Methods For Analysis and Control of Dynamical Systems Lecture 2: Modelling of Dynamical Systems

Control of
dynamical
systems
Methods for analysis and control of O.Sename
dynamical systems Introduction
Lecture 2: Modelling of dynamical Methods for

system
systems modelling
Physical
examples
The DVD player
The wind tunnel
O. Sename1 Hydraulic tanks

The suspension system
Satellite attitude control
model
1 Gipsa-lab,
CNRS-INPG, FRANCE State space
Olivier.Sename@gipsa-lab.inpg.fr representation
Physical examples
www.lag.ensieg.inpg.fr/sename Linearisation
Conversion to transfer
function
16th March 2009

Control of
Outline dynamical
systems
O.Sename
Introduction Introduction
Methods for
Methods for system modelling system
modelling
Physical
Physical examples examples
The DVD player
The DVD player The wind tunnel
Hydraulic tanks
The wind tunnel The suspension system
Hydraulic tanks model
The suspension system State space

representation
Satellite attitude control model Physical examples
Linearisation
function
State space representation

Physical examples
Linearisation
Conversion to transfer function
Control of
References dynamical
systems
O.Sename
Introduction
Some interesting books: Methods for
system
I G. Franklin, J. Powell, A. Emami-Naeini, Feedback modelling
Control of Dynamic Systems, Prentice Hall, 2005 Physical

examples
I R.C. Dorf and R.H. Bishop, Modern Control Systems, The DVD player
The wind tunnel
Prentice Hall, USA, 2005. Hydraulic tanks

I G.C. Goodwin, S.F. Graebe, and M.E. Salgado, model
Control System Design, Prentice Hall, New Jersey, State space

representation
2001. Physical examples
Linearisation
I K.J. Astrom and B. Wittenmark, Computer-Controlled Conversion to transfer

function
Systems, Information and systems sciences series.

Prentice Hall, New Jersey, 3rd edition, 1997.
Control of
Types of models dynamical
systems
O.Sename
I Finite state models (Petri nets, Grafcet) of logical Introduction
systems: discrete-event systems Methods for

system
modelling
I Graph models : Bond graph. Allow a physical
Physical
description in a unique way whatever the physical examples
The DVD player
domain is. The wind tunnel
Hydraulic tanks
I Experimental models : allow to reproduce an The suspension system
input-output behavior. model
State space
I State models: A mathematical description of the representation
Physical examples
system in terms of a minimum set of variables xi (t), Linearisation
i = 1, . . . , n, together with knowledge of those variables function
at an initial time t0 and the system inputs for time

t ≥ t0 , are sufficient to predict the future system state
and outputs for all time t ≥ t0 .
Control of
Different issues for modelling (1) dynamical
systems
O.Sename
Introduction
Methods for
Identification based method- Black box models system
modelling
I System excitations using step inputs, sinusoïdal Physical
examples
signals, or PRBS (Pseudo Random Binary Signal) The DVD player
The wind tunnel
I Determination of a transfer function reproducing the Hydraulic tanks
input/ouput system behavior Satellite attitude control
model
I Method : direct identification (Strejc) or by State space

representation
optimization. Physical examples
Linearisation
I Objective: determination of the set of model Conversion to transfer
function
parameters.
Control of
Different issues for modelling (2) dynamical
systems
O.Sename
Introduction
Methods for
Knowledge-based method - White box models system
modelling
I Represent the system behavior using differential Physical
examples
and/or algebraic equations, based on physical The DVD player
knowledge. The wind tunnel

Hydraulic tanks
I Formulate a nonlinear state-space model, i.e. a matrix Satellite attitude control
model
differential equation of order 1. State space

representation
I Determine the steady-state operating point about Physical examples
Linearisation
which to linearize. Conversion to transfer
function
I Introduce deviation variables and linearize the model.

