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Clase 02 Modelado de Sistemas de Control PDF
Clase 02 Modelado de Sistemas de Control PDF
Clase 02 Modelado de Sistemas de Control PDF
Distribucin detallada
Diagrama de Bloques
of
Introduction on mathematical
models
System model
Definition
Mathematical expression of dynamic relationship between input
and output of a control system.
Mathematical model is foundation to analyze and design
automatic control systems
No mathematical model of a physical system is exact. We
generally strive to develop a model that is adequate for the
problem at hand but without making the model overly complex.
Modeling methods
1. Analytic method
According to
A. Newtons Law of Motion
B. Law of Kirchhoff
C. System structure and parameters
Differential equation
Transfer function
Space state
Frequency characteristic
Study
time-domain
response
Transfer
function
Linear system
LTI
study
frequency-domain
response
Differential
Frequency
Laplace equation Fourier characteristic
transform
transform
Modeling methods
2. System identification method
Building the system model based on the system inputoutput
signal
This method is usually applied when there are little information
available for the system.
Input
Black box
Output
u1 (t )
u2 (t )
system
system
y1 (t )
y2 (t )
system
1 y1 2 y2
1u1 (t ) 2u2 (t )
an 1c (1) (t ) c(t )
b0 r ( m ) (t )
Time-domain model
bm1r (1) (t ) bm r (t )
a0, a1, an, b0, b1,
bm: Constantes
L
i(t)
Input
u(t)
uc(t)
Output
system
uc(t)
According to Law of
Kirchhoff in electricity
C
i(t)
u(t)
uc(t)
di (t )
u(t ) Ri (t ) L
uc (t ) (1)
dt
1
uC (t )
C
duC (t )
i (t ) C
dt
duC (t )
d 2uC (t )
u (t ) RC
LC
uC (t )
2
dt
dt
LCuC (t ) RCuC (t ) uC (t ) u (t )
Generallywe set
the output on the left side of the equation
the input on the right side
the input is arranged from the highest order to the
lowest order
F1 kx (t )
Spring
F(t)
m
F2 fv (t )
friction
f
Displacement
x(t)
F ma
ma F F1 F2
2
dx(t )
d x (t )
v
, a
dt
dt
2.Transfer function
Transfer function
Input
u(t)
LTI
system
Output
y(t)
bu (1) (t ) b0u(t )
TF G ( s )
L output y (t )
L input u (t )
Y ( s ) bm s m bm 1s m 1 ... b1s b0
n
U (s)
s an 1s n 1 ... a1s a0
L: Trasformada
de Laplace
Laplace
s-domain
algebra problems
Transform
(LT)
Difficult
Easy
Inverse
LT
Solutions of algebra
problems
Laplace Transform
The Laplace transform of a
function f(t) is defined as
F ( s ) L f (t )
f (t )e dt
st
Laplace, Pierre-Simon
1749-1827
Examples
Step signal: f(t)=A
F ( s ) f (t )e dt Ae dt A e st
0
0
s
st
F ( s)
st
at
1
1 ( as )t
e
e e dt
sa
sa
0
at st
(t)
1(t)
1
s
1
s2
1
sa
at
f(t)
F(s)
sin wt
cos wt
at
e sin wt
at
e cos wt
F(s)
w
s 2 w2
s
s 2 w2
w
( s a) 2 w 2
sa
( s a) 2 w 2
(2) Differentiation
df (t )
L
sF (s ) f (0)
dt
Using Integration
By Parts method
to prove
d nf (t ) n
n 1
n 2 (1)
L
s F (s ) s f (0) s f (0)
n
dt
f (n 1) (0)
(3) Integration
t
F (s )
L f ( )d
0
Using Integration
By Parts method
to prove
4Final-value Theorem
lim
f
(
t
)
lim
sF
(
s
)
t
s0
(5) Initial-value Theorem
lim f (t ) lim sF ( s )
t 0
(6)Shifting Theorem
a. shift in time (real domain)
s
e
F (s)
L[ f (t )]
L[e f (t )] F ( s a )
at
1
1
st
f (t ) L [ F ( s)]
F
(
s
)
e
ds(t 0)
2 j C j
Fn ( s )
f1 (t ) f 2 (t ) ... f n (t )
L1 Fn ( s)
zeros: 1, -2
zeros: -1
c1
c2
s p1 s p2
cn
s pn
ci
( s pi )
D( s)
s pi
f (t )
c1e
p1t
c2 e
p2t
... cn e
Inverse LT
pnt
Example 1
1
F ( s)
( s 1)( s 2)( s 3)
Partial-Fraction Expansion
c3
c1
c2
s 1 s 2 s 3
1
1
c1
( s 1)
6
( s 1)( s 2)( s 3)
s 1
1
1
c2
( s 2)
( s 1)( s 2)( s 3)
s 2 15
1
1
c3
( s 3)
( s 1)( s 2)( s 3)
s 3 10
1 1
1
1
1
1
F (s)
6 s 1 15 s 2 10 s 3
1 t 1 2t 1 3t
f (t ) e e e
6
15
10
s5
Y ( s ) 2
s 4s 5
Partial-Fraction Expansion
s23
s5
2
2
( s 2) 1
( s 2) 1
s2
3
2
( s 2) 1 ( s 2) 2 1
y (t ) e
2 t
cos t 3e
2t
sin t
D( s) ( s p1 )( s p2 ) ( s pn r )( s pi )l
c1
s p1
cnl
bl
bl 1
l
l 1
s pn l (s pi ) (s pi )
Simple poles
The coefficients c1 ,
b1
s pi
Multi-order poles
d
l
l
b l F ( s) ( s pi )
, bl 1 F ( s ) ( s pi )
,
s p1
ds
s pi
bl m
1 dm
m ! ds
N ( s)
1 d l 1 N ( s)
l
l
, b1
( s pi )
D( s) ( s pi )
(l 1)! ds D( s)
s p1
s pi
Example 3
Laplace transform:
1
Y ( s)
s ( s 1)3
s= -1 is a 3-order
pole
Partial-Fraction Expansion
b3
c1
b2
b1
Y (s)
3
2
s ( s 1) ( s 1)
s 1
Determining coefficients:
b3 [
1
3
(
s
1)
]s 1 1
3
s( s 1)
1
c1
s 1
3
s ( s 1) s 0
1
b1 (2 s 3 )
1
2!
s 1
d
1
d 1
3
2
b2 [
(
s
1)
]
[
(
)]
s
)
1
s 1
3
s
1
ds s
ds s ( s 1)
s 1
1
1
1
1
Y ( s )
3
2
s ( s 1) ( s 1) s 1
Inverse Laplace transform:
1 2 t
y (t ) 1 t e te t e t
2
L
i(t)
uc(t) Output
Solution:
1) Writing the differential equation of the system according to physical
law:
LCuC (t ) RCuC (t ) uC (t ) u (t )
U c (s)
1
G ( s)
U ( s ) LCs 2 RCs 1
Review questions
What is the definition of transfer function?
When defining the transfer function, what
happens to initial conditions of the system?
Does a nonlinear system have a transfer
function?
How does a transfer function of a LTI system
relate to its impulse response?
Define the characteristic equation of a linear
system in terms of the transfer function.