Ch.03 Chuẩn 1

HO CHI MINH CITY UNIVERSITY OF
TECHNOLOGY
SYSTEM DYNAMICS AND CONTROL

ASSIGNMENT 3
STUDENT REPORT
Class: L03
Group 5: Lâm Văn Chuẩn - 1912792
Lecturer: Mr. Nguyễn Tấn Tiến

Ho Chi Minh City University of Technology Faculty of Mechanical Engineering
Contents
3.1 .................................................................................................................. 2
3.2 .................................................................................................................. 3
3.3 .................................................................................................................. 4
3.4 .................................................................................................................. 5
3.5 .................................................................................................................. 7
3.6 .................................................................................................................. 8
3.7 ................................................................................................................ 10
3.8 ................................................................................................................ 11
3.9 ................................................................................................................ 12
3.10 .............................................................................................................. 15
3.11 .............................................................................................................. 17
3.12 .............................................................................................................. 20
3.13 .............................................................................................................. 22
3.14 .............................................................................................................. 23
3.15 .............................................................................................................. 25
3.16 .............................................................................................................. 26
1
SYSTEM DYNAMICS AND CONTROL GVHD:NGUYỄN TẤN TIẾN
3.1
Represent the electrical network in state space with output 𝑣
1Ω 𝑣1 1Ω 𝑣2 1Ω
𝑖1 (𝑡) 𝑖3 (𝑡) 𝑖5 (𝑡)
𝑣𝑖 (𝑡) 1𝐻 𝑖2 (𝑡) 1𝐻 𝑖4 (𝑡) 1𝐹 𝑣𝑜 (𝑡)
Write the differential equation for each energy storage element.

𝑑𝑖
=𝑣
𝑑𝑡
𝑑𝑖
=𝑣
𝑑𝑡
𝑑𝑣
=𝑖
𝑑𝑡
Therefore, the state vector is
𝑖
𝑥= 𝑖
𝑖
Now obtain 𝑣 , 𝑣 and 𝑖 in terms of the state variables. First find 𝑖 in terms of the state
variables.
−𝑣 + 𝑖 + 𝑖 + 𝑖 + 𝑣 = 0
But 𝑖 = 𝑖 − 𝑖 and 𝑖 = 𝑖 − 𝑖
Thus,
−𝑣 + 𝑖 + 𝑖 − 𝑖 + 𝑖 − 𝑖 + 𝑣 = 0
2 1 1 1
⟺𝑖 = 𝑖 + 𝑖 − 𝑣 + 𝑣
3 3 3 3
2 1 1 2
⟹𝑣 =𝑣 −𝑖 =− 𝑖 − 𝑖 + 𝑣 + 𝑣
3 3 3 3
Also,
1 1 1 1
𝑖 =𝑖 −𝑖 =− 𝑖 + 𝑖 − 𝑣 + 𝑣
3 3 3 3
2
and
1 2 1 1
𝑖 =𝑖 −𝑖 =− 𝑖 − 𝑖 − 𝑣 + 𝑣
3 3 3 3
Finally,
1 2 2 1
𝑣 =𝑖 +𝑣 =− 𝑖 − 𝑖 + 𝑣 + 𝑣
3 3 3 3
The state equation is
−2 −1 1 2
⎡ ⎤ ⎡ ⎤
⎢3 3 3⎥ ⎢3⎥
−1 −2 2⎥ 1
𝑥̇ = ⎢ 𝑥 + ⎢ ⎥𝑣
⎢3 3 3⎥ ⎢3⎥
⎢−1 −2 −1⎥ ⎢1⎥
⎣3 3 3⎦ ⎣3⎦
𝑦 = [0 0 1]𝑥
3.2
Represent the electrical network in state space with output 𝑖
3Ω 𝑣1 2𝐻 𝑣2
𝑖1 (𝑡) 𝑖3 (𝑡)
𝑖𝑅 (𝑡)
𝑣𝑖 (𝑡) 𝑖2 (𝑡) 3𝐹 4𝑣1 (𝑡) 3Ω
Write the differential equation for each energy storage element.

𝑑𝑣 1
= 𝑖
𝑑𝑡 3
𝑑𝑖 1
= 𝑣
𝑑𝑡 2
Therefore, the state vector is
𝑣
𝑥= 𝑖
Now obtain 𝑣 and 𝑖 in terms of the state variables.

𝑣 = 𝑣 − 𝑣 = 𝑣 − 3(𝑖 + 4𝑣 ) = −11𝑣 − 3𝑖
3
1 −1 1
𝑖 = 𝑖 − 𝑖 = (𝑣 − 𝑣 ) − 𝑖 = 𝑣 −𝑖 + 𝑣
3 3 3
Also, the output is
𝑦 = 𝑖 = 4𝑣 + 𝑖
−1 −1
1
𝑥̇ = 9 3 𝑥+
9 𝑣
−11 −3
0
2 2
𝑦 = [4 1]𝑥
3.3
Find the state-space representation of the network with 𝑣
1Ω
𝑖3 (𝑡)
1𝐻
𝐶2
1𝐹
𝑣𝑖 (𝑡) 𝐶1
1Ω 𝑣𝑜 (𝑡)
1𝐹
𝑖1 (𝑡) 𝑖2 (𝑡)
Let 𝐶 be the grounded capacitor and 𝐶 be the other. Now, writing the equations for
the energy storage components yields,
𝑑𝑖
= 𝑣 −𝑣
𝑑𝑡
𝑑𝑣
= 𝑖 −𝑖
𝑑𝑡
𝑑𝑣
= 𝑖 −𝑖
𝑑𝑡
Thus the state vector is
𝑖
𝑥= 𝑣
𝑣
Now, find the three loop currents in terms of the state variables and the input.
4
Writing KVL around Loop 2 yields