Control of
Why knowledge-based method are of dynamical
systems
interest? O.Sename
Introduction
I dynamical systems where physical equations can be Methods for

system
derived : electrical engineering, mechanical modelling
engineering, aerospace engineering, microsystems, Physical

examples
process plants .... The DVD player
The wind tunnel
Hydraulic tanks
I include physical parameters: easy to use when The suspension system
parameters are changed for design model
State space
I State variables have physical meaning. representation
Physical examples
I Allow for including non linearities (state constraints ) Linearisation
function
I Easy to extend to Multi-Input Multi-Output (MIMO)
systems
I Advanced control design methods are based on state
space equations (reliable numerical optimisation tools)
Control of
the DVD player dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
Physical
examples
The DVD player
The wind tunnel
Hydraulic tanks
model
State space
representation
Physical examples
Linearisation
function
Control of
Modelling the DVD player dynamical
systems
O.Sename
Useo of physical principles. Introduction

Focus and radial actuators: are constituted by a lens Methods for
system
attached to the pick-up body by two parallel leaf spring, modelling
and moved in vertical and radial direction by a voice coil Physical
examples
and a magnet. The DVD player
The wind tunnel
Hydraulic tanks
model
State space
representation
Physical examples
Linearisation
function
Control of
Modelling the DVD player (2) dynamical
systems
I Actuator : voltage v (t). Controls the pick-up voice coil O.Sename
I Output signal:laser spot position x(t) Introduction
Methods for
Electrical part: the voltage v (t) applied to the R-L circuit system
modelling
makes flow in it a current i(t): Physical
examples
The DVD player
∂ i(t) ∂ x(t) The wind tunnel
L + Ri(t) = v (t) − Ke (1) Hydraulic tanks
∂t ∂t The suspension system
model
Magnetic part: State space
f (t) = Ke i(t) (2) representation
Physical examples
Linearisation
where Ke is the back-emf constant, Conversion to transfer

function
Mechanical part: The force f (t) [N] acts on the objective

lens mass M [Kg], making the actuator moves:
∂ 2 x(t) ∂ x(t)
M +D + kx(t) = f (t) (3)
∂ t2 ∂t
Control of
Data of the DVD player 1 dynamical
systems
O.Sename
Introduction
Methods for
system
Table: Values of the physical parameters of Pick-up 1 (for focus modelling
and tracking actuators), from Pioneer. Physical
examples
The DVD player
The wind tunnel
Hydraulic tanks
Name Description Value Focus Value Tracking The suspension system

R DC resistance of coil 5.4 ± 1.1 Ω 5.9 ± 1.2 Ω model
L Inductance of coil 15 ± 6 µH 9 ± 6 µH State space

representation
M Moving mass 0.7 g 0.7 g Physical examples
Linearisation
SDC DC Sensitivity 2.69 mm/V 0.63 mm/V Conversion to transfer
function
f0 Resonance frequency 30 ± 7 Hz 47 ± 7 Hz
QdB Resonance peak ≤ 15 dB ≤ 15 dB
Control of
Data of the DVD player 2 dynamical
systems
O.Sename
Introduction
Methods for
system
Table: Values of the physical parameters of Pick-up 2 (for focus modelling
and tracking actuators), from Sanyo Physical
examples
The DVD player
The wind tunnel
Hydraulic tanks
Name Description Value Focus Value Tracking The suspension system

R DC resistance of coil 6.5 ± 1 Ω 6.5 ± 1 Ω model
L Inductance of coil 25 ± 6 µH 18 ± 6 µH State space

representation
M Moving mass 0.33 g 0.33 g Physical examples
Linearisation
SDC DC Sensitivity 0.94 mm/V 0.27 mm/V Conversion to transfer
function
f0 Resonance frequency 52 ± 7 Hz 52 ± 7 Hz
QdB Resonance peak ≤ 20 dB ≤ 20 dB
Control of
Calculation of the parameters dynamical
systems
The elastic constant k ([N/m]), the dumping factor D O.Sename
([Ns/m]), and the electro-magnetic constant Ke ([Wb/m]) Introduction

are : Methods for
system
modelling
wn = 2πf0 Physical
examples
k = M × wn2 The DVD player
s The wind tunnel
r Hydraulic tanks
1 The suspension system
D = wn × M × 2 1 − 1 − 2 Satellite attitude control
Q model
State space
Ke = kRSDC representation
Physical examples
Linearisation
function
where Q denotes the absolute value of the actuator

