Feedback Control System

Lesson 3:
System Modelling
MODEL TIME SIGNALS
• A mathematical representation of • Functions whose output is defined by
physical, biological, or information the function of time
system. • Most signals are functions of time.
• Allows to reason about a system and • Classifications of signals – continuous
make predictions about how a system in time or discrete.
will behave.
CONTINUOUS-TIME SIGNAL
MODELS OF DYNAMICAL SYSTEMS
• Has values for all points in time in
• Describes the input/output behavior of a some (possibly infinite) interval.
system. (“state space” form) • Usually denoted by a continuous line in
• The effects of actions do not occur a graph
immediately.
• Examples: velocity of car, temperature DISCRETE TIME SIGNAL
in a room, taking medicine, increasing • Has values for only discrete points in
company funds, etc. (with respect to time.
time) • Usually denoted by set of points in a
BLOCK DIAGRAMS graph.

• Special graphical representation INPUT-OUTPUT SYSTEM MODELS

developed in control engineering.
• Purpose: Emphasize the information
flow and hide details of system.
• Also organized in hierarchies, where
individual blocks may contain more • The time argument is dropped as this
detailed block diagrams.
• The mathematical relationship of a
system 𝑯 between its input signal and
its output signal can be formally written
as 𝒚 = 𝑯𝒙
representation is used both for
continuous-time and discrete-time
systems.
• Discrete functions are denoted by a
bracket, while continuous are denoted
by a parenthesis.

1|Feedback Control
System
SYSTEM BLOCK DIAGRAMS
• Is a set of blocks interconnected to represent a system
• Systems may be interconnections of other systems
Example:

Based on our interpretation of input-output system, as well as summing point, we can list
down all possible functions based on the system block diagram given.
𝑒𝑞. 1: 𝑣[𝑛] = 𝐺1 𝑥[𝑛]
𝑒𝑞. 2: 𝑤[𝑛] = 𝐺2 𝑣[𝑛]
𝑒𝑞. 3: 𝑧[𝑛] = 𝐺3 𝑥[𝑛]
𝑒𝑞. 4: 𝑠[𝑛] = 𝑤[𝑛] − 𝑧[𝑛]
𝑒𝑞. 5: 𝑦[𝑛] = 𝐺4 𝑠[𝑛]
We can now simplify this by combining all equations that we collected.
𝑦[𝑛] = 𝐺4 𝑠[𝑛]
𝑦[𝑛] = 𝐺4 (𝑤[𝑛] − 𝑧[𝑛])
𝑦[𝑛] = 𝐺4 (𝐺2 𝑣[𝑛] − 𝐺3 𝑥[𝑛])
𝑦[𝑛] = 𝐺4 (𝐺2 𝑣[𝑛] − 𝐺3 𝑥[𝑛])
𝑦[𝑛] = 𝐺4 (𝐺2 𝐺1 𝑥[𝑛] − 𝐺3 𝑥[𝑛])
𝑦[𝑛] = 𝐺4 (𝐺2 𝐺1 − 𝐺3 )𝑥[𝑛]

2|Feedback Control
System
SYSTEM BLOCK DIAGRAMS SYSTEM BLOCK DIAGRAMS
(CASCADE INTERCONNECTION) (FEEDBACK INTERCONNECTION)
• The cascade interconnection is a • The feedback interconnection of two
successive application of two (or more) systems is the feedback of the output of
systems on an input signal. system 𝐺1 to its input, through system
𝐺2.
• Signal 𝑒 is the error between a desired
output signal and a direct measurement
of the output.

𝑦 = 𝐺1 𝐺2 𝑥
Example:
A company plans to invest their earnings to
a business which promises a 10%
compound interest per year. Once their
investment grows, they will use this
investment to their own business which has
an expected 15% interest per year, but
must require 10,000 pesos yearly for 𝑦 = 𝐺1 𝑥
maintenance. Rewrite this expression as a 𝑒 = 𝑥 − 𝑦𝐺2
single equation.
Example:
SYSTEM BLOCK DIAGRAMS
(PARALLEL INTERCONNECTION) The system uses the function:
• The parallel interconnection is an 𝑦 = 𝑥2 − 1
application of two (or more) systems to
the same input signal, and the output is In determining the output of the system. It
taken as the sum of the outputs of the collects the output and feeds back a
individual systems. correction function:
𝑦
𝑏=
2√𝑦 + 1
Determine the same function that can be
used if there is an inability of a correcting
system.
STATE SPACE MODELS
• These are models, usually differential or
𝑦 = 𝐺1 𝑥 + 𝐺2 𝑥 difference in nature, that can represent
functions under multiple states.
Example: • Two primary forms – differential
Use Kirchhoff’s Current Law to determine equations and difference equations
the power p(t) delivered to three resistors,
3, 4, and 5, under a voltage source v(t).

3|Feedback Control
System
• Use of the notions of state, inputs,
outputs, and dynamics to describe the
behavior of a system.
DIFFERENTIAL EQUATIONS
• Any algebraic or transcendental equality
which involves either differentials or
derivatives.
• Useful for relating rates of change of
variables and other parameters.
DIFFERENCE EQUATIONS
• An algebraic or transcendental equality
which involves more than one value of
the dependent variable(s)
corresponding to more than one value
of at least one of the independent
variable(s).
• The dependent variables do not involve
either differentials or derivatives.
• Useful for relating the evolution of
variables (or parameters) from one
discrete instant of time (or another
independent variable) to another.

4|Feedback Control
System