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09-02-2008
Input u(t) SYS Output y(t)

Analysis

Figure 1: Block system representation. MIMO control: u = u(t) Rm , y(t) = y(t) Rp Synthesis
yd (t) CONTROL u(t) SYSTEM y(t)

Figure 2: Synthesis control system. where: yd - desired output, and we want limt yd (t) y(t) = 0. Classical Servo Loop Design:
CONTROLLER e(t) u(t)

yd (t)

COMP

SYSTEM

y(t)

Figure 3: Feedback Controller. In a rst course in feedback systems, we typically assumed LT I (LinearTime-Invariant), SISO (Single Input Single Output) systems. y n (t)+n1 y n1 (t)+. . .+1 y(t)+0 y(t) = m um (t)+. . .+1 u(t)+0 u(t) (1) 1

where
d y(t) = dt y(t) d2 y (t) = dt2 y(t) di y i (t) = dti y(t) {i }n1 Real constants i=0 m {j }j=0 Real constants

Main insight for analysis of SISO LT I systems: complex exponentials are eigenfunctions of these systems. Complex exponential function: est , s C where: s = + j NOTE: Recall j 2 = 1 Therefore: est = e+jt = et ejt (2) = Res R = Ims R

ejt = cos t + j sin t puting 3 into 2 est = et [cos t + j sin t] NOTES:

(3)

(4)

Components are exponentially weighted sin/cos waves: = Im{s} frequency of oscillation. Amplitude is time-varying: exponentially increasing/decreasing: = Re{s} determines exponential envelope.

3 possible amplitude variations: < 0 : amplitude decaying, exponentially to 0. > 0 : amplitude diverging, exponentially to = 0 : amplitude is constant Complex Amplitudes Aest , s C AC s = + j (rectangular form) A = rej (represent A in polar form) so, Aest = rej e(+j)t = ret ej(t+) = ret [cos t + + j sin t + where, r = A initial amplitude = A phase shift to oscillations. Eigenfunctions: Recall for a square nxn matrix A, an eigenvector v Cn , where v = 0 satises: Av = v for some C (6) for a dynamical system, est is an eigenfunction i: u(t) = est y(t) = est for every s C and some complex number . Fact: est is an eigenfunction for an LT I system, with: = m sm + . . . + 1 s + 0 sn + n1 sn1 + . . . 1 s + 0 3 (7) (5)

PF d st e = sest dt d2 st e = s2 est 2 dt st st Assume: u(t) = e , y(t) = e ( to be determined). Then substitute into the original dierential equation: r(s)est = q(s)est where, q(s) = m sm + . . . + 1 s + 0 and r(s) = sn + n1 sn1 + . . . 1 s + 0 Thus: est = q(s) st e r(s) use:

*true for all time if has the for indicated //. **By the same analysis: if u = Aest , where A, s C, then y(t) = Aest is a solution of the dierential equation. suppose u(t) 0 Q: can we have y(t) = 0 t (YES! - pendulum released) Q: Are these nonzero outputs still of the form est ? Assume: u(t) = 0 t y(t) = Cept for c,p C substitute these assumptions into the original dierential equations: cr(p)ept = 0 t true for any p such that r(p) = 0. 4