Mathematical Modelling& Various Control System Models & Responses Using Matlab

By-Sanjeev 1
MATHEMATICAL
MODELLING& VARIOUS
CONTROL SYSTEM MODELS &
RESPONSES USING MATLAB
By-Sanjeev
By-Sanjeev 2
Presentation Overview
Control Toolbox Introduction
Building Models for LTI System
Continuous Time Models
Discrete Time Models
Combining Models
Transient Response Analysis
Frequency Response Analysis
Stability Analysis Based on Frequency
Response
Other Information
By-Sanjeev 3
Control System Toolbox
This is a toolbox for control system design
and analysis. It supports transfer function and
state-space forms (continuous/ discrete time,
frequency domain), as well as functions for
step, impulse, and arbitrary input responses.
Functions for Bode, Nyquist,root-locus plots &
many control system designs are included.

By-Sanjeev 4
Control System Toolbox supports
continuous time models and discrete time
models of the following types*:
Transfer Function
Zero-pole-gain
State Space
* Material taken from http://techteach.no/publications/control_system_toolbox/#c1
By-Sanjeev 5
Continuous Time Transfer Function(1)
Function: Use tf function create transfer function
of following form:

Example
2 3
1 2
) (
2
+ +
+
=
s s
s
s H
>>num = [2 1];
>>den = [1 3 2];
>>H=tf(num,den)
Transfer function:
2 s + 1
-------------
s^2 + 3 s + 2
Matlab Output
By-Sanjeev 6
Include delay to continuous time Transfer Function
Example
2 3
1 2
) (
2
2
+ +
+
=

s s
s
e s H
s

Transfer function:
2 s + 1
exp(-2*s) * -------------
s^2 + 3 s + 2
>>num = [2 1];
>>den = [1 3 2];
>>H=tf(num,den,inputdelay,2)
Matlab Output
By-Sanjeev 7
Function: Use zpk function to create transfer
function of following form:

Example
( )( ) 2 1
5 . 0
2
2 3
1 2
) (
2
+ +
+
=
+ +
+
=
s s
s
s s
s
s H
>>num = [-0.5];
>>den = [-1 -2];
>>k = 2;
>>H=zpk(num,den,k)
Zero/pole/gain:
2 (s+0.5)
-----------
(s+1) (s+2)
Matlab Output
By-Sanjeev 8
Continuous Time State Space Models(1)
State Space Model for dynamic system

Du Cx y
Bu Ax x
+ =
+ =
Matrices: A is state matrix; B is input matrix; C is

output matrix; and D is direct
transmission matrix
Vectors: x is state vector; u is input vector; and y is
output vector
Note: Only apply to system that is linear and time invariant
By-Sanjeev 9
Continuous Time State Space Models(2)
Function: Use ss function creates state space
models. For example:

| | | | 0 1 0
3
0
2 5
1 0
2
1
= =
(
=
(

=
(
= D C B A x
x
x
>>A = [0 1;-5 -2];
>>B = [0;3];
>>C = [0 1];
>>D = [0];
>>sys=ss(A,B,C,D)

a =
x1 x2
x1 0 1
x2 -5 -2
Matlab Output
b =
u1
x1 0
x2 3
c =
x1 x2
y1 0 1
d =
u1
y1 0
By-Sanjeev 10
Conversion between different models
Converting From Converting to Matlab function
Transfer Function Zero-pole-gain
[z,p,k]=tf2zp(num,den)
Transfer Function State Space
[A,B,C,D]=tf2ss(num,den)
Zero-pole-gain Transfer Function
[num,den]=zp2tf(z,p,k)
Zero-pole-gain State Space
[A,B,C,D]=zp2ss(z,p,k)
State Space Transfer Function
[num,den]=ss2tf(A,B,C,D)
State Space Zero-pole-gain
[z,p,k]=ss2zp(A,B,C,D)
By-Sanjeev 11

% Transfer function model
num = [0 0 25];
den = [1 4 25];
G = tf(num,den)
% Zero-Pole-Gain model
[z,p,k]=tf2zp(num,den)
% State-Space model
[A,B,C,D]=tf2ss(num,den)

By-Sanjeev 12
Lecture Overview
Combining Models
Response
Other Information
By-Sanjeev 13
Discrete Time Transfer Function(1)
Function: Use tf function create transfer function
of following form:

Example: with sampling time 0.4

2 3
1 2
) (
2
+ +
+
=
z z
z
z H
>>num = [2 1];
>>den = [1 3 2];
>>Ts=0.4;
>>H=tf(num,den,Ts)
Transfer function:
2 z + 1
-------------
z^2 + 3 z + 2

Sampling time: 0.4
Matlab Output
By-Sanjeev 14
Discrete Time Transfer Function(2)
Function: Use zpk function to create transfer
function of following form:

