Chapter 3
MODELING OF
DYNAMIC SYSTEM
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Transfer Function
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Transfer Function
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Impulse
. Consider a rectangular pulse with base c > 0 and height 1/c shown in figure.
. If c 0 then the pulse becomes to be very tall and very thin, while its area
remains equal to 1.
. From practical point of view, for very small c > 0 such a pulse gives good
approximation of the (impulse) function.
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BLOCK DIAGRAMS
- Block
- Summing point
- Branch point
E(s)
B(s)
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Parallel Subsystem
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AUTOMATIC CONTROLLERS
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AUTOMATIC CONTROLLERS
Two-position (on-off) control action
Proportional control action
Integral control action
Derivative control action
PI control action
PD control action
PID control action
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Two inputs (the reference input and disturbance) in a linear system: each input can be treated
independently of the other; and the outputs corresponding to each input alone can be
added to give the complete output.
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A SPRING-MASS-DAMPER SYSTEM
In this case the position and the velocity of the
mass are sufficient to describe the state of the
system.
Define a set of state variables as (x1, x2), where
x1(t) = y(t); x2(t) = dy(t)/dt
E.O.M.
M dx2(t)/dt + bx2(t) + kx1(t) = u(t)
Two first-order differential equations
dx1/dt = x2
dx2/dt = (b/M) x2 (k/M) x1 + (1/M) u
1
x 1 0
x k / m b / m
x1 0
x1
x 1 / m u y 1 0 x
2
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where,
x = state vector; y = output vector; u = input vector
A = system matrix; B = input matrix; C = output matrix; D = feedforward matrix
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The Laplace transform of these equations are given by, assume x(0)=0
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State equation
x 1
x
2
0
0
x n
an
0 b0
1 b1 a1 0
n bn a1 n 1 an 0
an 1
an 2
a1 xn
x1
x
2
y 1 0 0
0u
xn
Or,
x1
x
2
xn x n 1 n 1u
where
0
0
1
2
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TRANSFORMATION OF
MATHEMATICAL MODELS WITH MATLAB