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LINEAR CONTROL

SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
lecture 4

Lecture 4

Converting of different representations of


control systems
Topics to be covered include:
 Mason’s flow graph loop rule (Converting SD to TF)
 Realization (Converting TF to SS model)
 Converting high order differential equation to state space
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Dr. Ali Karimpour Feb 2013
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Different representations
‫نمايشهای مختلف‬
HODE SS
x1  x 2
c  5c  4c  r
x 2  4 x1  5 x 2  r
c  x1

SD
TF
c( s ) 1 Mason’s rule
G( s)   2
r ( s ) s  5s  4

Discussed in the last lecture


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Will be discussed in this lecture Dr. Ali Karimpour Feb 2013
lecture 4

Mason’s flow graph loop rule


‫فرمول بهره ميسون‬

SD
TF
Mason’s rule c( s ) 1
G( s)   2
r ( s ) s  5s  4

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Mason’s flow graph lop rule


‫قانون گين ميسون‬
m

y( s) 
M i i
 i 1
u ( s) 

m is the number of path from input to output


Mi gain of i th path
 loop gain of system

i loop gain of system after deleting i th path

  1   Pm1   Pm 2   Pm3  .....


m1 m2 m3 5
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Example 1 1 ‫مثال‬
m

c( s ) 
M i i
 i 1
r ( s) 

m 1 M 1  s 2 1  1

  1   Pm1   Pm 2   Pm3  ..... 


m1 m2 m3
1
1  (5s  4s 2 )  0  0  .......  1  5s 1  4s 2

c( s ) s 2 .1 1 Note
 1 2
 2
r (s) 1  5s  4s s  5s  4 6
Dr. Ali Karimpour Feb 2013
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Example 2 2 ‫مثال‬

C ( s)
?
N ( s)

m 1   1  ( H 1G4  G2 G6 H 2  G2 G3G4 G5 H 2 )  (G4 H 1 )( G2 G6 H 2 ) 


M 1  1  1  1  G4 H 1  1  H 1G4  G2 G6 H 2  G2 G3G4 G5 H 2  G4 H 1G2 G6 H 2
C ( s) 1.(1  H1G4 )
 7
N (s) 1  H1G4  G2 G6 H 2  G2 G3G4 G5 H 2  G4 H 1G2 G6 H 2 Dr. Ali Karimpour Feb 2013
lecture 4

Example 3 3 ‫مثال‬
Find the TF model for the following state diagram.

c
1 S-1 b
r(s) c(s)
-a

c( s ) c.1 + bs-1.1 cs  b
 
r ( s) 1+as-1 sa

This is a base form for order 1 transfer function.


‫ است‬1 ‫اين يک حالت پايه برای تابع انتقال درجه‬
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Example 3 3 ‫مثال‬
Find the TF model for following state diagram.

1 S-1 S-1 b
r(s) c(s)

-a

-c

c( s ) ds 1  bs 2 ds  b
 1 2
 2
r ( s) 1  as  cs s  as  c

This is a base form for order 2 transfer function.


‫ است‬2 ‫اين يک حالت پايه برای تابع انتقال درجه‬
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Realization ‫پياده سازی‬

TF SS
1 x1  x 2
G( s) 
s 2  5s  4 Realization x 2  4 x1  5 x 2  r
c  x1

SD

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Realization ‫پياده سازی‬

Some Realization methods ‫چند روش پياده سازی‬

1- Direct Realization. ‫ پياده سازی مستقيم‬-1

2- Series Realization. ‫ پياده سازی سری‬-2

3- Parallel Realization. ‫ پياده سازی موازی‬-3

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Direct Realization ‫پياده سازی مستقيم‬

c( s ) s 2  7s  12 s 1  7 s 2  12s 3 X
G( s)   3 
r (s) s  4s  5s  2 1  4s 1  5s 2  2s 3 X
2

X (1  4s 1  5s 2  2s 3 )  r (s)  X  r (s)  4s 1 X  5s 2 X  2s 3 X

s 1 X  7s 2 X  12s 3 X  c(s)

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‫پياده سازی مستقيم‬


Direct Realization
X  r (s)  4s 1 X  5s 2 X  2s 3 X c(s)  12s 3 X  7s 2 X  s 1 X

1 X S-1 x3 S-1 x2 S-1 x1 12


r(s) c(s)

-4
x1  x2
-5 x 2  x3
x3  2 x1  5x2  4 x3  r
-2
c  12 x1  7 x2 13x3
Dr. Ali Karimpour Feb 2013
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‫پياده سازی سری‬


Series Realization
c( s ) s 2  7s  12 s3 s4 1
G( s)   3  . .
r (s) s  4s 2  5s  2 s 1 s 1 s  2

cs  b
sa

c
1 S-1 b
r(s) c(s)
-a

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‫پياده سازی سری‬


Series Realization
c
c( s ) s 2  7s  12 s3 s4 1 cs  b
G( s)   3  . . 1 S-1 b
r (s) s  4s 2  5s  2 s 1 s 1 s  2 sa
-a

r(s) 1 1
x3 3 x2 x1 c(s)
1 S-1 1 S-1 4 1 S-1 1

-1 -1 -2  x1   2 3 2   x1  1
 x    0  1 2  x 2   1 r
 2 
 x 3  0 0  1  x3  1
x1  2 x1  4 x2  x2  3x3  x3  r
 x1 
x2   x2  3x3  x3  r
c  [1 0 0] x 2 
x3   x3  r  x3 
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c  x1 Dr. Ali Karimpour Feb 2013
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‫پياده سازی موازی‬


