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SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
lecture 5
Lecture 5
Topics to be covered include:
Nonlinear systems
Linearization of nonlinear systems
Transfer function representation
Property
Poles and zeros and their physical meaning
SISO and MIMO
Open loop and closed loop system
Effect of feedback
Characteristic equation for SISO system
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Ali Karimpour Feb 2013
lecture 5
،گرچه تقریبا تمام سیستمهای واقعی دارای رفتار غیر خطی هستند
بسیاری از سیستمها را می توان حداقل در یک رنج کاری خاص
.خطی نمود
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Example 1
Consider a continuous time system with true model
given by
Operating point: 6
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lecture 5
Example 1 (Continue)
Operating point:
f 1 3 f 2 4
A | x xQ ,u uQ B | x xQ ,u uQ uQ
x 2 xQ 8 u 3 3
3 4
x x u
8 3 7
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Example 2 (Pendulum)
Find the linear model around equilibrium point.
d 2
J 2 ul mgl sin , J ml 2
dt
θ l d 2 u g
sin x1 , x 2
u dt 2 ml l
x 1 x2 x1Q x2Q uQ 0
mg u g
x 2 sin x1 is operating point
ml l
0 1 0
x1
x1 1 u
x g
2 0 x2
l ml
Remark: There is also another equilibrium point at x2=u=0, x1=π 9
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lecture 5
d2y i 2 (t )
M 2 Mg
dt y
x1 y , x2 y , x3 i
di
e(t ) R1i L
y dt
M
2
1 x3 R1 e(t )
x 1 x2 x 2 g x 3 x3
M x1 L L
Equilibrium point:
2
1 x3 R1 e(t )
x 1 x2 x 2 g x 3 x3
M x1 L L
y
Equilibrium point: x1Q , x2Q , x3Q , eQ y0 , 0 , Mgy0 , R1 Mgy0
M
x 1 x2
0 1 0
g g x 1 x1 0
x2 x1 2
x3 x g g
y0 My0 2 y 0 2 x2 0e(t )
My0
x 3 0 x3 1
R1 e(t ) R1 11
x 3 x3 0 0 L
L L L Ali Karimpour Feb 2013
lecture 5
Example 4 Consider the following nonlinear system. Suppose u(t)=0
and initial condition is x10=x20=1. Find the linearized system around
response of system.
1
x 1 (t )
x2 (t ) 2
x 2 (t ) u (t ) x1 (t )
x 2 (t ) 0.x1 (t ) 0 x2 (t ) a 1
x 1 (t ) 1 x1 (t ) t b t 1
x 1 0 2 x1 0
x 0 u (t )
2 0 x2 1 t 12
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s 1 1 1
e s
e 2 3
2 3
2 2
1 s s s ........ 1 s s
2 6 2
s
e 2 1 s
s 2
e
Pade approximation
e 2
s
1 s
2
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Nonlinear model
where m = (M/m)
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Linear model
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s6 1 2 1
Step Response of c( s)
s ( s 5s 6) s s 2 s 3
2
Example 6 (Continue)
s6
Transfer function G( s)
s 2 5s 6
Step Response
1
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3
Time (sec)
Transfer functions G1 ( s)
s6
s 2 5s 6
G2 ( s)
10s 6
s 2 5s 6
z1= -6 z2=-0.6
s6 1 2
c1 ( s)
1
s ( s 5s 6) s s 2 s 3
2
c1 (t ) 1 2e 2t
1e 3t
u (t )
10s 6 8
c2 ( s )
1
7
s ( s 5s 6) s s 2 s 3
2
c 2 (t ) 1 7 e 2t
8e 3t
u (t )
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lecture 5
Transfer function G1 ( s )
s6
s 2 5s 6
G2 ( s )
10s 6
s 2 5s 6
y 5 y 6 y u u
y( s) s 1
2 It has a zero at z=-1
u ( s ) s 5s 6
Open
loop Controller
Closed
Controller
loop
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When is the open loop representation applicable? lecture 5
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SISO and MIMO
سیستم تک ورودی تک خروجی و چند ورودی چند
lecture 5
خروجی
u1 System y1
SISO
u1 y1
u2 System y2
u3 y3
MIMO
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Sensitivity حساسیت
Sensitivity حساسیت
r
K(s) G(s)
c M G ( s) K (s)
Open loop system M G G ( s)
S K (s) 1
G M K ( s)G ( s )
K ( s )G ( s )
r + c M (s)
K(s) G(s) 1 K ( s )G ( s )
-
M G 1
Closed loop system S
G M 1 K ( s )G ( s )
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a) system gain
b) system stability
c) system sensitivity
Exercises
s2 4
5-1 Find the poles and zeros of following system. G(s) 3
S 3s 2 3s 3
5-4 Find the step response of following system for a=1,3,6 and 9.
as 2
G ( s)
s 2 2s 2
5-5 Find the linear model of system in example 2 around 32
x2=u=0, x1=π Ali Karimpour Feb 2013