HEAT TRANSFER EQUIVALENT RC MODEL

∆𝑈!# ∆𝑈"!
𝑈# 𝑈! 𝑈"
∆𝑢!#
𝑢# 𝑡 = 𝑅! + 𝑢! 𝑡 = 𝑅! 𝑖(𝑡) + 𝑢! 𝑡
𝑅! 𝑅" 𝑅!
𝑑𝑢!
𝐶! 𝐶" 𝑢# 𝑡 = 𝑅! 𝐶! + 𝑢! 𝑡 𝑅! 𝐶! = 𝑇!
𝑑𝑡
0 𝑑𝑢"
𝑢! 𝑡 = 𝑅" 𝐶" + 𝑢" 𝑡 𝑅" 𝐶" = 𝑇"
𝑑𝑡

STATE SPACE DESCRIPTION

𝑥! = 𝑢! 𝑥" = 𝑢" 𝑢 = 𝑢# 𝑥⃗̇ = 𝑨 5 𝑥⃗ + 𝑩 5 𝑢

𝑑𝑢! 𝑢# 𝑢! 𝑑𝑢" 𝑢! 𝑢"

𝑥̇ ! = = − 𝑥̇ " = = − 𝑦 = 𝑢" 𝑦 = 𝑪 5 𝑥⃗ + 𝑫 5 𝑢
𝑑𝑡 𝑇! 𝑇! 𝑑𝑡 𝑇" 𝑇"

𝑑𝑢! 1
− 0 𝑢! 1 𝑢!
𝑑𝑡 𝑇!
= 𝑇
+ ! 𝑢# 𝑢" = 0 1 + 0 5 𝑢#
𝑑𝑢! 1 1 𝑢" 𝑢"
− 0
𝑑𝑡 𝑇" 𝑇"

SYSTEM DYNAMIC
𝑑𝑢!
𝑢# 𝑡 = 𝑇! + 𝑢! 𝑡 𝑈# 𝑠 = 𝑇! 𝑠𝑈! + 𝑈! 𝑠 = 𝑈! 𝑠 (𝑇! 𝑠 + 1)
𝑑𝑡
𝑈! 𝑠 1 1
𝐺! 𝑠 = = 𝑠! = −
𝑈# 𝑠 𝑇! 𝑠 + 1 𝑇!

𝑈" 𝑠 1 1
𝐺" 𝑠 = = 𝑠" = −
𝑈! 𝑠 𝑇" 𝑠 + 1 𝑇"
1
𝐺# 𝑠 = 𝐺! 𝑠 5 𝐺" 𝑠 =
𝑇! 𝑠 + 1 𝑇" 𝑠 + 1

TUNE SYSTEM DYNAMIC

1
𝑠!∗ = −
𝑇!∗
𝑇!∗ < 𝑇! 𝑥⃗̇ = 𝑨 5 𝑥⃗ + 𝑩 5 𝑢 𝑦 = 𝑪 5 𝑥⃗ + 𝑫 5 𝑢

1 𝑥⃗̇ = 𝑨 5 𝑥⃗ + 𝑩 5 (𝑣 5 𝑤 + 𝑟⃗ % 5 𝑥)
⃗ 𝑦 = 𝑪 5 𝑥⃗ + 𝑫 5 (𝑣 5 𝑤 + 𝑟⃗ % 5 𝑥)
⃗
𝑠"∗ =− ∗ 𝑇"∗ < 𝑇"
𝑇" 𝑥⃗̇ = (𝑨 + 𝑩 5 𝑟⃗ % ) 5 𝑥⃗ + 𝑩 5 𝑣 5 𝑤 𝑦 = (𝑪 + 𝑫 5 𝑟⃗ % ) 5 𝑥⃗ + 𝑫 5 𝑣 5 𝑤
 DERIVE FEEDBACK VECTOR

