System models

• Time domain models

– High order ordinary differential equation model
– Contains only input variables, output variables, their
derivatives, and constant parameters
– Proper: highest output derivative order is greatest
– Highest order derivative of output = system order

n n 1
d d d
n
y  an1 n1 y    a1 y  a0 y
dt dt dt
dm d
 bm m u    b1 u  b0u
dt dt
 System models
• Time domain models
– State space model: state equation + output equation
– State equation: a set of 1st order diff eq on state
variables
– Output equation: output as function of state and input

 x  f ( x, u )

 y  g ( x, u )
– Linear systems:
 x  Ax  Bu

 y  Cx  Du
ODE model to State space model
dn d n1 d
n
y  an1 n1 y    a1 y  a0 y  u
dt dt dt
Let x1  y, x2  y, x3  y, ...
Then x1  x2 , x2  x3 , x3  x4 , ...
 x1   0 1 0 0   x1  0
x   0 0 1  
0   x2  0  
d  2 
   u
dt       
      
 xn   a0 a1 a2 an 1   xn  1 
y  [ 1 0 0 ... 0]x  [ 0]u
ODE model to State space model

m<n
dn d n1 d
When : n y  an1 n1 y    a1 y  a0 y
dt dt dt
dm d
 bm m u    b1 u  b0u
dt dt
dm d
Let y  bm m z    b1 z  b0 z
dt dt
dn d n1 d
Then : n
z  an1 n1 z    a1 z  a0 z  u
dt dt dt
ODE model to State space model
Let x1  z, x2  z, x3  z , ...
We still have the same state equation:
 x1   0 1 0 0   x1  0
x   0 0 1 0   x  0 
d  2    2   u

dt       
      
 xn   a0 a1 a2 an 1   xn  1 
But the output equation will be:
dm d
y  bm m z   b1 z  b0 z
dt dt
 bm xm1   b1 x2  b0 x1
 [ b0 b1 ... bm 0 ... 0]x  [ 0]u
 Transfer Function
Transfer function from x to y is the gain from
X(s) to Y(s), that is, it is the ratio of
Laplace transform of y to Laplace transform of x :
Y ( s ) L  y (t ) 
  G ( s ), or H ( s ), 
X ( s ) L x(t )

Then : Y ( s )  H ( s ) X ( s )
 State space model to TF
 x  Ax  Bu
State space model : 
 y  Cx  Du
sX ( s )  AX ( s )  BU ( s)
take L : 
Y ( s )  CX ( s )  DU ( s )
( SI  A) X ( s )  BU ( s )
X ( s )  ( SI  A) 1 BU ( s)
1
Y ( s)  [C ( SI  A) B  D]U ( s )
  
H (s)

A, B, C, D are matrices
 Input Output System
Input Output
x(t) H(s) y(t)

– Y(s) = H(s)X(s)
– If the input x(t) = δ(t), the output is called the impulse
response.
– If the input x(t) = u(t), the output is called the step
response.
– If the input x(t) = Asin(wt), and H(s) is stable, output
steady state is A|H(jw)|sin(wt+H(jw))
– Poles: values of s at which TF  infinity
– Zeros: values of s at which TF = 0
 Example: controller
E(s) controller U(s)

C(s)

• Proportional controller: C(s) = KP =const

• Integral controller: C(s) = KI/s
• Derivative controller: C(s) = KDs
• PI controller: C(s) = KP + KI/s
• PD controller: C(s) = KP + KDs
• PID controller: C(s) = KP + KI/s + KDs
 Last time:
Negative Feedback Control System

+
+ + CONTROLLED
CONTROLLER DEVICE
-

FEEDBACK
ELEMENT
 Block Diagrams
• A line is a signal x G y
y = Gx

• A block is a gain x + s
Σ
+
• A circle is a sum -
s=x+z-y
y z
• Due to h.f. noise,
use proper blocks: num deg ≤ den deg
• Try to use just horizontal or vertical lines
– Use additional “ Σ ” to help
x + s
e.g.
+
+
z
-
y
 Block Diagram Algebra
• Series:
x y x y
G1 G2  G1 G2

• Parallel:

G1
+
x y x y
 G1 + G2
+
G2
• Feedback:

x + e
G1 y x G1 y

- 1  G1G2
b
G2
G1
y x
1 G1G2

G1
• Proof: e  x  b, b  G2 y, y  G1e  y  x
1  G1G2
e  x  G2G1e
1
(1  G1G2 )e  x  e  x
1  G1G2
 +
G1
+