Example: with sampling time 0.4
( )( ) 2 1
5 . 0
2 ) (
+ +
+
=
z z
z
z H
>>num = [-0.5];
>>den = [-1 -2];
>>k = 2;
>>Ts=0.4;
>>H=zpk(num,den,k,Ts)
Zero/pole/gain:
2 (z+0.5)
-----------
(z+1) (z+2)

Sampling time: 0.4
Matlab Output
By-Sanjeev 15
Discrete Time State Space Models(1)
State Space Model for dynamic system

] [ ] [ ] [
] [ ] [ ] 1 [
n n n
n n n
Du Cx y
Bu Ax x
+ =
+ = +
Matrices: A is state matrix; B is input matrix; C is
output matrix; and D is direct
transmission matrix
Vectors: x is state vector; u is input vector; and y is
output vector
n is the discrete-time or time-index
Note: Only apply to system that is linear and time invariant
By-Sanjeev 16
Discrete Time State Space Models(2)
Function: Use ss function creates state space
models. For example:

| | | | 0 1 0
3
0
2 5
1 0
] [
] [
] [
2
1
= =
(
=
(

=
(
= D C B A x
n x
n x
n
>>A = [0 1;-5 -2];
>>B = [0;3];
>>C = [0 1];
>>D = [0];
>>Ts= [0.4];
>>sys=ss(A,B,C,D,Ts)
Transfer function:
2 z + 1
-------------
z^2 + 3 z + 2

Sampling time: 0.4
Matlab Output
a =
x1 x2
x1 0 1
x2 -5 -2
Matlab Output
b =
u1
x1 0
x2 3
c =
x1 x2
y1 0 1
d =
u1
y1 0
Sampling time: 0.4
By-Sanjeev 17
Lecture Overview
Combining Models
Response
Other Information
By-Sanjeev 18
Combining Models(1)
A model can be thought of as a block with
inputs and outputs (block diagram) and
containing a transfer function or a state-
space model inside it
A symbol for the mathematical operations on
the input signal to the block that produces the
output
Transfer
Function
G(s)
Input Output
Elements of a Block Diagram
By-Sanjeev 19
Combining Models(2)
The Following Matlab functions can be used to
perform basic block diagram manipulation
Combination Matlab Command
sys = series(G1,G2)

sys = parallel(G1,G2)

sys = feedback(G1,G2)
G
1
(s) G
2
(s)
+
G
1
(s)
G
2
(s)
+
+
G
1
(s)
-
G
2
(s)
By-Sanjeev 20
Basic arithmetic operations of Models
Arithmetic Operations Matlab Code
Addition
sys = G1+G2;
Multiplication
sys = G1*G2;

Inversion
sys = inv(G1);

By-Sanjeev 21
Lecture Overview
Combining Models
Response
Other Information
By-Sanjeev 22
Transient Response Analysis(1)
Transient response refers to the process
generated in going from the initial state to
the final state
Transient responses are used to
investigate the time domain characteristics
of dynamic systems
Common responses: step response,
impulse response, and ramp response

By-Sanjeev 23
Unit step response of the transfer function system
Consider the system:
( )
25 4
25
2
+ +
=
s s
s H
%*****Numerator & Denominator of H(s)
num = [0 0 25];den = [1 4 25];
%*****Specify the computing time
t=0:0.1:7;
sys=tf(num,den)
step(sys,t)
%*****Add grid
grid

By-Sanjeev 24
Unit step response of H(s)
Unit Step Response of H(s)
Time (sec)
A
m
p
l
i
t
u
d
e
0 1 2 3 4 5 6 7
0
0.2
0.4
0.6
0.8
1
1.2
1.4
By-Sanjeev 25
Alternative way to generate Unit step response
of the transfer function, H(s)

If step input is , then step response is
generated with the following command:
>>num = [0 0 25];den = [1 4 25];
%*****Create Model
>>H=tf(num,den);
>>step(H)

>>step(10*H)

) ( 10 t u
By-Sanjeev 26
Impulse response of the transfer function system
( )
25 4
25
2
+ +
=
s s
s H
num = [0 0 25];
den = [1 4 25];
t=0:0.1:7;
Sys=tf(num,den)
impulse(sys,t)
grid
By-Sanjeev 27
Impulse response of H(s)
Impulse Response of H(s)
Time (sec)
A
m
p
l
i
t
u
d
e
0 1 2 3 4 5 6 7
-1
-0.5
0
0.5
1
1.5
2
2.5
3
By-Sanjeev 28
Ramp response of the transfer function system
Theres no ramp function in Matlab
To obtain ramp response of H(s), divide H(s) by
s and use step function


For unit-ramp input, . Hence
( )
25 4
25
2
+ +
=
s s
s H
2
1
) (
s
s U =
( )
( ) 25 4
25 1
25 4
25 1
2 2 2
+ +
=
|
.
|
\
|
+ +
=
s s s s s s s
s Y
Indicate Step response
NEW H(s)
By-Sanjeev 29
Example: Matlab code for Unit Ramp Response
%*****Numerator & Denominator of NEW H(s)
num = [0 0 0 25];den = [1 4 25 0];
t=0:0.1:7;
sys=tf(num,den)
step(sys,t)
%*****Add grid & title of plot
grid