amplitude peak, at the resonance frequency f0 , SDC
([mm/V ]) is the value of the actuator DC sensitivity , M
([kg]) is the objective lens mass R ([Ω]) and L ([H]) the
resistance and inductance of the coil.
Control of
Calculation of the transfer function dynamical
systems
Electrical part: O.Sename
Introduction
1
I(s) = [V (s) − Ke sX (s)] (4) Methods for
Ls + R system
modelling
Magnetic part: Physical

examples
F (s) = Ke I(s) (5) The DVD player
The wind tunnel
Hydraulic tanks
Mechanical part: The suspension system
model
X (s) 1 State space

= 2
(6) representation
F (s) Ms + Ds + k Physical examples
Linearisation
Combining these equations , it leads function
Ke
X (s)
H(s) = = ML
V (s) 3 R D 2 DR k Ke2 kR
s + L + M s + ML + M + ML s + ML
(7)
Control of
A wind tunnel dynamical
systems
O.Sename
Objective: feedback control of the Mach number in a wind
tunnel (NASA) Introduction
In steady-state operating conditions (some constant fan Methods for

system
speed, liquid nitrogen injection rate, and gaseous-nitrogen modelling
Physical
vent rate), the dynamic response of the Mach number examples
perturbations δ M to small perturbations in the guide vane The DVD player
The wind tunnel
angle actuator δ θA Hydraulic tanks

model
τδ Ṁ(t) + δ M(t) = k δ θ (t − h) State space

2 2 representation
δ θ̈ (t) + 2ξ ωδ θ̇ (t) + ω δ θ (t) = ω δ θA (t) Physical examples
Linearisation
function
δ θ (t) is the guide vane angle.
Time-delay h : transportation time between the guide
vanes of the fan and the test section of the tunne
h varies as a function of the temperature and is such that
0.288 ≤ h ≥ 0.455s.
Control of
Height control of a single Tank dynamical
systems
Consider a water tank of area S, height H, feeded by an
O.Sename
input flow Qe , with an output flow Qs
Introduction
Methods for
system
modelling
Physical
examples
The DVD player
The wind tunnel
Hydraulic tanks
model
Figure: Bac. State space
representation
Physical examples
Linearisation
Usually the flow is considered to be proportional to the Conversion to transfer
function
square root of the pressure difference, then

√
Qs = kt H
and
dH √
S = Qe − Qs = Qe − kt H
dt
Control of
Suspension system dynamical
systems
O.Sename
Introduction
A simplified quarter vehicle model with semi-active Methods for
system
suspension. modelling
Physical
zs and zus ) are the relative position examples
The DVD player
of the chassis and of the wheel, The wind tunnel

Hydraulic tanks
ms (resp. mus ) the mass of the The suspension system

chassis (resp. of the wheel), model
State space
ks (resp. kt ) the spring coefficient of representation
the suspension (of the tire), Physical examples
Linearisation
u the active damper force, Conversion to transfer

function
zr is the road profile.

Control of
Suspension system (2) dynamical
systems
The mechanical equations are:
O.Sename

 ms z̈s = −Fk (zdef ) − Fc (żdef ) Introduction
mus z̈us = F k (zdef ) + Fc (żdef ) − kt (zus − zr ) (8) Methods for
zdef ∈ z def z def
 system
modelling
where Fk (zdef ) and Fc (żdef ) (with zdef = zs − zus and Physical

examples
żdef = żs − żus ) are the nonlinear forces provided by the The DVD player
The wind tunnel
spring and damper respectively. Hydraulic tanks

Stifness coefficient Damping coefficient
4000 1500 model
3000
1000
State space
2000
representation
1000
500
Physical examples
F [N]
Fc [N]
0
Linearisation
k
0
−1000
function
−2000
−500
−3000
−4000 −1000
−0.1 −0.05 0 0.05 −1 −0.5 0 0.5 1
z [m] z’ [m/s]
def def
Figure: Nonlinear forces provided by the Spring (left) and the

