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CS Lecture 3
CS Lecture 3
2–1
KEY POINT : “All models are wrong, but some are useful”
(George E. P. Box, statistician.)
i(t)
EXAMPLE : Consider a 1 !, 2 W resistor.
! Ohm’s Law (model) says: v(t) = i(t) · R. R v(t)
LTI systems
TIME INVARIANT : The first system property that we look at is that of time
invariance.
! A system is either time-varying or time-invariant, not both.
! A time-invariant system does not change its fundamental behavior
over different periods of time. Its parameter values are constant.
! A time invariant system satisfies the property (for any x(t), τ )
x(t − τ ) $→ y(t − τ )
y1(t)
x1(t) system delay y1(t − τ )
x 2(t) = x 1(t − τ )
delay system y2(t)
! A time-invariant system will have y2(t) = y1(t − τ ) for all x1(t) and τ .
(⇒
t t
x 2(t) = x 1 (t − τ ) y2(t)
(⇒
t t
y1(t − τ )
'=
t
y1(t)
x 1(t) system α x 1(t) α
x 3(t)
y(t) system y3(t)
y2(t)
x 2(t) system β x 2(t) β
1
Note, the “dot” decoration on a variable indicates a time derivative. That is, ẏ(t) =
dy(t)/d(t), and so forth.
y3(t) = (x3(t))2
= (αx1(t) + βx 2(t))2
Translational motion
! That is, the vector sum of forces = mass of object times inertial
acceleration.
! “Free-body diagrams” are a tool to apply this law.
!
F = ma x(t)
ks b
! “Quarter-car model” m1
x(t)
kw
Road Surface
r (t) Inertial Reference
! Free-body diagram:
ks (y(t) − x(t)) b( ẏ(t) − ẋ(t))
m1 m2
x(t) y(t)
! Re-arrange:
b ks kw kw
ẍ(t) + ( ẋ(t) − ẏ(t)) + (x(t) − y(t)) + x(t) = r(t)
m1 m1 m1 m1
b ks
ÿ(t) + ( ẏ(t) − ẋ(t)) + (y(t) − x(t)) = 0
m2 m2
Implementation in Simulink
1. Mass m
x1 (t)
2. Spring k f (t) = k(x 1 (t) − x 2 (t))
x2 (t)
x1 (t)
3. Damper b f (t) = b(ẋ 1 (t) − ẋ 2 (t))
x2 (t)
! That is, the vector sum of moments = moment of inertia times angular
acceleration. (“moment”=“torque”).
Fc (t)d = J θ̈ (t)
d
Fc (t)d
θ̈ (t) =
J
Gas jet
Fc (t) Note: Output of system θ(t) integrates
torques twice—“double-integrator plant.”
EXAMPLE : A torsional pendulum is used, for example, in clocks enclosed
in glass domes. A similar device is the read-write head on a hard-disk
drive.
J b
b: Viscous friction.
τ, θ
!
M = J θ̈ (t)
1. Inertia J
θ1 (t)
2. Spring k τ (t) = k(θ1(t) − θ2(t))
θ2 (t)
θ1 (t)
3. Damper b τ (t) = b(θ̇1(t) − θ̇2(t))
θ2 (t)
! Kirchhoff’s Law’s:
$ R1 % R2 &
v i (t) C1
'
! Select reference = '.
= (R1 R22C 1C 2)v̈ $(t) + (R22C 2 + R1 R2C 2)v̇ $(t) + (R2)v $(t)
d v(t)
2. Capacitor v(t) i(t) i(t) = C
dt
d i(t)
3. Inductor v(t) i(t) v(t) = L
dt
v d (t) = 0
i − (t)
6. Operational v d (t) i − (t) = i +(t) = 0
Amplifier i + (t) v o (t)
v o (t) = Ao (v + (t) − v − (t))
as Ao → ∞
= K τ i a (t) − bθ̇(t)
N1 e1 i 2
Transformer := = r1 r2
N2 e2 i 1
r1 θ2 τ1
Gears : = =
r2 θ1 τ2
System identification (SYS ID)
Small-signal linearization
! Taylor-series expansion:
δ ẋ = Aδx + Bδu,
Analogous systems