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ELEC-8103 – Modelling, Estimation, and Dynamic Systems

Assignment 1
1.
u0 + R1C1u␒ 1 + R1C1u␒ 2 + u1 = 0 *
-u1 + R2C2u␒ 2 + u2 = 0 **
u0 input
u2 output
state variables : u1, u2
1 1
from ** u␒ 2 = u1 - u2
R2C2 R2C2
1
from * u␒ 1 = -u1 - u␒ 2R1C1 - u0
R1C1
Replacing ** into *, we get
-R2C2 - 1 1 1
u␒ 1 = u1 - u2 - u0
R2C2 R2C2 R1C1
1 1
u␒ 2 = u1 - u2 + 0u0
R2C2 R2C2

-R2C2 - 1 -1
-1
u␒ 1 R2C2 R2C2 u1
= + R1C1 u0
u␒ 2 1 -1 u2
0
R2C2 R2C2
u1
u2 = 0 1 + 0 u0
u2

2.
𝛼␒ = -0. 313𝛼 + 56. 7q + 0. 232𝛿
q␒ = -0. 013𝛼 - 0. 426q + 0. 02303𝛿
𝜃␒ = 56. 7q

The state-space equation for the system from above:

𝛼␒ -0. 313 56. 7 𝛼 0. 232

= + 𝛿
q␒ -0. 0313 -0. 426 q 0. 02303
𝛼
𝜃 = 0 56. 7 + 0 𝛿
q

For finding the transfer function, we use the following formula:

G(s) = C(sI - A)-1B + D
Where
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s + 0. 313 -56. 7
sI - A =
0. 0313 s + 0. 426
0. 232
B=
0. 02303
C = 0 56. 7
D=0

By using Matlab with the transfer function formula and the matrices from above, we get:
1. 306s - 0. 0032
G(s) =
s2 + 0. 739s + 1. 9

3.

a) The output can be the position of the object, the input can be considered the square of the current,
the constants can be found in the table f). The internal time varying variables will be the position,
speed and acceleration of the object.

b)
x
sin(𝛼) =
Rc
x
Tx = Tsin(𝛼) = 𝛾Csin(𝜙)
Rc
Fvx = Fv = hx␒
Fmagx = Fmag = kvI2

The forces on the x axis are :

-Tx - Fv + Fmag = mx␒␒
Thus, the differential equation for the x axis :
-𝛾Csin(𝜙) h k
x- x␒ + I2 = x␒␒
Rc𝜌Vg 𝜌Vg 𝜌g

c)

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4.
a) The outputs of the system ist he amount of product B that flows out of the reactor. The input of the
system is Ai. The constants of the system can be seen in table f) The time-varying internal variables
␒ (t), B␒ (t)
of the system are A(t), B(t), A
b)
q0 qi
A␒ = -k A- Ai
V V
q0
B␒ = kA - B
V
c) The state variables of the system are A and B
q0 - kV
0
A␒ V A q
= + 0 Ai
B␒ -q0 B 0
k
V
A
y = 0 1 + 0Ai
B
d)
For finding the transfer function, we use matlab ss2f and tf functions for:

q0 - kV
0
A = V
-q0
k
V
q0
B=
0
C = 0 1
D =0

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4. 7
G=
2s2 + 18. 8s + 0. 4688
f)
After around 1 second, the reactant amount is negligeable. But only after 80-90 seconds the amount
of product is becoming negligeable, and this can be explained by the fact that the tank is emptying
slowly.

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