Damper (right).
Control of
Suspension system (3) dynamical
systems
O.Sename
The involved model parameters have been identified on a Introduction
"Renault Mégane Coupé" car and are given below. Methods for
system
modelling
Physical
examples
Symbol Value Description The DVD player
ms 315kg sprung mass The wind tunnel

Hydraulic tanks
mus 37.5kg unsprung mass The suspension system

model
k 29500N/m suspension linearized stiffness
State space
c 1500N/m/s suspension linearized damping representation
Physical examples
kp 210000N/m tire stiffness Linearisation
[z def , z def ] [−8, 6]cm suspension’s deflection limits function
Table: Parameters model of a "Renault Mégane Coupé".

Control of
A satellite attitude control model dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
A simple model for a one-axis system is :
Physical
examples
I θ̈ = MD + Fc d The DVD player
The wind tunnel
Hydraulic tanks
where is the inertia, θ the angular position, MD a small Satellite attitude control
model
disturbance moment on the satellite, Fc the control force State space

representation
that comes from the reaction jets, d the distance from the Physical examples
jet to the center of gravity. Linearisation

function
Control of
General dynamical system dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
Many dynamical systems can be represented by Ordinary Physical
examples
Differential Equations (ODE) as The DVD player
The wind tunnel
( Hydraulic tanks
ẋ(t) = f ((x(t), u(t), t), x(0) = x0 The suspension system
(9) Satellite attitude control

model
y (t) = g((x(t), u(t), t) State space
representation
Physical examples
where f and g are non linear functions. Linearisation
function
Control of
Definition of state space representations dynamical
systems
A continuous-time LINEAR state space system is given O.Sename
as : ( Introduction
ẋ(t) = Ax(t) + Bu(t), x(0) = x0
(10) Methods for
system
y (t) = Cx(t) + Du(t) modelling
Physical
I x(t) ∈ Rn is the system state (vector of state examples
The DVD player
variables), The wind tunnel

Hydraulic tanks
u(t) ∈ Rm the control input

I Satellite attitude control
model
I y (t) ∈ Rp the measured output State space

representation
I A, B, C and D are real matrices of appropriate Physical examples
Linearisation
dimensions Conversion to transfer
function
I x0 is the initial condition.

n is the order of the state space representation.
Matlab : ss(A,B,C,D) creates a SS object
SYS representing a continuous-time
state-space model
Control of
Example : Wind turbine dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
Physical
examples
The DVD player
The wind tunnel
Hydraulic tanks
model
State space
representation
Physical examples
Linearisation
function
Control of
Some important issues dynamical
systems
I A complete ADAMS model includes 193 DOFs to O.Sename
represent fully flexible tower, drive-train, and blade
Introduction
components ⇒ simulation model
Methods for
I Different operating conditions according to the wind system
modelling
speed Physical
I Control objectives: maximize power , enhance examples
The DVD player
damping in the first drive train torsion mode, design a The wind tunnel
Hydraulic tanks
smooth transition different modes The suspension system
I A Generator torque controller to enhance drive train model
State space
torsion damping in Regions 2 and 3 representation
I The control model is obtained by linearisation of a non Physical examples
Linearisation
linear electro-mechanical model: Conversion to transfer

function

ẋ(t) = Ax(t) + Bu(t) + Ed(t)
y (t) = Cx(t)
where x1 = rotor-speed x2 = drive-train torsion spring
force, x3 = rotational generator speed
u = generator torque, d : wind speed
Control of
A wind tunnel dynamical
systems
In steady-state operating conditions (fan speed, liquid
nitrogen injection rate and gaseous-nitrogen vent rate) the O.Sename
dynamic response of the Mach number is given by the Introduction

following system: Methods for
system
modelling
 
−0.5091 0 0
ẋ(t) =  0 0 1  x(t) Physical
−36 −9.6 examples
 0 The DVD player
0 −0.005956 0 The wind tunnel
+ 0 0 0  x(t − h) Hydraulic tanks
 0  0  0
 Satellite attitude control
0 0 model
+  0  u(t) +  0  w(t) State space