𝑣 =𝑣 +𝑖 ⟺𝑖 =𝑣 −𝑣
Writing KVL around the outer loop yields
𝑖 +𝑖 =𝑣 ⟺ 𝑖 =𝑣 −𝑖 = 𝑣 −𝑣 +𝑣
Also,
𝑖 −𝑖 =𝑖
⟺ 𝑖 = 𝑖 + 𝑣 −𝑣 +𝑣
Also, the output is
𝑦=𝑖 =𝑣 −𝑣
0 −1 0 1
𝑥̇ = 1 −2 2 𝑥+ 1 𝑣
0 2 −2 −1
𝑦 = [0 1 1]𝑥
3.4
Represent the system in state space with output 𝑥 (𝑡)
𝑓𝑣4 𝑓𝑣5
𝑀3
𝑓𝑣1 𝑓(𝑡)
𝑓𝑣2
𝑀1 𝐾 𝑀2
frictionless 𝑥1 (𝑡) 𝑥2 (𝑡)
𝑀 = 2𝑘𝑔, 𝑀 = 𝑀 = 1𝑘𝑔, 𝐾 = 2𝑁 ⁄𝑚
𝑓 = 𝑓 = 𝑓 = 𝑓 = 𝑓 = 1𝑁𝑠 ∕ 𝑚
Equations of motion in Laplace:
(2𝑠 + 3𝑠 + 2)𝑋 (𝑠) − (𝑠 + 2)𝑋 (𝑠) − 𝑠𝑋 (𝑠) = 0
−(𝑠 + 2)𝑋 (𝑠) + (2𝑠 + 3𝑠 + 2)𝑋 (𝑠) − 𝑠𝑋 (𝑠) = 0
−𝑠𝑋 (𝑠) − 𝑠𝑋 (𝑠) − (𝑠 + 3𝑠)𝑋 (𝑠) = 0
Equations of motion in the time domain:
5
𝑑 𝑥 𝑑𝑥 𝑑𝑥 𝑑𝑥
2 +3 + 2𝑥 − − 2𝑥 − =0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑥 𝑑 𝑥 𝑑𝑥
− − 2𝑥 + + 2𝑥 − = 𝑓(𝑡)
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑥 𝑑𝑥 𝑑 𝑥 𝑑𝑥
− − + +3 =0
Define state variables
𝑧 =𝑥
𝑑𝑥 𝑑𝑧
𝑧 = =
𝑑𝑡 𝑑𝑡
𝑧 =𝑥
𝑑𝑥 𝑑𝑧
𝑧 = =
𝑑𝑡 𝑑𝑡
𝑧 =𝑥
𝑑𝑥 𝑑𝑧
𝑧 = =
𝑑𝑡 𝑑𝑡
⟹
𝑑𝑧
=𝑧
𝑑𝑡
𝑑𝑧 3 1 1
= −𝑧 − 𝑧 + 𝑧 + 𝑧 + 𝑧
𝑑𝑡 2 2 2
𝑑𝑧
=𝑧
𝑑𝑡
𝑑𝑧
= 2𝑧 + 𝑧 − 2𝑧 − 2𝑧 + 𝑧 + 𝑓(𝑡)
𝑑𝑡
𝑑𝑧
=𝑧
𝑑𝑡
𝑑𝑧
= 𝑧 + 𝑧 − 3𝑧
𝑑𝑡
The output is 𝑧 = 𝑥
In vector-matrix form:
6
0 1 0 0 0 0 0
⎡−1 −1.5 1 0.5 0 0.5⎤ ⎡0⎤
⎢ ⎥ ⎢ ⎥
0 0 0 1 0 0⎥ 0
𝑍̇ = ⎢ 𝑍 + ⎢ ⎥ 𝑓(𝑡)
⎢2 1 −2 −2 0 1⎥ ⎢1⎥
⎢0 0 0 0 0 1⎥ ⎢0⎥
⎣0 1 0 1 0 −3⎦ ⎣0⎦
𝑦 = [0 0 0 0 1 0]𝑍
3.5
Represent the translational mechanical system in state space, 𝑥 (𝑡) ∶ output
𝑓𝑣2 𝑥2 (𝑡)
𝑓𝑣1 𝑥3 (𝑡)
𝑀3
𝑀2
𝐾1 𝐾2
𝑀1
𝑓𝑣3
𝑥1 (𝑡)
𝑀 = 2𝑘𝑔, 𝑀 = 𝑀 = 1𝑘𝑔, 𝐾 = 𝐾 = 1𝑁 ⁄𝑚
𝑓 = 𝑓 = 𝑓 = 1𝑁𝑠 ∕ 𝑚
Equations of motion in Laplace:
(2𝑠 + 2𝑠 + 1)𝑋 (𝑠) − 𝑠𝑋 (𝑠) − (𝑠 + 1)𝑋 (𝑠) = 0
−𝑠𝑋 (𝑠) + (𝑠 + 2𝑠 + 1)𝑋 (𝑠) − (𝑠+1)𝑋 (𝑠) = 0
−(𝑠 + 1)𝑋 (𝑠) − (𝑠 + 1)𝑋 (𝑠) + (𝑠 + 2𝑠 + 2)𝑋 (𝑠) = 0
Equations of motion in the time domain:
𝑑 𝑥 𝑑𝑥 𝑑𝑥 𝑑𝑥
2 +2 + 1𝑥 − − −𝑥 =0
𝑑𝑥 𝑑 𝑥 𝑑𝑥 𝑑𝑥
− + +2 +𝑥 − −𝑥 =0
𝑑𝑥 𝑑𝑥 𝑑 𝑥 𝑑𝑥
− −𝑥 − −𝑥 + +2 + 2𝑥 = 𝑓(𝑡)
Define state variables
𝑧 =𝑥
𝑑𝑥 𝑑𝑧
𝑧 = =
𝑑𝑡 𝑑𝑡
7
𝑧 =𝑥
𝑑𝑥 𝑑𝑧
𝑧 = =
𝑑𝑡 𝑑𝑡
𝑧 =𝑥
𝑑𝑥 𝑑𝑧
𝑧 = =
𝑑𝑡 𝑑𝑡
⟹
𝑑𝑧
=𝑧
𝑑𝑡
𝑑𝑧 1 1 1 1
=− 𝑧 −𝑧 + 𝑧 + 𝑧 + 𝑧
𝑑𝑡 2 2 2 2
𝑑𝑧
=𝑧
𝑑𝑡
𝑑𝑧
= 𝑧 − 𝑧 − 2𝑧 + 𝑧 + 𝑧
𝑑𝑡
𝑑𝑧
=𝑧
𝑑𝑡
𝑑𝑧
= 𝑧 + 𝑧 + 𝑧 + 𝑧 − 2𝑧 − 2𝑧 + 𝑓(𝑡)
𝑑𝑡
The output is 𝑧 = 𝑥
In vector-matrix form:
0 1 0 0 0 0 0
⎡−0.5 −1 0 0.5 0.5 0.5 ⎤ ⎡ 0⎤
⎢ ⎥ ⎢ ⎥
0 0 0 1 0 0⎥ 0
𝑍̇ = ⎢ 𝑍 + ⎢ ⎥ 𝑓(𝑡)
⎢ 0 1 −1 −2 1 1⎥ ⎢0⎥
⎢ 0 0 0 0 0 1⎥ ⎢0⎥
⎣ 1 1 1 1 −2 −2 ⎦ ⎣1⎦
𝑦 = [1 0 0 0 0 0]𝑍
3.6
Represent the rotational mechanical system in state space,𝜃 (𝑡) : output
𝐽 = 50𝑘𝑔𝑚 , 𝐽 = 100𝑘𝑔𝑚 , 𝐾 = 100𝑁𝑚⁄𝑟𝑎𝑑
𝐷 = 100𝑁𝑚𝑠 ⁄𝑟𝑎𝑑 , 𝑁 = 30, 𝑁 = 100
8
𝑇(𝑡) 𝜃1 (𝑡)
𝑁1 = 30
𝐽1
𝐷2
𝐽2
𝑁2 = 100 𝐾2
𝜃2 (𝑡)
Equivalent system at the output

