT )
= P + Q sin tan + R cos tan
= Q cos R sin
( ) ( )
N N N
FTx = Ti cos Ti cos Ti LT = Ti cos Ti sin Ti zTi Ti sin Ti yTi
i =1 i =1 i =1
cos sin
( ) ( ) T ( )
N N N
FTy = Ti cos Ti sin Ti M T = Ti cos Ti cos Ti zTi + Ti sin Ti xTi
i =1 i =1 i =1 sin cos
( ) ( )
N N N
FTz = Ti sin Ti NT = Ti cos Ti cos Ti yTi + Ti cos Ti sin Ti xTi
i =1 i =1 i =1
C CDi 1 CD
FAX FAX s DO CD
= T ( ) = T ( )( qS ) + E
h E
LA LAS Cl Cl A Cl
N = T ( )
= T ( )
qSb +
R
A
Cn R
A AS n n A
N C C
R
FAY = qS CY = qS CY + CY CY A
A R
R