36 1 representation
Physical examples
Linearisation
y (t) = 1 0 0 x(t) + w(t) Conversion to transfer
function

z(t) = 1 1 1 x(t)
x(t) = φ (t); t ∈ [−h, 0]

where h = 0.33sec., x1 is the Mach number, x2 is the guide
vane angle and x3 = ẋ2 .
Control of
Height control of a single Tank dynamical
systems
In steady state : Qe = Q0 , H = H0
O.Sename
Consider the variations qe , qs , h around the steady state
as: Introduction
Methods for
Qe = Q0 + qe ; Qs = Q0 + qs ; H = H0 + h. system
modelling
This leads to the equation :
Physical
dh p p examples
S = qe − kt ( H0 + h − H0 ) The DVD player
dt The wind tunnel

Hydraulic tanks
Using the first order approximation (1 + x)α = 1 + αx, it Satellite attitude control
model
leads State space
dh representation
S = qe h Physical examples
dt Linearisation
Denoting the state variable x = h, the control input u = qe , Conversion to transfer

function
the output y = h, we get

ẋ = Ax + Bu (11)
y = Cx (12)
with A = − √kt , B = 1
S and C = 1.
2 H0
Control of
Suspension system dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
Physical
examples
Choose the state variables and give the state space The DVD player
The wind tunnel
representation of the system, with input zr (not controlled) Hydraulic tanks

and output zs − zus or z̈s Satellite attitude control

model
State space
representation
Physical examples
Linearisation
function
Control of
Satellite dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
Physical
examples
Choose the state variables and give the state space The DVD player
The wind tunnel
representation of the system, with controlled input Fc , Hydraulic tanks

disturbance input MD and output θ . Satellite attitude control

model
State space
representation
Physical examples
Linearisation
function
Control of
More generally dynamical
systems
O.Sename
Introduction
Reformulate Nth-order differential equation into N Methods for
system
simultaneous first-order differential equations modelling
Physical
d ny d n−1 y examples
+ a n−1 + . . . + a1 ẏ + a0 y = f The DVD player
dt n dt n−1 The wind tunnel

Hydraulic tanks
Define the state variables : Satellite attitude control
model
State space
x1 = ..., , x2 = ...., , . . . xn = ..., representation
Physical examples
Linearisation
and give the according state space representation. Conversion to transfer

function
Remark : Knowledge of state variables allows one to

determine every possible output of the system
Control of
dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
Physical
examples
The DVD player
Linearisation The wind tunnel

Hydraulic tanks
model
State space
representation
Physical examples
Linearisation
function
Control of
Equilibrium point dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
Physical
An equilibrium point satisfies: examples
The DVD player
The wind tunnel
Hydraulic tanks
0 = f ((xeq (t), ueq (t), t) (13) The suspension system
model
For the pendulum, we can choose y = θ = f = 0. State space

representation
Physical examples
Linearisation
function
Control of
Linearisation Method dynamical
systems
O.Sename
Introduction
Methods for
This leads to a linear state space representation of the system
modelling
system, around the equilibrium point. Physical
Defining x̃ = x − xeq , ũ = u − ueq and ỹ = y − yeq we get examples
The DVD player
The wind tunnel
Hydraulic tanks
˙
(
x̃(t) = Ax̃(t) + B ũ(t), The suspension system
(14) Satellite attitude control

model
ỹ (t) = C x̃(t) + D ũ(t) State space

representation
Physical examples
with A = ∂∂xf |x=xeq ,u=ueq , B = ∂∂uf |x=xeq ,u=ueq , Linearisation

C = ∂∂ gx |x=xeq ,u=ueq and D = ∂∂ gu |x=xeq ,u=ueq

function
Control of
dynamical
systems
O.Sename
Introduction
Methods for
system
modelling
Physical
Linear systems : examples