𝑇𝑒 (𝑡)𝜃𝑒 (𝑡)
𝐷2
𝐽𝑒 𝐽2
𝐾2
𝜃2 (𝑡)
𝑁
𝑇 (𝑡) = 𝑇(𝑡) = 3.33𝑇(𝑡)
𝑁
𝑁 100
𝐽 =𝐽 = 50 = 555.56𝑘𝑔 ∕ 𝑚
𝑁 30
Writing the equations of motion,
(𝐽 𝑠 + 𝐾 )𝜃 − 𝐾 𝜃 = 𝑇
−𝐾 𝜃 + (𝐾 + 𝐽 𝑠 + 𝐷 𝑠)𝜃 = 0
or
(555.56𝑠 + 100)𝜃 − 100𝜃 = 3.33𝑇
−100𝜃 + (100 + 100𝑠 + 100𝑠)𝜃 = 0
Taking the inverse Laplace transform and simplifying,
𝑑 𝜃
+ 0.18𝜃 − 0.18𝜃 = 0.006𝑇
𝑑𝑡
𝑑𝜃 𝑑 𝜃
−𝜃 + 𝜃 + + =0
𝑑𝑡 𝑑𝑡
Defining the state variables as
𝑑𝜃 𝑑𝜃
𝑥 = 𝜃 ,𝑥 = ,𝑥 = 𝜃 ,𝑥 =
𝑑𝑡 𝑑𝑡
Writing the state equations using the equations of motion and the definitions of the
state variables
𝑥̇ = 𝑥
9
𝑥̇ = −0.18𝜃 + 0.18𝜃 + 0.006𝑇

𝑥̇ = 𝑥
𝑥̇ = 𝑥 − 𝑥 − 𝑥
𝑦 = 𝜃 = 3.33𝜃 = 3.33𝑥
In vector-matrix form,
0 1 0 0 0
−0.18 0 0.18 0 0.006
𝑥̇ = 𝑥+ 𝑇
0 0 0 1 0
1 0 −1 −1 0
𝑦 = [3.33 0 0 0]𝑥
3.7
Represent the system in state space with output 𝜃 (𝑡)
𝐾 = 0.1𝑁𝑚⁄𝑟𝑎𝑑 , 𝐾 = 2𝑁𝑚⁄𝑟𝑎𝑑
𝐷 = 3𝑁𝑚𝑠 ⁄𝑟𝑎𝑑 , 𝐷 = 200𝑁𝑚𝑠⁄𝑟𝑎𝑑
𝑇(𝑡) 𝑁1 = 30
𝑁2 ′ = 10
𝐾2
𝐾1
𝐷2 𝜃𝐿 (𝑡)
𝑁2 = 300
𝑁3 = 100
𝐷3
Equivalent system at the output

