Introduction

Objectif
 partie pratique
Simulation :
1. Etude d’un système de premier ordre:

esnopseR petS
1
1H
9.0 2H
3H
8.0 4H
5H
7.0
6H

6.0

5.0
edutilpmA

4.0

3.0

2.0

1.0

0
0 2 4 6 8 01 21 41 61 81 02
)ces( emiT
 esnopseR petS
01
1H
9 2H
3H
8 4H

5
edutilpmA

0
0 01 02 03 04 05 06
)ces( emiT

paM oreZ-eloP
1
5.0 T/
6.0 T/ 4.0 T/ 1H
8.0 7.0 T/ 1.03.0 T/ 2H
2.0 3H
6.0 3.0
8.0 T/ 4.0 2.0 T/ 4H
5.0
4.0 6.0
7.0
9.0 T/ 8.0 1.0 T/
2.0 9.0
T/
0
T/

2.0-
9.0 T/ 1.0 T/
sixA yranigamI

4.0-

8.0 T/ 2.0 T/

6.0-

8.0- 7.0 T/ 3.0 T/

6.0 T/ 4.0 T/

5.0 T/
1-
1- 8.0- 6.0- 4.0- 2.0- 0 2.0 4.0 6.0 8.0 1
sixA laeR
A=-0.2
:Transfer function
1
G(z 1)=
z−0.2

A=-0.5
:Transfer function
1
G(z 2)=
z−0.5

A=-0.7
:Transfer function
1
G(z 3)=
z−0.7

A=-0.9
1
G(z 4)=
z−0.9
:Transfer function

2. Etude d’un système du second ordre :

 Step Response
1.8
H1
1.6 H2
H3
1.4 H4
H5
1.2 H6

1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

te6 =0.05
Transfer function(s):
100
---------------
s^2 + 2 s + 100
Transfer function(z):
0.1185 z + 0.1145
----------------------
z^2 - 1.672 z + 0.9048
p=
0.8359 + 0.4540i
0.8359 - 0.4540i
z = -0.9669
k =abs(p)
0.9512
0.9512
sys stable

Pole-Zero Map
1
0.5/T
0.6/T 0.4/T
0.8 0.7/T 0.10.3/T
0.2
0.6 0.3
0.8/T 0.4 0.2/T
0.5
0.4 0.6
0.7
0.9/T 0.8 0.1/T
0.2
Imaginary Axis

0.9
/T
0
/T

-0.2
0.9/T 0.1/T
-0.4

0.8/T 0.2/T
-0.6

-0.8 0.7/T 0.3/T

0.6/T 0.4/T
0.5/T
-1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

Step Response
1.4
g1
1.2 H1

0.8

0.6
Amplitude

0.4

0.2

-0.2

-0.4
0 0.2 0.4 0.6 0.8 1 1.2
Time (sec)
te1: 0.05
Transfer function:
-22.04 s + 653.9
---------------------
s^2 + 13.86 s + 784.7

Eigenvalue Damping Freq. (rad/s)

-6.93e+000 + 2.71e+001i 2.47e-001 2.80e+001

-6.93e+000 - 2.71e+001i 2.47e-001 2.80e+001

Step Response
1.4
g2
1.2 H2

0.8

0.6
Amplitude

0.4

0.2

-0.2

-0.4
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Time (sec)

Sampling time: 0.02

Transfer function:
-55.11 s + 4087
--------------------
s^2 + 34.66 s + 4904
 Eigenvalue Damping Freq. (rad/s)

-1.73e+001 + 6.79e+001i 2.47e-001 7.00e+001

-1.73e+001 - 6.79e+001i 2.47e-001 7.00e+001

Conclusion