G2

G1
1  G1G2

+ n1
-
d1 n1d 2
n2 n1n2  d1d 2
d2
>> s=tf('s')
>> G=G1*G2
Transfer function:
Transfer function:
s
5s+5
--------------
>> G1=(s+1)/(s+2)
s^2 + 7 s + 10
Transfer function:
s+1
>> H=G1+G2
-----
Transfer function:
s+2
s^2 + 11 s + 15
---------------
>> G2=5/(s+5)
s^2 + 7 s + 10
Transfer function:
5
>> HF=feedback(G1, G2)
-----
Transfer function:
s+5
s^2 + 6 s + 5
---------------
s^2 + 12 s + 15
>> delay1=tf(1,1,'inputdelay',0.05)
Transfer function: Step Response

exp(-0.05*s) * 1 0.9

0.8

>> H2=HF*delay1 0.7

Transfer function: 0.6

s^2 + 6 s + 5 0.5

Amplitude
exp(-0.05*s) * --------------- 0.4

s^2 + 12 s + 15 0.3

0.2

>> stepresp=H2*1/s 0.1

Transfer function: 0
0 0.5 1 1.5 2 2.5

s^2 + 6 s + 5 Time (sec)

exp(-0.05*s) * -------------------
s^3 + 12 s^2 + 15 s

>> step(H2)
 Quarter car suspension
Series
R(s) + 1 1
bs  k 1
s s
y
- m

R(s) + bs  k y
Feedback
- ms 2

R(s) bs  k y
ms 2  bs  k bs  k
TF  H ( s ) 
ms  bs  k
2
>> b=sym('b');
>> m=sym('m'); >> Gcl=G/(1+G)
>> k=sym('k');
>> s=sym('s'); Gcl =
>> G1=b*s+k
G1 = (b*s+k)/m/s^2/(1+(b*s+k)/m/s^2)
b*s+k

>> G2=1/m*1/s*1/s >> simplify(Gcl)

G2 =
1/m/s^2 ans =

>> G=G1*G2 (b*s+k)/(m*s^2+b*s+k)

G=
(b*s+k)/m/s^2
 pick-up point
• Move a block (G1) across a summation
into all touching lines:
– If arrow direction changes, invert block (1/G1)
– If arrow direction remains, no change in block
• For example:

along arrow no change

along arrow

x y x G1 G2 y
G1 G2

z G3 no change G1
along arrow

along arrow
z G3
 against, against

x G1 G2 x G1 G2
y y
against 
along
z G3 z G3 1/G2

x G1 G2 x G1 G3 1/G3 G2
y y

z G3 z
 I2

1 I1 - 1 Vc
U + 1 y
R2
-
L1s  R1 + Cs L2 s  R2

I2 L1s  R1
- 1 1 Vc
U + 1 y
R2
-
+ L1s  R1 Cs L2 s  R2

L1s  R1
- 1
U + 1 y
R2
+ - Cs( L1s  R1 ) L2 s  R2
 L1s  R1

U + - 1 1 y
R2
Cs( L1s  R1 )  1 L2 s  R2

L1s  R1

U + - 1 y
R2
Cs( L1s  R1 )( L2 s  R2 )  L2 s  R2

U 1 y
R2
Cs( L1s  R1 )( L2 s  R2 )  L2 s  R2  L1s  R1

R2
T .F . 
Cs( L1s  R1 )( L2 s  R2 )  L2 s  R2  L1s  R1
 Find TF from U to Y:
2
s5
s 1 +
U + + 10 Y
100
s2 s ( s  20) +
- -

• No pure series/parallel/feedback
• Needs to move a block, but which one?
Key: move one block to create pure series or
parallel or feedback!
10
So move either left or right.
s ( s  20)
 s ( s  20) 2
10 s5
s 1 +
U+ + 10 Y
100
s2 s ( s  20) +
- -

+
U+ + 10( s  1) s( s  20)
100 1 Y

- -
s( s  2)( s  20) 5( s  5) +

+
U+ 10( s  1) s( s  20)
100 1 Y
s( s  2)( s  20)  10( s  1) 5( s  5) +
-
Can use superposition:
First set D=0, find Y due to R
Then set R=0, find Y due to D
Finally, add the two component to get the overall Y
First set D=0, find Y due to R

G1G2
Y1 ( s )  R( s)
1  G1G2 H1
Then set R=0, find Y due to D

G2
Y2 ( s )    D( s ) 
1  G1G2 H1
G2
Finally, add the two components to get the overall Y

G1G2 G2
Y ( s)  R( s)  D( s )
1  G1G2 H1 1  G1G2 H1