𝑇2 (𝑡)𝜃2 (𝑡)
𝐾2 𝐷2
𝜃4 (𝑡)
𝜃3 (𝑡)
𝐾𝑒 𝐷𝑒
𝑁
𝑇 (𝑡) = 𝑇(𝑡) = 10𝑇(𝑡)
𝑁
10
𝑁 10
𝐷 =𝐷 = 200 = 2𝑁𝑚𝑠 ∕ 𝑟𝑎𝑑
𝑁 100
𝑁 300
𝐾 =𝐾 = 0.1 = 10𝑁𝑚 ∕ 𝑟𝑎𝑑
𝑁 30
Writing the equations of motion,
(𝐾 + 𝐾 )𝜃 − 𝐾 𝜃 = 𝑇
−𝐾 𝜃 + (𝐷 𝑠 + 𝐾 )𝜃 − 𝐷 𝑠𝜃 = 0
𝐷 𝑠𝜃 − (𝐷 𝑠 + 𝐷 𝑠)𝜃 = 0
or
12𝜃 − 2𝜃 = 10𝑇
−2𝜃 + (3𝑠 + 2)𝜃 − 3𝑠𝜃 = 0
−3𝑠𝜃 + 5𝑠𝜃 = 0
Taking the inverse Laplace transform and simplifying,
12𝜃 − 2𝜃 = 10𝑇 (1)
−2𝜃 + 3 + 2𝜃 − 3 =0 (2)
−3 +5 =0 (3)
From (3),
5 5
𝜃̇ (𝑡) = 𝜃̇ (𝑡) and 𝜃 (𝑡) = 𝜃 (𝑡)
4 4
From (1),
1 5 5 5
𝜃 (𝑡) = 𝜃 (𝑡) + 𝑇(𝑡) = 𝜃 (𝑡) + 𝑇(𝑡)
6 6 18 6
25 5
⟹ 𝜃̇ (𝑡) = − 𝜃 (𝑡) + 𝑇(𝑡)
18 6
The output equation is given by,
1
𝜃 = 𝜃 (𝑡)
10
11
3.8
Show that the system yields a fourth-order TF if we relate the displacement of either
mass to the applied force, and a third-order one if we relate the velocity of either mass
to the applied force
𝑥1 (𝑡) 𝑥2 (𝑡)
𝐷 𝐾 𝑓(𝑡)
𝑀1 𝑀2
frictionless
Equations of motion in Laplace

(𝐷𝑠 + 𝑀 𝑠 + 𝐾 )𝑋 − 𝐾𝑋 = 0
−𝐾𝑋 + (𝐾 + 𝑀 𝑠 ) = 𝐹
0 −𝐾
𝐹 𝐾+𝑀 𝑠
𝑋 =
𝐷𝑠 + 𝑀 𝑠 + 𝐾 −𝐾
−𝐾 𝐾+𝑀 𝑠
and
𝐷𝑠 + 𝑀 𝑠 + 𝐾 0
𝑋 = −𝐾 𝐹
𝐷𝑠 + 𝑀 𝑠 + 𝐾 −𝐾
−𝐾 𝐾+𝑀 𝑠
𝑋 𝐾
⟹ =
𝐹 𝑀 𝑀 𝑠 + 𝐷𝑀 𝑠 + 𝐾𝑀 𝑠 + 𝐾𝑀 𝑠 + 𝐷𝐾𝑠
𝑋 𝐷𝑠 + 𝑀 𝑠 + 𝐾
⟹ =
𝐹 𝑀 𝑀 𝑠 + 𝐷𝑀 𝑠 + 𝐾𝑀 𝑠 + 𝐾𝑀 𝑠 + 𝐷𝐾𝑠
Which 𝑠𝑋 = 𝑉
𝑉 𝐾
⟹ =
𝐹 𝑀 𝑀 𝑠 + 𝐷𝑀 𝑠 + 𝐾𝑀 𝑠 + 𝐾𝑀 𝑠 + 𝐷𝐾
𝑋 𝐷𝑠 + 𝑀 𝑠 + 𝐾
⟹ =
𝐹 𝑀 𝑀 𝑠 + 𝐷𝑀 𝑠 + 𝐾𝑀 𝑠 + 𝐾𝑀 𝑠 + 𝐷𝐾
3.9
Find the state-space representation in phase-variable form for
12
a,
𝑅(𝑠) 100 𝐶(𝑠)

𝑠4 + 20𝑠 3 + 10𝑠 2 + 7𝑠 + 100
Find the associated differential equation

𝐶(𝑠) 100
=
𝑅(𝑠) 𝑠 + 20𝑠 + 10𝑠 + 7𝑠 + 100
Take the inverse Laplace transform, assuming zero initial conditions
𝑑 𝑐 𝑑 𝑐 𝑑 𝑐 𝑑𝑐
+ 20 + 10 + 7 + 100𝑐 = 100𝑟
Choosing the state variables 𝑥 = 𝑐, 𝑥 = 𝑐̇ , 𝑥 = 𝑐̈, 𝑥 = 𝑐⃛
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = −100𝑥 − 7𝑥 − 10𝑥 − 20𝑥 + 100𝑟
𝑦=𝑥
In vector-matrix form
𝑥̇ 0 1 0 0 𝑥 0
𝑥̇ 0 0 1 0 𝑥 0
= 𝑥 + 𝑟
𝑥̇ 0 0 0 1 0
𝑥̇ −100 −7 −10 −20 𝑥 1
𝑥
𝑥
𝑦 = [100 0 0 0] 𝑥
𝑥
13
𝑥̇ 4 (𝑡) 𝑥4 (𝑡) 𝑥3 (𝑡) 𝑥2 (𝑡) 𝑥1 (𝑡)

