x ( k +1 )−x (k )
ẋ ( t )=
∆t / Ts
1
t 0 t 01 =10
0,1
t 0=u , tf −1
tf −t 0 1−0
t 0 t 0l= = =10
∆ t/Ts 0,1
ẋ (t) = Ax ( t )+ Bu(t)
x ( y +1 )−x ( k )
= Ax ( k ) + Bu ( k )
Ts
x ( k +1 )−x ( k )=Ts Ax ( k ) Bu ( k )
x ( k +1 )=Ts . Ax ( k )+ x ( k )+Ts . B u ( k )
¿ ( Ts A+ I ) x ( k )+ Ts. Bu (k )
Ad Bd
¿ Ad . x ( y ) +Bd .Uk ¿
di (t) 1
Contoh soal : L + Ri ( t ) + +∫ i ( t ) dt=e (t)
dt c
1
Untuk vc=
c
∫ i ( t ) dt ,diperoleh
d 1 (t )
L + Pi ( t ) +Vc ( t )=e ( t )
d1t1
[ ][ ][]
1
0 0
[ ]
ẋ1 (t )
=
ẋ2 (t ) −1
L
C x1 (t ) +
−R x2 (t )
C
1 e (t)
2
ẋ= A X + B U
Presentasikan diagram blok berikut ini kedalam bentuk persamaan ruang keadaan
ẋ= Ax+ Bu
ẏ=Cx + Du
⇒
. h ẍ ( t )=U ( t )−≥ 6 x ( t )−2 ẋ(t )
y ( t ) =[ 29 0 ]
[]
x1
x2
[ ]
⇒
. h y ( t )=29 y ( t )=29 x1 (t ) A= 0 1
−26 −2
Misal : Fx ( t ) , x 2 ( t )= ẋ (t )
B=
[ 01] , C=[ 29 0]
x˙1 ( t )= ẋ ( t )=x 2 (t )
ẋ 2 ( t )= ẍ ( t )=26 x 1 ( t ) −2 x 2 ( t ) +u(t )
[][
ẋ1
=
0 1 x1 0
+ u(t)
ẋ2 −26 −2 x 2 1 ][ ] [ ]
Tugas
y ( t ) =x7 ( t )+ x3 (t )
y=Lx
[]
x1
=¿ [ 0 1 1 ] xL
x3
[ ]
x 1 (t)
x= x 2 (t)
x 3 (t )
Contoh :
x˙1 ( t )=2 x 1 ( t )+ 9 x2 (t )
[ ][ ][ ] [ ]
ẋ1 2 9 0 x1 0
ẋ 2 = −4 −4 1 x 2 + 1 u (t)
ẋ3 0 0 −2 x 3 1
[]
x1
y= [ 0 1 1 ] x 2 ,untuk D = 0
x3
Diketahui suatu system dengan masukan u ( t ) dan keluaran y ( t ) yang dikaitkan oleh :
2
d y (t ) dy
+3 +2 y (t )=u ( t )
dt
2
dt
[][
ẋ1
=
0 1 x1 0
][ ] [ ]
+ u (t)
ẋ2 −2 −3 x 2 1
ẋ= A X + B U
Transformasi Laplace
∞
L { f (t) } =F ( s )=∫ e
−st
f ( t ) dt
0
L−1 { f ( s) } =f ( t)
Contoh 1:
f ( t )=1 , t ≥ 0
∞
L { f ( t ) }=f ( s )=∫ e
−st
1 dt
0
∞
=∫ e
−st
dt
0
a
= lim ∫ e
−st
dt
a→∞ 0
= lim −
a→∞ [ 1
s
e
−st
] a
0
= lim
a→ 0 [ s
e −
s(
−1 −as −1 0
e )]
= lim
a→∞ [ −1 −as 1
s
e +
s ]
1
lim [−e +t ]
s
=
s a →∞
1 1
= [ 0+1 ] = untuk s>0
s s
Contoh 2 :
∞
¿∫ e
(− s+a ) t
dt
0
b
¿ lim ∫ e
− ( s+a ) t
dt
a→∞ 0
lim −1
¿ a →∞
[ e−( s−a) t −b ]
sa
1
¿−
[
lim e−( s−a )b −1 , s−a>0
s−a a → ∞ ]
1
¿ , s >a
s−a
Contoh 3 :
f ( t )=cos at , L { f (t ) }
∞
L{ f (t ) } =∫ e
−st
cos at dt
0
∫ u dv =u−v−Sv du
Misal : u=e−st → du=−s e−st dt
dv =cos at dt
1
V =∫ cos at dt= sin at
2
1 s
∫ e−st cos at dt= a e−st sin at + a ∫ e−st sin at dt
−st
Misal : u=e hgh du=−s e−st dt
⇒
−1
cos at
a
1 −st
¿ e sin at +
a
s −1 −st
a a [s −st
e cos at−∫ e cos at dt
a ]
1 s s
¿ e−st sin at+ 2 e−st cos at − ∫ e−st cos at dt
a a a
s
∫ e−st cos at dt + a ∫ e−st cos at dt
1 −st s −st
¿ e sin at − 2 e cos at
a a
∫ e−st cos at dt [ ]
1+
s 1 −st s −st
= e sin at− 2 e cos at
a a a
∫ e−st cos at dt [ ]
1+
s
a
s
L { cos at }= , s>0
s + a2
2
a
L { sin at }= , s>0
s + a2
2