DIGITALNI SUSTAVI UPRAVLJANJA MATERIJALI ZA ISPIT, 2007 1

Tablica Laplaceove i Z-transformacije

f(t) L-transformacija Z-transformacija
(t - kT
s
)
s
skT
e

z
-k
(t) 1 1
S(t)
s
1

1 z
z

t
2
1
s

2
) 1 ( z
z T
s

2
2
1
t
3
1
s

3
2
) 1 ( 2
) 1 (

+
z
z z T
s

at
e

a s +
1

s
aT
e z
z

at
n
e
n
t

!

1
) (
1
+
+
n
a s

|

\
|

s
aT n
n n
e z
z
a n!
) 1 (

at
e

1
) ( a s s
a
+

) )( 1 (
) 1 (
s
s
aT
aT
e z z
z e

a
e
t
at

1

) (
2
a s s
a
+

) )( 1 (
) 1 (
) 1 (
2
s
s
aT
aT
s
e z z a
z e
z
z T

) sin( t e
at

2 2
) (

+ + a s

s s
s
aT
s
aT
s
aT
e z T e z
z T e
2 2
) cos( 2
) sin(

) cos( t e
at

2 2
) ( + +
+
a s
a s

s s
s
aT
s
aT
s
aT
e z T e z
z T e z
2 2
2
) cos( 2
) cos(

s n n
T j
e z
|

\
|

=
2
1
2 , 1


2 1
2
2 1
) )( ( p z p z z z z z + + = ,
( )
2
1
1 cos 2

=

s n
T
T e p
s n
,
s n
T
e p
2
2

=


Diskretizacija sustava prikazanog u prostoru stanja


{ }
s
s
T t
T
s L e
=

= =
1 1
) ( A I
A

B
A I
B
A

)
`

= =
=

s
s
T t
T
s
s
L e
1
1
0
) (
d

DIGITALNI SUSTAVI UPRAVLJANJA MATERIJALI ZA ISPIT, 2007 2

Kriterij Jury-a

Razmatra se karakteristini polinom zatvorenog kruga dan sa


n n
n n
a z a z a z a z A + + + + =

1
1
1 0
) ( L .

1. Test neophodnosti.
0 ) 1 ( > A
0 ) 1 ( ) 1 ( > A
n


Ako jedna ili obje gore navedene jednadbe nisu zadovoljene, sustav je nestabilan.

2. Test dovoljnosti.


(
(
(
(
(
(

0
4 0
3 1 0
2 2 1 0
0 0 0
0 0
0
a
a a
a a a
a a a a
n
n
n
L
M O M M M
L
L
L
V
(
(
(
(
(
(
(
(

0 0 0 0
0 0 0
0 0
0
1
5 4
1 4 3
1 2 3 2
L
L
M M M N M M
L
L
L
n
n n
n
n n
n n n
a
a a
a a a
a a a a
a a a a a
W

Sustav je asimptotski stabilan ako su matrice R
1
= V + W i R
2
= V W pozitivne prema
unutra, tj. ako su sve determinante koje se tvore od sredinjeg elementa prema van pozitivne.
Ako je n neparan, sredinji je element matrica 2 2, dok je kod parnog n sredinji element
skalar.



Postavljanje polova (pole placement)


1 deg deg deg +

d
R A S

d d
R S S B A R deg deg deg deg deg deg + +
+ +


c o d d
A A S S B R R A = +



m
m
m
m
B
B B
A
B

=

) 1 ( ) 1 (
) 1 (

= B B B
m m

R R B A R
d m
+
=
S S A A S
d m
+
=

c o m
A A A B T
+
=
DIGITALNI SUSTAVI UPRAVLJANJA MATERIJALI ZA ISPIT, 2007 3

Upravljanje po varijablama stanja uz estimaciju stanja


) ( ) ( ) ( ) ( k x k k k
r w
+ = w L x L u
( ) ) ( ) ( ) ( ) ( ) ( ) 1 ( k k y k k k k
xw
x C K u w x x + + + = +
( ) ) ( ) ( ) ( ) 1 ( k k y k k
w w
x C K w w + = +

Estimator koji koristi najnovije mjerne podatke:

( ) ) ( ) 1 ( ) 1 ( ) ( ) ( k y k k k K u x KC I x + + =



Kalmanov filter

( )
1
2
) 1 | ( ) 1 | ( ) (

+ = R C CP C P K
T T
k k k k k
( )( ) ) ( ) ( ) 1 ( ) 1 ( ) ( ) ( k k k k k k y K u x C K I x + + =
( ) ) 1 | ( ) ( ) | ( = k k k k k P C K I P
( )
T T T T
k k k k k k k k K R C CP K R P P ) ( ) 1 | ( ) ( ) 1 | ( ) | 1 (
2 1
+ + = +


Proireni Kalmanov filter


( ) 0 u x f x ), 1 ( ), 1 | 1 ( ) 1 | ( = k k k k k
( ) 0 u x
x
f
), 1 ( ), 1 | 1 ( ) (

= k k k k
( ) 0 u x
v
f
V ), 1 ( ), 1 | 1 ( ) (

= k k k k
( ) 0 x
x
h
C ), 1 | ( ) (

= k k k
( ) 0 x
e
h
E ), 1 | ( ) (

= k k k
) ( ) ( ) ( ) 1 | 1 ( ) ( ) 1 | (
1
k k k k k k k k
T T
V R V P P + =
( )
1
2
) ( ) ( ) ( ) 1 | ( ) ( ) ( ) 1 | ( ) (

+ = k k k k k k k k k k
T T T
E R E C P C C P K
( ) ) ), 1 | ( ( ) ( ) ( ) 1 | ( ) | ( 0 x h y K x x + = k k k k k k k k
( ) ) 1 | ( ) ( ) ( ) | ( = k k k k k k P C K I P