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Advanced Research in Scientific Areas 2012

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A New Simple System Identification Example

Zenan Šehić
University of Tuzla, Faculty of Electrical Engineering, BiH
zenan.sehic@untz.ba

Zerina Šehić-Galić1, Damir Kapidžić2

1
SAAB AB, Electronic Defence Systems, Sweden
PING d.o.o., Sarajevo, BiH zenan.sehic@untz.ba

Abstract--The paper represents procedure of simple

identification based on Strejc’s models (models with n equivalent
time constants) and simulation that are made in the package transform of that transfer function is presented in following
Matlab. The paper is result of numerous simulations. equation. (eq. (1)).

Keywords: Strejc models, identification, FIR filters.

Tm (d*T0) y((k-d)*T0)

I. INTRODUCTION A A
The purpose of this paper is representation of very simple y(k-d)-y(k)
procedure in which we obtain Strejc model of the process. αα α
Procedure is based on step response of the process. y(kT0)
With this procedure we can obtain an inflection point and
the slope of tangent of integrated step response. Figure 1. Window for differentiation

Z
  d 1
Procedure is following: we create window and shift it over 


 (1  z 1 ) z i

the function, such as step response of the system, make G ( s) 

1  e  sTm
Tm
 (1  z  d )
d d  Tm

d
i0
 (1  z 1 )
(1  z 1  z  2 .  z  3 ...z  d  1 )
d (1)
differentiation and filtering of that response and in such way T0
we get impulse response of the system (if the input is step   1
response). Z   
 
It is obvious from calculations in following text that d
FIR filter with
window acts as composition of transfer functions, consisting dt
of differentiator (1-z-1) and FIR filter (1 + z-1 + z-2 +...+ z- uniform distribut ..
d+1 of weigth function
)/d.
(relative flat character . )

II. IDENTIFICATION Differentiator defined in such way introduces time delay,

At the beginning we have a window with N samples. That
window is shifted over the step response of the system.
If we create window, as shown in Figure 1 then ratio
between difference of y (y(k-d)-y(k)) and width of the window
Tm (d*T0), is tan(α), respectively, slope of the line (derivative).
If we represent it with transfer function it is
 sTm
1 e
G ( s) 
Tm
, which describes that window. Z
which is Tm/2. It is obvious that it is necessary to define width
of the window in such way that it does not influence largely on
frequency characteristics of the response. Window acts as low-
pass filter. Examples of the system are represented with
equations, with constants T1=10, T2=20, Td=5 [s]. Time
responses are also represented in following text.
Some different variants of open loop test are made. Later
we came to the conclusion that width of the window has
influence on shape of the curve (filtering) in such way that
bigger window made smoothly curve than smaller window.
Matching of the real and approximative impulse response in
frequency domain is shifted to lower frequency when we have
bigger window.

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III.
DETERMINATION OF TIME CONSTANT TM OF
DIFERENTIATOR AND PROCESS MODEL Based on such a specific delay time it would be good to
With this procedure we can obtain an inflection point and determine the width of the window of a differentiator. So:
the slope of tangent of integrated step response. n

Also diference between time when inflection point appears Tm  f (T   T )

d i (4)
and intersects between tangent of integrated step response and i 1
n
Tnas  4   Ti .
X-axes determines the dominant time constant in model given
is approximately (5)
K s e  sTd
by G ( s )  . i 1
(1  sTdom ) n where are Ti time constants, Tnas setup time. n is system
order.
Gain of the process and sum of the time constants are
determined by areas. Intersection between integrated step Tangent is given with the following equations
response an X-axes are sum of time constants. y(t )  kt  b, (6)
For this model sum of constants and delay time are or
n*T+Td and this is intersection point. For this model time of y (t )  kt  b, and
inflection point is (n-1)*T+Td and diference between inflection
time and sum of time constants is Tdom, dominant constant. (7)
b y (t )
When we know dominant constant Tdom we can  t
k k
calculate degree of process like
n Equations (6) and (7) can be written for the point of
Td   Ti intersection with X axes Tza :
n  int( i 1
), (2)
Tdom y(t )  kTza  b, and
and approximate Td like
n 0  kTza  b and
Td  (Td   Ti )  n * Tdom .
~
(3) b y (t )
i 1 Tza    t  (8)
 sTd k k
Kse
If the system is G( s)  and if we
(1  sT1 )(1  sT2 ) If we draw a tangent in the point of the integrated response,
draw a tangent on the integrated output y(t) when the system when t goes to infinity (or large value), then segment on X
n
Tza , and Tza  Td   Ti , and is determined
becomes stationary, we get a segment on X axes that is
n axes is
equivalent to Tza  Td   Ti as can be seen in figure 2. i 1

i 1 using the equation above.