Parallel Realization
c( s ) 2s 2  13s  17 2s 2  13s  17 3? 1? -2
?
G( s)   3    
r (s) s  6s 2  11s  6 ( s  1)( s  2)( s  3) s 1 s  2 s  3

c
cs  b
1 S-1 b
sa
-a

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‫پياده سازی موازی‬


Parallel Realization

3? 1? -2
?
G(s)    S-1
s 1 s2 s3
1 3
-1
r(s) 1 S-1 -2
c(s)
cs  b
sa 1 -3 1
S-1

c -2
1 S-1 b

-a 17
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‫پياده سازی موازی‬


Parallel Realization
3? 1? -2 x1   x1  r
?
G(s) 
s 1

s2

s3
x2  3x2  r
x3  2 x3  r
S-1 x1 c  3x1  2 x2  x3

1 3
-1
r(s) 1 S-1 x2 -2
c(s)
 1 0 0 1
1 -3 1
x   0  3 0  x  1u
S-1  0 0  2 1
x3
-2
c  [3  2 1]x

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Parallel Realization ‫پياده سازی موازی‬

c( s ) s 2  7s  12 s 2  7s  12 6? -1? 2?
G( s)   3    
r (s) s  4s  5s  2 (s  1) (s  2)
2 2
( s  1) 2
s 1 s  2

S-1 x2 1 1 S-1 x1

1 6
-1 -1
-1
r(s) 1 S-1 c(s)

x3 2
-2

x1   x1  x2  1 1 0  0 
x 2   x2  r x   0  1 0  x  1  r
x3  2 x3  r  0 0 c(s)
 2 1 
c  6 x1  1x2  2 x3 c  [6  1 2]x 19
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Converting high order differential equation to state


space

SS
HODE
x1  x 2
x1  5x1  4x1  r x 2  4 x1  5 x 2  r
c  x1

TF
1
G( s) 
s 2  5s  4

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Exercises

4-1 Find Y(s)/U(s) for following system

Ans

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Exercises (Continue)

4-2 Find c1(s)/r2(s) for following system

Answer
c1 k
 2 2
r2 s  k1  k 2
4-3 Find g such that C(s)/R(s) for following system is
(2s+2)/s+2

Answer

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Exercises (Continue)

4-4 Find Y1(s)/R(s) for following system

Answer

4-5 Find C1(s)/R1(s) and C2(s)/R2(s) for following system

Answer

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Exercises (Continue)

4-6 Find C/R for following system

Answer

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Exercises (Continue)

4-7 Find the SS model for following system.


y   5 y   6 y  u   u
It was in some exams.
4-8 Find the TF model for following system without any inverse
manipulation.
  1 3 1  0 
x   0  2 0  x  0u
 0 0  5 1 
c  [1 0 0]x

4-9 Find the SS model for following system.

G(s)
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Exercises (Continue)

4-10 Find direct realization, series realization and parallel realization


for following system.
s 1
G( s) 
( s 2  2s  2)( s  3)

4-11 a) Find the transfer function of following system by Masson


formula.
b) Find the state space model of system.
c) Find the transfer function of system from the SS model in part b
d) Compare part “a” and part “c”
c S-1 S-1 1
r(s) c(s)

-a -b
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It appears in many exams.***** Dr. Ali Karimpour Feb 2013
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Exercises (Continue)

4-12 a) Find the transfer function of following system by Masson


formula.
b) Find the state space model of system.
c) Find the transfer function of system from the SS model in part b
d) Compare part “a” and part “c”

c S-1 S-1 1
r(s) c(s)

-a -b

Regional Electrical engineering Olympiad spring 2008.*****


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Appendix: Example 1 a) Draw the state diagram for the following
differential equation. b) Suppose c(t) as output and r(t) as input and find
transfer function.

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Appendix: Example 2: Express the following set of differential
equations in theX (form
t )  AXof
(t )  Br (t ) and draw
corresponding state diagram.
x1   x1 (t )  2 x2 (t )
x2  2 x1 (t )  3x3 (t )  r1 (t )
x3   x1 (t )  x2 (t )  r2 (t )

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Appendix: Example 3: Determine the transfer function of


following system without using any inverse manipulation.

 1 3 1  0
X (t )   0  2 0 X (t )  0 r (t ) c(t )  [1 0 0] X (t )  2r (t )
 0 0  5  1 

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Appendix: Example 4: Determine the modal form of this


transfer function. One particular useful canonical form is
called the Modal Form.

It is a diagonal representation of the state-space model.


Assume for now that the transfer function has distinct
real poles pi (but this easily extends to the case with
complex poles.)

Now define a collection of first order systems, each


with state xi 31
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Appendix: Example 4: Determine the modal form of this


transfer function. One particular useful canonical form is
called the Modal Form.

Which can be written as

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Appendix: Example 4: Determine the modal form of this


transfer function. One particular useful canonical form is
called the Modal Form.

With :

Good representation to use for numerical robustness


reasons.
Avoids some of the large coefficients in the other 4
canonical forms.

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