TUGAS 4 KELOMPOK 2 SKM

Apriyan Purba
Rafisyah Dharma P
Mohamad Nur A R
1. CANONICAL OBSERVER
1
G(s) =
S + 2 S2 + S−2
3

Y (s ) 1
= 3
U ( s) S + 2 S2 + S−2

Y(s) ( S3 +2 S 2+ S−2) = U(s)

Y⃛ +2Ÿ +Ẏ -2Y = U

y = ∫∫∫u + ∫∫∫2 y - ∫∫ y - ∫2 y

X˙ 1 X1 X˙ 2 X2 X˙ 3 X3

∫
∫ ∫ y

-2

-1

X˙ 3 = -2X3 + X2
X˙ 2 = -X3 + X1
X˙ 1 = 2X3 + U

X˙ 1 0 0 2 X1 1
[ ][
X 2 = 1 0 −1
˙
X˙ 3 0 0 2 ][ ] [ ]
X2 + 0 u
X3 0

X1
Y = [ 0 0 1] X 2
X3 [ ]
2. CANONICAL CONTROLLER
Y (s ) k
G(s) = = 3
U ( s) s + 2 s2 + s−2
kU
Y(s) =
s + 2 s2 + s−2
3

Y(s) ( s3 +2 s 2 +s -2) = kU(s)

⃛y + 2¨y+ ẏ−2 y = kU
⃛y =−2¨ y − ẏ+ 2 y + kU
Misal:
x1 = y

x 2= ẏ = x˙1

x 3= ÿ = x˙2

x 4= y⃛ = x˙3 = −2¨ y− ẏ +2 y + kU

ẋ1 0 1 0 x1 0

[][
ẋ 2 = 0 0
ẋ3 2 −1
1 x2 + 0 U
−2 x3 1
][ ] [ ]
x1
y = [ 1 0 0 ] x2
x3[]
Diagram blok:

x˙3 x 3 x˙2 x 2 x˙1 x1

u y
1 ∫ ∫ ∫
-2
-1