𝑥⃗̇ = 𝑨 5 𝑥⃗ + 𝑩 5 𝑢 1
𝜆+ 0
𝑇!
∆(𝜆) = 𝑑𝑒𝑡 𝜆𝑰 − 𝑨 𝜆𝑰 − 𝑨 =
1 1
1 1 1 𝑇! + 𝑇" 1 − 𝜆+
∆ 𝜆 = 𝜆+ 𝜆+ −05 − = 𝜆" + 𝜆+ 𝑇" 𝑇"
𝑇! 𝑇" 𝑇" 𝑇! 𝑇" 𝑇! 𝑇"
𝑟⃗ % = 𝑟! 𝑟"
𝑎! 𝑎"
𝑟! 𝑟"
𝑥⃗̇ = (𝑨 + 𝑩 5 𝑟⃗ % ) 5 𝑥⃗ + 𝑩 5 𝑣 5 𝑤 𝑇! 𝑇!
𝑩 5 𝑟⃗ % =
∗ %
∆ (𝜆) = 𝑑𝑒𝑡 𝜆𝑰 − 𝑨 − 𝑩 5 𝑟⃗
0 0
1 1
∆∗ 𝜆 = 𝜆" + 𝑎! − 𝑟! 𝜆 + 𝑎# − 𝑟# 𝑟! = 𝑎# − 𝑎# ∗ = − ∗ ∗
𝑇! 𝑇" 𝑇! 𝑇"
∆∗ 𝜆 = 𝜆" + 𝑎! ∗ 𝜆 + 𝑎#∗
𝑇!∗ + 𝑇"∗ 1 𝑇! + 𝑇" 𝑇!∗ + 𝑇"∗
∆∗ 𝜆 = 𝜆" + 𝜆+ ∗ ∗ 𝑟" = 𝑎! − 𝑎! ∗ = − ∗ ∗
𝑇!∗ 𝑇"∗ 𝑇! 𝑇" 𝑇! 𝑇" 𝑇! 𝑇"

DERIVE GAIN FILTER

1 𝐺# 𝑇!𝑇"
𝐺# 𝑠 = 𝐺! 𝑠 5 𝐺" 𝑠 = 𝐺# = 𝐺# 5 𝐺# 𝑣= ∗ =. . . = ∗ ∗
𝑇! 𝑠 + 1 𝑇" 𝑠 + 1 𝐺# 𝑇! 𝑇"
1
𝐺# ∗ 𝑠 = 𝐺! ∗ 𝑠 5 𝐺" ∗ 𝑠 =
𝑇!∗ 𝑠 + 1 𝑇"∗ 𝑠 + 1
𝐺# ∗ = 𝐺# ∗ 5 𝐺# ∗ 𝑠∈ℝ

FEEDBACK VECTOR SYSTEM

𝑊𝑠 𝑊∗ 𝑠 𝑈𝑠 𝑋! 𝑠 𝑋" 𝑠
𝑣 ++ 𝐺! 𝑠 𝐺" 𝑠

𝑟!
+
+

𝑟"

EXAMPLE
1 1 1 1
𝑇! = 1𝑠 𝑇" = 1𝑠 𝑇!∗ = 0.1𝑠 𝑇"∗ = 0.2𝑠 𝑟! = − = − = −49
𝑇! 𝑇" 𝑇!∗ 𝑇"∗ 1 5 1 0.1 - 0.2
1 1 1 ∗ 1 𝑇! + 𝑇" 𝑇!∗ + 𝑇"∗ 1 + 1 0.1 + 0.2
𝑠! = −1 𝑠 = −1 𝑠!∗ = −10 𝑠 = −5 𝑟" = − ∗ ∗ = − = −13
𝑠 " 𝑠 𝑠 " 𝑠 𝑇! 𝑇" 𝑇! 𝑇" 1 5 1 0.1 5 0.2
𝑇!𝑇" 1 #1
𝑣= = = 50
𝑇!∗ 𝑇"∗ 0.1 5 0.2
 STEP RESPONSE
𝑠∈ℝ
1 1
𝑠!∗ = −10 𝑠"∗ = −5
𝑠 𝑠

BODE DIAGRAM
 STEP RESPONSE
𝑠∈ℂ
1 1
𝑠!∗ = − 5 + 𝑗5 𝑠"∗ = − 5 − 𝑗5
𝑠 𝑠

BODE DIAGRAM
COLAB.GOOGLE GITHUB