100
100
10
20
b,
𝑅(𝑠) 30 𝐶(𝑠)
𝑠5 + 8𝑠 4 + 9𝑠 3+ 6𝑠 2 + 𝑠 + 30

𝐶(𝑠) 30
=
𝑅(𝑠) 𝑠 + 8𝑠 + 9𝑠 + 6𝑠 + 1𝑠 + 30
𝑑 𝑐 𝑑 𝑐 𝑑 𝑐 𝑑 𝑐 𝑑𝑐
+8 +9 +6 + 1 + 30𝑐 = 30𝑟
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
Choosing the state variables
𝑑𝑐 𝑑 𝑐 𝑑 𝑐 𝑑 𝑐
𝑥 = 𝑐, 𝑥 = ,𝑥 = ,𝑥 = ,𝑥 =
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = −30𝑥 − 𝑥 − 6𝑥 − 9𝑥 − 9𝑥 + 30𝑟
𝑦=𝑥
14
𝑥̇ 0 1 0 0 0 𝑥 0
⎡𝑥̇ ⎤ ⎡
⎢ ⎥ ⎢ 0 0 1 0 0 ⎤ ⎡𝑥 ⎤ ⎡0⎤
⎥⎢ ⎥ ⎢ ⎥
⎢𝑥̇ ⎥=⎢ 0 0 0 1 0 ⎥ ⎢𝑥 ⎥+ ⎢ 0 ⎥𝑟
⎢𝑥̇ ⎥ ⎢ 0 0 0 0 1 ⎥ ⎢𝑥 ⎥ ⎢0⎥
⎣𝑥̇ ⎦ ⎣−30 −1 −6 −9 −9⎦ ⎣ 𝑥 ⎦ ⎣30⎦
𝑥
⎡𝑥 ⎤
⎢ ⎥
𝑦 = [1 0 0 0 0] ⎢ 𝑥 ⎥
⎢𝑥 ⎥
⎣𝑥 ⎦
𝑥̇ 5 (𝑡) 𝑥5 (𝑡) 𝑥4 (𝑡) 𝑥3 (𝑡) 𝑥2 (𝑡) 𝑥1 (𝑡)
30
30
3.10
Find the state-space representation in phase-variable form using matlab
a,
𝑅(𝑠) 100 𝐶(𝑠)

𝑠4 + 20𝑠 3 + 10𝑠 2 + 7𝑠 + 100
Code:
num = [0 0 0 0 100] ;
den=[1 20 10 7 100];
[A,C,B,D] = tf2ss(num,den);
P = [0 0 0 1;0 0 1 0;0 1 0 0;1 0 0 0];
A = inv(P)*A*P
C = C'
B = B'
D=D
15
T = tf(num,den)
If
𝑥̇ = 𝐴 + 𝐵𝑢
𝑦 = 𝐶𝑥 + 𝐷𝑢
Result
0 1 0 0
0 0 1 0
𝐴=
0 0 0 1
−100 −7 −10 −20
𝐶=1 0 0 0
0
0
𝐵=
0
100
D=0
b,
𝑅(𝑠) 30 𝐶(𝑠)
𝑠5 + 8𝑠 4 + 9𝑠 3+ 6𝑠 2 + 𝑠 + 30
Code:
num = [0 0 0 0 0 30] ;
den=[1 8 9 6 1 30];
[A,C,B,D] = tf2ss(num,den);
P =[0 0 0 0 1;
0 0 0 1 0;
0 0 1 0 0;
0 1 0 0 0;
1 0 0 0 0;];
A = inv(P)*A*P
C = C'
16
B = B'
D=D
T = tf(num,den)
If
𝑥̇ = 𝐴 + 𝐵𝑢
Result
0 1 0 0 0
0 0 1 0 0
𝐴= 0 0 0 1 0
0 0 0 0 1
−30 −1 −6 −9 −8
𝐶=1 0 0 0 0
0
0
𝐵= 0
0
30
D=0
3.11
For each system write the state equations and the output equation for the phase
variable representation
a,
𝑅(𝑠) 8𝑠 + 10 𝐶(𝑠)
𝑠4 + 5𝑠 3+ 𝑠 2 + 5𝑠 + 13

𝑋 (𝑠) 1
=
𝑅(𝑠) 𝑠 + 5𝑠 + 𝑠 + 5𝑠 + 13
𝑑 𝑐 𝑑 𝑐 𝑑 𝑐 𝑑𝑐
+5 + + 5 + 13𝑐 = 𝑟
17
Choosing the state variables 𝑥 = 𝑐, 𝑥 = 𝑐̇ , 𝑥 = 𝑐̈, 𝑥 = 𝑐⃛

𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = −13𝑥 − 5𝑥 − 𝑥 − 5𝑥 + 𝑟
𝑦 = 8𝑥 + 13𝑥
𝑥̇ 0 1 0 0 𝑥 0
𝑥̇ 0 0 1 0 𝑥 0
= 𝑥 + 𝑟
𝑥̇ 0 0 0 1 0
𝑥̇ −13 −5 −1 −5 𝑥 1
The second block states that
𝐶 (𝑠) = (𝑏 𝑠 + 𝑏 𝑠 + 𝑏 )𝑋 (𝑠) = (8𝑠 + 10)𝑋 (𝑠)
𝑥
𝑥
𝑦 = [10 8 0 0] 𝑥
𝑥
𝑥2 (𝑡)
8
𝑦(𝑡)
𝑟(𝑡) 𝑥̇ 4 (𝑡) 𝑥4 (𝑡) 𝑥3 (𝑡) 𝑥1 (𝑡)
1 10
100
10
20
b,
𝑅(𝑠) 𝑠 4 + 2𝑠 3 + 12𝑠 2 + 7𝑠 + 6 𝐶(𝑠)

