Modern Control Systems

Mohammad Al Janaideh
 Example
 x1   1  0.5  x1  0.5
 x    1   x    1
0  2   0 
 
y  1 1x
  
2    
x(0)  0
(a) Transfer function?
(b) Draw block diagram?
(c) If u(t)=A sin(5t) find y(t)?
(d) Controllable canonical form?
(e) Find x1(t) and x2(t).
(f) Find x1(t)+x2(t)
(g) controllable? observable?
(a) Transfer function?

 s 0  1  0.5 s  1 0.5
(sI  A)       
0 s   1 0    1 s 

11 s  0.5
(sI  A)      s 2  s  0.5
 1 s  1 

10.5s  0.5
G ( s)  C ( sI  A) B  2
s  s  0.5
(b) Draw block diagram?

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 2 4 6 8 10 12
Time (sec)
(c) If u(t)=sin(5t) find y(t)? w=5 and A=1

0.5  0.5 jw 0.5  2.5 j

  0.0004  0.102 j
0.5  w  jw  24.5  5 j
2

A=0.1020, Ф= -1.5669 rad,Ф= -89.7 degree

(d) Controllable conical form?

 x1   0 1   x1  0
 x    0.5  1  x   11 
y  0.5 0.5 x 
 2     2   

(e) Find x1(t) and x2(t).

t
 x1 (t )  x(t )   Φ(t   )Bu( )d
x(t )   
 x2 (t )  0
 1 1
(t )  L (sI  A)

1 1  s  0.5
(sI  A)  2 1 s  1 
s  s  0.5  
 s  0.5 
1  s 2  s  0.5 s 2  s  0.5 
(sI  A)  
1 s 1 
 2 
 s  s  0.5 s  s  0.5 
2

e 0.5t (cos 0.5t  sin 0.5t )  e 0.5t sin 0.5t 

(t )   0.5t  0.5t 
 2e sin(0.5t ) e (cos 0.5t  sin 0.5t )

 x
 1 t 0
 .5  e 0.5t
sin(0.5t ) 
x(t )   x    Φ(t   )   d   0.5t 
 2 0 0
   e (cos 0.5t  sin 0.5t )  1
1.2

0.8

0.6

0.4

0.2

-0.2
0 1 2 3 4 5 6 7 8 9 10
(f) Find x1(t)+x2(t)

1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
 controllable? Observable?

 
0 1 
B AB  
1  1

 C  1 0 
CA  1  1
   
Controllable AND Observable