Examples:
I.First order system

T1 15 ks
T2  20
G( s)  , (9)
Td  5
n
sT1  1
T za  Td   Ti  40
i 1 is excited by step and its response is integrated. Using the
previous formula one gets Tza as
b y (t )
Tza   t equals
k k
tangent Tk
k s t  T1 k s  t1 Ts1
integrated respo.

time of intersection Tza  t  e (10)

k
k s  t sT1
e
Figure 2. Tangent drawn on an integrated step response of a
system and a cut segment on x axes

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If t goes to infinity all fractions in which the exponential ks

function is in the denominator become zero, and the equation G( s)  , it follows that
simplifies to: ( sT1  1) 3
k t  T1 k s 3T1k s 2k s t k s t 2
Tza  t  s  t  t  T1  T1 (11) k s t 3T1k s  t T1  t T1 
ks e e 2T1et T1
Tza t (16)
II. Second order system ks kst 2 kt
t T1
 k s  2 t T1
 st T1
ks e 2T1 e T1e
For G( s)  , it follows that:
( sT1  1)( sT2  1)
Further
k s t  k s (T1  T2 )  T1 1  T2 2
Tza  t  (12) k s t  3k sT1
k s  1   2 Tza t   t  t  3T1  3T1 (17)
ks
where
** The dead time is not taken into the account in previous
Tk Tk
1  t T1 1 s  2  t T2 2 s equations, which does not change the results, because it is
e (T1  T2 ) e (T1  T2 ) added to final result (the response is delayed for value of the
dead time).
Further,
k t  k s (T1  T2 ) Empirically determined width of the filter window is
Tza  t  s  t  t  (T1  T2 )  (T1  T2 ) For a 1/20 sum of time contants or Tnas/80.
ks
system with two equal constants
ks
G( s) 
, it follows that IV. SIMULATION RESULTS
( sT1  1) 2 A comparison of the measured step response of the system
2T k kt and step response of the identified model according to method
k s t  2T1k s  t1T1 s  t sT1 explained above is shown on Figure 3. Figure 4 shows real
Tza  t  e e (13) impulse response and impulse response according to above
ks kst described filtering procedure.
 k s  t T1
et T1 T1e
Further
k s t  2k sT1
Tza  t   t  t  2T1  2T1 (14)
ks
III. Third order system
ks
For G( s)  , it follows that:
( sT1  1)( sT2  1)( sT3  1)
k t  ks (T1T2 T3 ) T11T2 2 T3 3
Tza  t  s (15)
ks  1   2   3
where
2
T k T22 k s
1  1 s
  Figure 3. Measured step response and step response of
et T1 (T1T2)(T1T3) et T2 (T1T2)(T2 T3)
2
identified model
T32 k s
3 
et T3 (T1T3)(T2 T3) Figure 5 shows a comparison of the real impulse response
Further and impulse response obtained with the estimation using
orthonormal functions after filtering with “window” filter,
while Figure 6 shows a comparison of real step response
k s t  k s (T1  T2  T3 )
Tza  t   t  t  (T1  T2  T3 )  (T1  T2  T3 ) For a (without the noise) and step response of the model obtained by
ks identification procedure.
system with three equal constants

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Figure 7. Frequence specter of filtered impulse response and

Figure 4. Impulse response after diferentiation and real real system frequence response
impulse response V. CONCLUSION
Filtering of step response which we got with moving
window is equivalent to impulse response to constant.
Such impulse response is time delayed for half of the time
window width and dynamics which can be determinated.
Gain of the system is based on areas of the response and
impulse which excite system.
We have simple procedure for getting Strejc model in such
way. Advantage of this method is ("one shoot step")
determination of Strejc model in relatively short time, and the
same can be used for pretuning of the PID controllers, in
certain selftuning algorithms.

REFERENCES
[1] Matko,D. (1992): “Identifikacije”, ZAFER, Ljubljana
Figure 5. Impulse responses after diferentiation and [2] Gyergyek,L. (1978): “Statistične metode v teoriji sistemov, teorija o
estimation with orthonormal function series informacijah”, Univerza v Ljubljani, Fakulteta za elektrotehniko,
Ljubljana
[3] A. Dubravić, Z. Šehić. Using Orthonormal Functions in Model
Predictive Control. Tehnički vjesnik – Technical Gazzete no. 19, Vol. 3,
(2012). – (accepted)

Figure 6. Step responses calculated model and real step

response

Frequence specter of the real system and identified system

are shown on Figure 7.

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