𝑠 5 + 9𝑠 4 + 13𝑠 3 + 8𝑠 2

𝑋 (𝑠) 1
=
𝑅(𝑠) 𝑠 + 9𝑠 + 13𝑠 + 8𝑠
18

𝑑 𝑐 𝑑 𝑐 𝑑 𝑐 𝑑 𝑐
+9 + 13 +8 =𝑟
Choosing the state variables
𝑑𝑐 𝑑 𝑐 𝑑 𝑐 𝑑 𝑐
𝑥 = 𝑐, 𝑥 = ,𝑥 = ,𝑥 = ,𝑥 =
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = 𝑥
𝑥̇ = −8𝑥 − 13𝑥 − 9𝑥 + 𝑟
𝑥̇ 0 1 0 0 0 𝑥 0
⎡𝑥̇ ⎤ ⎡
⎢ ⎥ ⎢0 0 1 0 0 ⎤ ⎡𝑥 ⎤ ⎡0⎤
⎥⎢ ⎥ ⎢ ⎥
⎢𝑥̇ ⎥ = ⎢0 0 0 1 0 ⎥ ⎢𝑥 ⎥ + ⎢0⎥ 𝑟
⎢𝑥̇ ⎥ ⎢0 0 0 0 1 ⎥ ⎢𝑥 ⎥ ⎢0⎥
⎣𝑥̇ ⎦ ⎣0 0 −8 −13 −9⎦ ⎣ 𝑥 ⎦ ⎣1⎦

𝐶 (𝑠) = (𝑏 𝑠 + 𝑏 𝑠 +𝑏 𝑠 + 𝑏 𝑠 + 𝑏 )𝑋 (𝑠)
= (𝑠 + 2𝑠 + 12𝑠 + 7𝑠 + 6)𝑋 (𝑠)
𝑥
⎡𝑥 ⎤
⎢ ⎥
𝑦 = [6 7 12 2 1] ⎢ 𝑥 ⎥
⎢𝑥 ⎥
⎣𝑥 ⎦
19
𝑥5 (𝑡)
1
𝑥4 (𝑡)
2
𝑥3 (𝑡) 𝑦(𝑡)
12
𝑥2 (𝑡)
7
𝑟(𝑡) 𝑥̇ 5 (𝑡) 𝑥1 (𝑡)
1 6
13
3.12
a,
𝑅(𝑠) 8𝑠 + 10 𝐶(𝑠)
𝑠4 + 5𝑠 3+ 𝑠 2 + 5𝑠 + 13
Code:
num = [0 0 0 8 10] ;
den=[1 5 1 5 13];
[A,B,C,D] = tf2ss(num,den);
P =[0 0 0 1;
0 0 1 0;
0 1 0 0;
1 0 0 0];
A = inv(P)*A*P
B = inv(P)*B
C = C*P
D=D
T = tf(num,den)
20
If
𝑥̇ = 𝐴 + 𝐵𝑢
Result
0 1 0 0
0 0 1 0
𝐴=
0 0 0 1
−13 −5 −1 −5
𝐶 = 10 8 0 0
0
0
𝐵=
0
1
D=0
b,
𝑅(𝑠) 𝑠 4 + 2𝑠 3 + 12𝑠 2 + 7𝑠 + 6 𝐶(𝑠)

