SISTEM KENDALI DIGITAL

19 September 2011
Catur Atmaji
SISTEM SIMPAL TERTUTUP
Fungsi Alih (Transfer Function)?

SISTEM SIMPAL TERTUTUP
) ( ). ( ) ( s G s U s Y =
) ( ). ( ) ( ) ( s F s Y s R s U =
) ( ). ( 1
) (
) (
) (
) (
) ( ) ( .
) (
) ( ). ( 1
) ( ) ( )]. (
) (
1
[
) ( ). ( ) (
) (
) (
) ( )]. ( ). ( ) ( [ ) (
s F s G
s G
s R
s Y
s T
s R s Y
s G
s F s G
s R s Y s F
s G
s F s Y s R
s G
s Y
s G s F s Y s R s Y
+
= =
=
+
= +
=
=
CONTOH
) ( ). ( ). ( ) ( ). ( ) (
5 1 3
s G s G s R s G s U s Y =
) ( ). ( ) ( ). ( ). ( ) (
4 2 1
s G s R s G s G s R s U + =
) ( ). ( ) ( ). ( ) ( ). ( ). (
) (
) (
) (
5 1 4 3 3 2 1
s G s G s G s G s G s G s G
s R
s Y
s T + = =
RUMUS MASON
Grafik Aliran Sinyal -> Fungsi Alih

A
A
=
n
n n
T T
1
RUMUS MASON
Fungsi Alih?
RUMUS MASON
54 45 3
43 34 2
32 23 1
.
.
.
T T L
T T L
T T L
=
=
=
54 45 32 23 54 45 43 34 32 23
3 1 3 2 1
. . . ) . . . ( 1
) . ( ) ( 1
T T T T T T T T T T
L L L L L
+ + + = A
+ + + = A
56 25 12 2
56 45 34 23 12 1
. .
. . . .
T T T T
T T T T T T
=
=
) . . . ( ) . . . ( 1
1
54 45 32 23 54 45 43 34 32 23 2
1
T T T T T T T T T T + + + = A
= A
RUMUS MASON
Fungsi Alih?
54 45 3
43 34 2
32 23 1
.
.
.
T T L
T T L
T T L
=
=
=
54 45 32 23 54 45 43 34 32 23
3 1 3 2 1
. . . ) . . . ( 1
) . ( ) ( 1
T T T T T T T T T T
L L L L L
+ + + = A
+ + + = A
56 25 12 2
56 45 34 23 12 1
. .
. . . .
T T T T
T T T T T T
=
=
) . . . ( ) . . . ( 1
1
54 45 32 23 54 45 43 34 32 23 2
1
T T T T T T T T T T + + + = A
= A
RUMUS MASON

A
A
=
n
n n
T T
1
56 25 12
54 45 32 23 54 45 43 34 32 23
56 45 34 23 12
54 45 32 23 54 45 43 34 32 23
54 45 32 23 54 45 43 34 32 23 56 25 12 56 45 34 23 12
. .
) . . . ( ) . . . ( 1
) . . . . (
) . . . ( ) . . . ( 1
)] . . . ( ) . . . ( 1 ).[ . . ( 1 ). . . . . (
T T T
T T T T T T T T T T
T T T T T
T
T T T T T T T T T T
T T T T T T T T T T T T T T T T T T
T
+
+ + +
=
+ + +
+ + + +
=
RUANG KEADAAN (STATE SPACE)
Cara lain menyatakan sistem, selain Fungsi
Alih
Berbentuk Matriks
RUANG KEADAAN
K s B s m s F
s Y
s T
t y K
dt
dy
B t f
dt
t y d
m
+ +
= =
=
. .
1
) (
) (
) (
) ( . ) (
) (
2
2
2
RUANG KEADAAN
2
2
2
2
1
1
2
1
) ( ) (
) (
) (
) ( ) (
) (
) ( ) (
dt
t y d
dt
t dx
t x
t x
dt
t dx
dt
t dy
t x
t y t x
= =
= = =
=

) ( . ) ( ) (
1
) (
) ( . ) (
1 ) (
1 2 2
2
2
t x
m
K
t x
m
B
t f
m
t x
t y
m
K
dt
dy
m
B
t f
m dt
t y d
=
=

) ( ) (
) (
1
) ( ) ( . ) (
) ( ) (
1
2 1 2
2 1
t x t y
t f
m
t x
m
B
t x
m
K
t x
t x t x
=
+ =
=

| |
(

=
(
(

+
(

(
(

=
(

) (
) (
0 1 ) (
) ( .
1
0
) (
) (
1 0
) (
) (
2
1
2
1
2
1
t x
t x
t y
t f
m
t x
t x
m
B
m
K
t x
t x

RUANG KEADAAN
Bentuk Umum



) ( D.u ) ( C.x ) ( y
) ( B.u ) ( A.x ) ( x
t t t
t t t
+ =
+ =

CONTOH
Ruang keadaan
Fungsi Alih
MATUR NUWUN