The DVD player
The wind tunnel
Hydraulic tanks
transfer function
model
State space
representation
Physical examples
Linearisation
function
Control of
Equivalence transfer function - state space dynamical
systems
representation O.Sename
Consider a linear system given by: Introduction
Methods for
system

ẋ(t) = Ax(t) + Bu(t), x(0) = x0 modelling
(15)
y (t) = Cx(t) + Du(t) Physical
examples
The DVD player
Using the Laplace transform (and assuming zero initial The wind tunnel
Hydraulic tanks
condition x0 = 0), (15) becomes: The suspension system

model
s.x(s) = Ax(s) + Bu(s) ⇒ (s.In − A)x(s) = Bu(s) State space

representation
Physical examples
Linearisation
Then the transfer function matrix of system (15) is given by Conversion to transfer
function
N(s)
G(s) = C(sIn − A)−1 B + D = (16)
D(s)
Matlab: if SYS is an SS object, then tf(SYS) gives the

associated transfer matrix. Equivalent to tf(N,D)

Methods For Analysis and Control of Dynamical Systems Lecture 2: Modelling of Dynamical Systems

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Methods For Analysis and Control of Dynamical Systems Lecture 2: Modelling of Dynamical Systems

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Control of

dynamical systems Introduction

Lecture 2: Modelling of dynamical Methods for

O. Sename1 Hydraulic tanks

16th March 2009

The suspension system State space

State space representation

Control of Dynamic Systems, Prentice Hall, 2005 Physical

Prentice Hall, USA, 2005. Hydraulic tanks

Control System Design, Prentice Hall, New Jersey, State space

I K.J. Astrom and B. Wittenmark, Computer-Controlled Conversion to transfer

Systems, Information and systems sciences series.

I Finite state models (Petri nets, Grafcet) of logical Introduction

systems: discrete-event systems Methods for

input-output behavior. model

at an initial time t0 and the system inputs for time

I Method : direct identification (Strejc) or by State space

knowledge. The wind tunnel

differential equation of order 1. State space

I Introduce deviation variables and linearize the model.

I dynamical systems where physical equations can be Methods for

engineering, aerospace engineering, microsystems, Physical

Useo of physical principles. Introduction

I Actuator : voltage v (t). Controls the pick-up voice coil O.Sename

I Output signal:laser spot position x(t) Introduction

where Ke is the back-emf constant, Conversion to transfer

Mechanical part: The force f (t) [N] acts on the objective

Name Description Value Focus Value Tracking The suspension system

L Inductance of coil 15 ± 6 µH 9 ± 6 µH State space

Name Description Value Focus Value Tracking The suspension system

L Inductance of coil 25 ± 6 µH 18 ± 6 µH State space

The elastic constant k ([N/m]), the dumping factor D O.Sename

([Ns/m]), and the electro-magnetic constant Ke ([Wb/m]) Introduction

where Q denotes the absolute value of the actuator

Electrical part: O.Sename

Magnetic part: Physical

X (s) 1 State space

In steady-state operating conditions (some constant fan Methods for

angle actuator δ θA Hydraulic tanks

τδ Ṁ(t) + δ M(t) = k δ θ (t − h) State space

square root of the pressure difference, then

of the chassis and of the wheel, The wind tunnel

ms (resp. mus ) the mass of the The suspension system

chassis (resp. of the wheel), model

u the active damper force, Conversion to transfer

zr is the road profile.

where Fk (zdef ) and Fc (żdef ) (with zdef = zs − zus and Physical

spring and damper respectively. Hydraulic tanks

Figure: Nonlinear forces provided by the Spring (left) and the

The involved model parameters have been identified on a Introduction

ms 315kg sprung mass The wind tunnel

mus 37.5kg unsprung mass The suspension system

Table: Parameters model of a "Renault Mégane Coupé".

disturbance moment on the satellite, Fc the control force State space

jet to the center of gravity. Linearisation

(9) Satellite attitude control

variables), The wind tunnel

u(t) ∈ Rm the control input

I y (t) ∈ Rp the measured output State space

I x0 is the initial condition.

linear electro-mechanical model: Conversion to transfer

dynamic response of the Mach number is given by the Introduction