𝑠 5 + 9𝑠 4 + 13𝑠 3 + 8𝑠 2
Code:
num = [0 1 2 12 7 6] ;
den=[1 9 13 8 0 0];
[A,B,C,D] = tf2ss(num,den);
P =[0 0 0 0 1;
0 0 0 1 0;
0 0 1 0 0;
0 1 0 0 0;
1 0 0 0 0];
A = inv(P)*A*P
B = inv(P)*B
C = C*P
21
D=D
T = tf(num,den)
If
𝑥̇ = 𝐴 + 𝐵𝑢
Result
0 1 0 0 0
0 0 1 0 0
𝐴=0 0 0 1 0
0 0 0 0 1
0 0 −8 −13 −9
𝐶=6 7 12 2 1
0
0
𝐵=0
0
1
D=0
3.13
Represent the following TF in state space. Give your answer in vector-matrix form
𝑠 + 3𝑠 + 8
𝑇 (𝑠 ) =
(𝑠 + 1)(𝑠 + 5𝑠 + 5)
𝑋 (𝑠) 1 1
= =
𝑅(𝑠) (𝑠 + 1)(𝑠 + 5𝑠 + 5) 𝑠 + 6𝑠 + 10𝑠 + 5
𝑑 𝑐 𝑑 𝑐 𝑑𝑐
+6 + 10 + 5𝑐 = 𝑟
𝑑𝑡 𝑑𝑡 𝑑𝑡
Choosing the state variables 𝑥 = 𝑐, 𝑥 = 𝑐̇ , 𝑥 = 𝑐̈
𝑥̇ = 𝑥
𝑥̇ = 𝑥
22
𝑥̇ = −5𝑥 − 10𝑥 − 6𝑥 + 𝑟
𝑥̇ 0 1 0 𝑥 0
𝑥̇ = 0 0 1 𝑥 + 0 𝑟
𝑥̇ −5 −10 −6 𝑥 1
𝐶 (𝑠) = (𝑏 𝑠 + 𝑏 𝑠 + 𝑏 )𝑋 (𝑠) = (𝑠 + 3𝑠 + 8)𝑋 (𝑠)
𝑥
𝑦 = [8 3 1] 𝑥
𝑥
3.14
a,
𝐺(𝑠) = 𝐶(𝑠𝐼 − 𝐴) 𝐵
0 1 0 0
𝐴= 0 0 1 ; 𝐵 = 0 ; 𝐶 = [1 0 0]
−3 −2 −5 10
𝑠 0 0 0 1 0 𝑠 −1 0
𝑠𝐼 − 𝐴 = 0 𝑠 0 − 0 0 1 = 0 𝑠 −1
0 0 𝑠 −3 −2 −5 3 2 𝑠+5
𝑠 −1 0
𝑠 −1 0 𝑠 + 5𝑠 + 2𝑠 + 3
0 𝑠 −1
det(𝐴) = 0 𝑠 −1 = 2𝑠 (𝑠 + 5)𝑠 =
3
3 2 𝑠+5 0 +1
3 3
𝑠 + 5𝑠 + 2 𝑠+5 1 1
𝑎𝑑𝑗 (𝐴) = −3 𝑠+5 𝑠 ×
3
−3𝑠 −2𝑠 − 3 𝑠
𝑠 + 5𝑠 + 2 𝑠+5 1
−3 𝑠+5 𝑠
(𝑠𝐼 − 𝐴) = −3𝑠 −2𝑠 − 3 𝑠
𝑠 + 5𝑠 + 2𝑠 + 3
𝑠 + 5𝑠 + 2 𝑠+5 1
−3 𝑠+5 𝑠
0
⟹ 𝐺 (𝑠) = 𝐶 (𝑠𝐼 − 𝐴) 𝐵 = [1 0 0] −3𝑠 −2𝑠 − 3 𝑠 0
𝑠 + 5𝑠 + 2𝑠 + 3
10
10
=
𝑠 + 5𝑠 + 2𝑠 + 3
23
b,
𝐺 (𝑠) = 𝐶(𝑠𝐼 − 𝐴) 𝐵
2 −3 −8 1
𝐴= 0 5 3 ; 𝐵 = 4 ; 𝐶 = [1 3 6]
−3 −5 −4 6
𝑠 0 0 2 −3 −8 𝑠−2 3 8
𝑠𝐼 − 𝐴 = 0 𝑠 0 − 0 5 3 = 0 𝑠−5 −3
0 0 𝑠 −3 −5 −4 3 5 𝑠+4
𝑠−2 3 8
det(𝑠𝐼 − 𝐴) = 0 𝑠−5 −3 = 𝑠 − 3𝑠 − 27𝑠 + 157
3 5 𝑠+4
𝑠 −𝑠−5 3𝑠 + 52 −8𝑠 + 49
𝑎𝑑𝑗 (𝑠𝐼 − 𝐴) = −9 𝑠 + 2𝑠 − 32 3𝑠 − 6
−3𝑠 + 15 −5𝑠 + 1 𝑠 − 7𝑠 + 10
𝑠 −𝑠−5 3𝑠 + 52 −8𝑠 + 49
−9 𝑠 + 2𝑠 − 32 3𝑠 − 6
(𝑠𝐼 − 𝐴) = −3𝑠 + 15 −5𝑠 + 1 𝑠 − 7𝑠 + 10
𝑠 − 3𝑠 − 27𝑠 + 157
⟹ 𝐺 (𝑠) = 𝐶 (𝑠𝐼 − 𝐴) 𝐵
𝑠 −𝑠−5 3𝑠 + 52 −8𝑠 + 49
−9 𝑠 + 2𝑠 − 32 3𝑠 − 6
1
= [1 3 6 ] −3𝑠 + 15 −5𝑠 + 1 𝑠 − 7𝑠 + 10
4
𝑠 − 3𝑠 − 27𝑠 + 157
6
49𝑠 − 349𝑠 + 452
=
𝑠 − 3𝑠 − 27𝑠 + 157
c,
𝐺(𝑠) = 𝐶(𝑠𝐼 − 𝐴) 𝐵
3 −5 2 5
𝐴= 1 −8 7 ; 𝐵 = −3 ; 𝐶 = [1 −4 3]
−3 −6 2 2
𝑠 0 0 3 −5 2 𝑠−3 5 −2
𝑠𝐼 − 𝐴 = 0 𝑠 0 − 1 −8 7 = −1 𝑠+8 −7
0 0 𝑠 −3 −6 2 3 6 𝑠−2
𝑠−3 5 −2
det(𝐴) = −1 𝑠+8 −7 = 𝑠 + 3𝑠 + 19𝑠 − 133
3 6 𝑠−2
24
𝑠 + 6𝑠 + 26 −5𝑠 − 2 2𝑠 − 19
𝑎𝑑𝑗(𝐴) = 𝑠 − 23 𝑠 − 5𝑠 + 12 7𝑠 − 19
−3𝑠 − 30 −6𝑠 + 33 𝑠 + 5𝑠 − 19
𝑠 + 6𝑠 + 26 −5𝑠 − 2 2𝑠 − 19
𝑠 − 23 𝑠 − 5𝑠 + 12 7𝑠 − 19
(𝑠𝐼 − 𝐴) = −3𝑠 − 30 −6𝑠 + 33 𝑠 + 5𝑠 − 19
𝑠 + 3𝑠 + 19𝑠 − 133
𝑠 + 5𝑠 + 2 𝑠+5 1
−3 𝑠+5 𝑠
5
⟹ 𝐺 (𝑠) = 𝐶 (𝑠𝐼 − 𝐴) 𝐵 = [1 −3𝑠 −2𝑠 − 3 𝑠
−4 3] −3
𝑠 + 5𝑠 + 2𝑠 + 3
2
23 − 48𝑠 − 7
=
𝑠 + 3𝑠 + 19𝑠 − 133
3.15
Use matlab to find the TF 𝐺 𝑠 = 𝑌(𝑠)/𝑋(𝑠) for each of the following systems
represented in state space
a,
0 1 5 0 0
0 0 1 0 5
𝑥̇ = 𝑥+ 𝑟, 𝑦 = [1 3 6 6 ]𝑥
0 0 0 1 8
−7 −9 −2 −3 2
Code:
A = [0 1 5 0;
0 0 1 0;
0 0 0 1;
-7 -9 -2 -3];
B = [0 5 8 2]';
C = [1 3 6 6];
D = 0;
T = ss(A,B,C,D);
T = tf(T)
Result
25
75𝑠 − 96𝑠 − 2331𝑠 − 210

