PEMODELAN

RUANG KEADAAN
(STATE-SPACE)

SISTEM DINAMIK
Dr. Bambang L. Widjiantoro
Dr. Katherin Indriawati
Moh. Kamalul Wafi, M.Sc., DIC.
Materi – 8 Pokok Bahasan:
Pemodelan Ruang 1 Konsep Dasar Pemodelan Matematis
Keadaan (State-
Space) 2 Macam Pemodelan Sistem

3 Fungsi Transfer

4 State-Space

5 Konversi FT dan SS

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Konsep Dasar Pemodelan

Mathematical
Physical Systems
Model

Physical Mathematical
Interpretation Solution

Figure 1. Basic concept of modelling

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Konsep Dasar Pemodelan

Figure 2. (a). Falling stone; (b). Parachutist; (c). Outflowing water; (d). Vibrating mass; (e). Deformation of a beam; (f). Pendulum

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Macam Pemodelan Sistem

Persamaan
Differential
1 2

Fungsi Persamaan
Transfer State-Space

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Fungsi Transfer
Persamaan Fungsi
Differential Transfer

differential solve in time domain

equation x(t)

1 L L-1 3 𝐺 𝑠 =
𝑋 𝑠
𝑈(𝑠)
algebraic solve in s-domain
equation X(s)
2

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Fungsi Transfer

DINAMIKA SISTEM

𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 𝑓

TRANSFORMASI LAPLACE
2
𝑚𝑠 𝑋(𝑠) + 𝑐𝑠𝑋(𝑠) + 𝑘𝑋(𝑠) = 𝐹(𝑠)

FUNGSI TRANSFER

𝑋 𝑠 1
= 2
= 𝐺(𝑠)
𝐹 𝑠 𝑚𝑠 + 𝑐𝑠 + 𝑘

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Diagram Blok
OPEN LOOP Signal

𝑈(𝑠) 𝐺(𝑠) 𝑌(𝑠) 𝑌 𝑠 = 𝐺 𝑠 𝑈(𝑠)

Sistem

CLOSED LOOP 𝐷
𝐸 𝑈
𝑅 𝐶(𝑠) 𝐴(𝑠) 𝐺(𝑠) 𝑌
Manipulated Variable

Measured Variable
𝐻(𝑠)

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Pemodelan State-Space

Persamaan
State-Space
Differential

A = State matrix x = State vector

B = Input matrix (Control matrix) u = Input vector (Control vector)
C = Output Matrix y = Output vector
D = Disturbance matrix v = proses noise
w = measurement noise

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Pemodelan State-Space
Persamaan
State-Space
Differential

State-variable Input-variable

Output-variable

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Pemodelan State-Space

Persamaan
State-Space
Differential

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State-Space (contoh)
Persamaan diferensial sistem
𝑚ሷ𝑦 + 𝑏ሶ𝑦 + 𝑘𝑦 = 𝑢

Matrix state-space
𝑥1 = 𝑦 𝑥ሶ 1 = 𝑥2
𝑥2 = 𝑦ሶ 1 1
𝑥ሶ 2 = 𝑦ሷ = −𝑘𝑦 − 𝑏𝑦ሶ + 𝑢
𝑚 𝑚

𝑥ሶ 1 = 𝑥2
𝑘 𝑏 1
𝑥ሶ 2 = 𝑦ሷ = − 𝑥1 − 𝑥2 + 𝑢
𝑚 𝑚 𝑚

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State-Space (contoh)
Persamaan diferensial sistem

𝑚𝑦ሷ + 𝑏𝑦ሶ + 𝑘𝑦 = 𝑢
Matrix state-space

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State-Space (contoh)
Persamaan diferensial sistem
𝑚𝑦ሷ + 𝑏𝑦ሶ + 𝑘𝑦 = 𝑢
Matrix state-space

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Konversi FT dan SS

Fungsi
State-Space
Transfer

Konversi

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Konversi FT dan SS
Fungsi
State-Space
Transfer

Konversi

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Konversi FT dan SS

Fungsi
State-Space
Transfer

1 2

3 4

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TERIMA KASIH