By-Sanjeev 30
Unit Ramp response of H(s)
0 1 2 3 4 5 6 7
0
1
2
3
4
5
6
7
Unit Ramp Response Curve of H(s)
By-Sanjeev 31
Lecture Overview
Combining Models
Response
Other Information
By-Sanjeev 32
Frequency Response Analysis(1)
For Transient response analysis - hard to
determine accurate model (due to noise or
limited input signal size)
Alternative: Use frequency response approach
to characterize how the system behaves in the
frequency domain
Can adjust the frequency response
characteristic of the system by tuning relevant
parameters (design criteria) to obtain acceptable
transient response characteristics of the system
By-Sanjeev 33
Bode Diagram Representation of Frequency Response
Consists of two graphs:
Log-magnitude plot of the transfer function
Phase-angle plot (degree) of the transfer function
Matlab function is known as bode
num = [0 0 25];den = [1 4 25];
%*****Use bode function
sys=tf(num,den)
bode(sys)

By-Sanjeev 34
Example: Bode Diagram for
Bode plot of H(s)
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
M
a
g
n
i
t
u
d
e

(
d
B
)
-60
-50
-40
-30
-20
-10
0
10
20
10
0
10
1
10
2
-180
-135
-90
-45
0
( )
25 4
25
2
+ +
=
s s
s H
Bode magnitude plot
Bode phase plot
By-Sanjeev 35
Lecture Overview
Combining Models
Response
Other Information
By-Sanjeev 36
Response(1)
Stability analysis can also be performed
using a Nyquist plot
From Nyquist plot determine if system is
stable and also the degree of stability of a
system
Using the information to determine how
stability may be improved
Stability is determined based on the
Nyquist Stability Criterion
By-Sanjeev 37
Response(2)
Example: Matlab code to draw a Nyquist Plot
Consider the system
( )
1 8 . 0
1
2
+ +
=
s s
s H
num = [0 0 1];
den = [1 0.8 1];
%*****Draw Nyquist Plot
sys=tf(num,den)
nyquist(sys)
grid
By-Sanjeev 38
Response(2)
The Nyquist Plot for
Nyquist plot of H(s)
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
-1
-0.5
0
0.5
1
0 dB
-20 dB
-10 dB
-6 dB
-4 dB
-2 dB
20 dB
10 dB
6 dB
4 dB
2 dB
( )
1 8 . 0
1
2
+ +
=
s s
s H
By-Sanjeev 39
Lecture Overview
Combining Models
Response
Other Information
By-Sanjeev 40
Other Information
Use help to find out more about the
Matlab functions shown in this lecture
Check out Control System Toolbox for
other Matlab functions
By-Sanjeev 41
ROOT LOCUS PLOT
Example: Matlab code to draw a Root Locus Plot
Consider the system
( )
1 8 . 0
1
2
+ +
=
s s
s H
num = [0 0 1];
den = [1 0.8 1];
%*****Draw Root Locus Plot
sys=(num,den)
rlocus(sys)
grid
By-Sanjeev 42
Root locus plot
-0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0 0.1
-4
-3
-2
-1
0
1
2
3
4
0.095 0.13 0.19
0.3
0.55
0.5
1
1.5
2
2.5
3
3.5
4
0.5
1
1.5
2
2.5
3
3.5
4
0.018 0.04 0.065 0.095 0.13 0.19
0.3
0.55
0.018 0.04 0.065
Root Locus
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
By-Sanjeev 43
Procedure of Designing a Control System
System & Required Design Specifications Mathematical Model
Test the System
1. Fulfill the Required Design Specification ?
2. How stable or robust ? Is your system stable?
Stability Analysis Based on Frequency Response
Are (1) & (2) satisfy?
end
YES
Revisit the design
e.g. Combine model?
NO
By-Sanjeev 44
Transient response Specifications
Unit Step Response of G(s)
Time (sec)
A
m
p
l
i
t
u
d
e
0 0.5 1 1.5 2 2.5 3
0.2
0.4
0.6
0.8
1
1.2
1.4
Peak Time
Rise Time
Steady State
Settling Time
0.1
0.5
Delay Time
M
p
Unit Step Response of G(s)
Time (sec)
A
m
p
l
i
t
u
d
e
0 0.5 1 1.5 2 2.5 3
0.2
0.4
0.6
0.8
1
1.2
1.4
Peak Time
Rise Time
Steady State
Settling Time
0.1
0.5
Delay Time
M
p
By-Sanjeev 45
Frequency Domain Characteristics
What is the bandwidth of the system?
What is the cutoff frequencies?
What is the cutoff rate?
Is the system sensitive to disturbance?
How the system behave in frequency domain?

Mathematical Modelling& Various Control System Models & Responses Using Matlab

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By-Sanjeev 1

Matrices: A is state matrix; B is input matrix; C is

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