𝑇 = 𝑇𝐹 =
𝑠 + 3𝑠 + 2𝑠 + 44𝑠 + 7
b,
3 1 0 4 −2 2
⎡−3 5 −5 2 −1⎤ ⎡7⎤
⎢ ⎥ ⎢ ⎥
𝑥̇ = ⎢ 0 1 −1 2 8 ⎥ 𝑥 + ⎢8⎥ 𝑟, 𝑦 = [1 −2 −9 7 6]𝑥
⎢−7 6 −3 −4 0⎥ ⎢5⎥
⎣−6 0 4 −3 1 ⎦ ⎣4⎦
Code:
A = [3 1 0 4 -2;
-3 5 -5 2 -1;
0 1 -1 2 8;
-7 6 -3 -4 0;
-6 0 4 -3 1];
B = [2 7 8 5 4]';
C = [1 -2 -9 7 6];
D = 0;
T = ss(A,B,C,D);
T = tf(T)
Result
−25𝑠 − 292𝑠 + 1680𝑠 + 1.628𝑒 𝑠 + 3.187𝑒
𝑇 = 𝑇𝐹 =
𝑠 − 4𝑠 − 32𝑠 + 148𝑠 − 1153𝑠 − 4480
3.16
Use matlab, the Symbolic Math Toolbox, and Eq.3.73 to find the TF 𝐺 𝑠 =
𝑌(𝑠)/𝑋(𝑠) for each of the following systems
a,
0 1 5 0 0
0 0 1 0 5
𝑥̇ = 𝑥+ 𝑟, 𝑦 = [1 3 6 6 ]𝑥
0 0 0 1 8
−7 −9 −2 −3 2
26
Code:
syms s;
A = [0 1 5 0;
0 0 1 0;
0 0 0 1;
-7 -9 -2 -3];
B = [0 5 8 2]';
C = [1 3 6 6];
D = 0;
I = [1 0 0 0;
0 1 0 0;
0 0 1 0;
0 0 0 1;];
T = C*((s*I-A)^-1)*B+D;
simplify(T)
Result
-(3*(- 25*s^3 + 32*s^2 + 777*s + 70))/(s^4 + 3*s^3 + 2*s^2 + 44*s + 7)
b,
3 1 0 4 −2 2
⎡−3 5 −5 2 −1⎤ ⎡7⎤
⎢ ⎥ ⎢ ⎥
𝑥̇ = ⎢ 0 1 −1 2 8 ⎥ 𝑥 + ⎢8⎥ 𝑟, 𝑦 = [1 −2 −9 7 6]𝑥
⎢−7 6 −3 −4 0⎥ ⎢5⎥
⎣−6 0 4 −3 1 ⎦ ⎣4⎦
Code:
syms s;
A = [3 1 0 4 -2;
-3 5 -5 2 -1;
0 1 -1 2 8;
-7 6 -3 -4 0;
27
-6 0 4 -3 1];
B = [2 7 8 5 4]';
C = [1 -2 -9 7 6];
D = 0;
I = [1 0 0 0 0;
0 1 0 0 0;
0 0 1 0 0;
0 0 0 1 0;
0 0 0 0 1];
T = C*((s*I-A)^-1)*B+D;
simplify(T)
Result
-(- 25*s^4 - 292*s^3 + 1680*s^2 + 16282*s + 31875)/(- s^5 + 4*s^4 +
32*s^3 - 148*s^2 + 1153*s + 4480)
28

Ch.03 Chuẩn 1

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Ch.03 Chuẩn 1

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HO CHI MINH CITY UNIVERSITY OF

SYSTEM DYNAMICS AND CONTROL

Lecturer: Mr. Nguyễn Tấn Tiến

𝑖1 (𝑡) 𝑖3 (𝑡) 𝑖5 (𝑡)

𝑣𝑖 (𝑡) 1𝐻 𝑖2 (𝑡) 1𝐻 𝑖4 (𝑡) 1𝐹 𝑣𝑜 (𝑡)

Write the differential equation for each energy storage element.

Write the differential equation for each energy storage element.

Now obtain 𝑣 and 𝑖 in terms of the state variables.

Writing KVL around Loop 2 yields

frictionless 𝑥1 (𝑡) 𝑥2 (𝑡)

Equivalent system at the output

𝑥̇ = −0.18𝜃 + 0.18𝜃 + 0.006𝑇

Equivalent system at the output

Equations of motion in Laplace

𝑅(𝑠) 100 𝐶(𝑠)

Find the associated differential equation

𝑥̇ 4 (𝑡) 𝑥4 (𝑡) 𝑥3 (𝑡) 𝑥2 (𝑡) 𝑥1 (𝑡)

Find the associated differential equation

𝑅(𝑠) 100 𝐶(𝑠)

Find the associated differential equation

Choosing the state variables 𝑥 = 𝑐, 𝑥 = 𝑐̇ , 𝑥 = 𝑐̈, 𝑥 = 𝑐⃛

𝑅(𝑠) 𝑠 4 + 2𝑠 3 + 12𝑠 2 + 7𝑠 + 6 𝐶(𝑠)

Find the associated differential equation

Take the inverse Laplace transform, assuming zero initial conditions

The second block states that

𝑅(𝑠) 𝑠 4 + 2𝑠 3 + 12𝑠 2 + 7𝑠 + 6 𝐶(𝑠)

75𝑠 − 96𝑠 − 2331𝑠 − 210

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