The document discusses continuous-time system representation and modeling using MATLAB. It describes how to represent systems using transfer functions, state-space models, and zero-pole-gain models in MATLAB. It also discusses functions for transforming between different representations.
The document discusses continuous-time system representation and modeling using MATLAB. It describes how to represent systems using transfer functions, state-space models, and zero-pole-gain models in MATLAB. It also discusses functions for transforming between different representations.
The document discusses continuous-time system representation and modeling using MATLAB. It describes how to represent systems using transfer functions, state-space models, and zero-pole-gain models in MATLAB. It also discusses functions for transforming between different representations.
The document discusses continuous-time system representation and modeling using MATLAB. It describes how to represent systems using transfer functions, state-space models, and zero-pole-gain models in MATLAB. It also discusses functions for transforming between different representations.
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DE LA SALLE LIPA
COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
De La Salle Lipa College of Information Technology and Engineering Electronics Engineering Department
Experiment #3:
Continuous – Time System Representation and Modeling
Submitted by: Atienza, Marvin James A.
Submitted to: Engr. Sarah Jane Delgado
May 3, 2019
1 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
EXPERIMENT #3: CONTINUOUS-TIME SYSTEM REPRESENTATION AND
MODELING I. OBJECTIVES
1. To be familiar with the different system modeling methods and represent it
using the MATLAB® Software.
2. To know and generate different system transformation using the MATLAB®
Software.
3. To be able to extract data from an existing system model using MATLAB®
Software.
4. To be familiar with the pole-zero map and generate it using MATLAB®
Software.
5. To know the different functions on how to know the properties and description of different LTI models using MATLAB® Software
II. DISCUSSION
INTRODUCTION
A continuous-time can be represented in many ways. However, the physics
behind these systems would result to an integro-differential equation, which is then transformed in state-space form or transfer function (assuming zero initial conditions and linearity). With this, MATLAB® functions are developed that will help you perform continuous-time system representation and modeling operations.
SYSTEM MODELING
As mentioned in the previous sections, a continuous-time system can be
modeled in different ways. From the integro-differential equation developed by using the laws of physics, the equation would transform into either state-space or
2 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
transfer function. The state-space model is commonly used in multiple-input-
multiple-output (MIMO) systems, while the transfer function is commonly used to represent a linear, time-invariant (LTI) single-input-single-output (SISO) system.
Transfer Function
For continuous-time systems, the transfer function is mathematically defined as
the ratio of the Laplace transform of the output to the Laplace transform of the input. Qualitatively, the transfer function is a rational expression that describes the characteristics of the system being modeled. Generally, the transfer function is obtain by first getting the Laplace transform of the integro-differential equation obtained from physical laws, then getting the ratio of the output Laplace polynomial to the input Laplace polynomial. Please take note that in getting the Laplace transform of the integro-differential equation, all initial conditions must be set to zero.
The general form of a transfer function denoted by G(s) is
(3-1)
Where, N(s) and D(s) are the numerator and denominator polynomials, respectively. The scalars a0, a1,..., am, b0, b1,..., bn are coefficients of the polynomials. In most applications, m is usually greater n to make the function rational.
In MATLAB® the function sys=tf(num,den) is used to generate a system that is
described by its transfer function, where num and den are the numerators and denominator vectors, respectively. As an example, the system with the transfer function 2 s +3s-1 G(s)= s3+s-2
3 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
is generated by the script shown in Listing 3-1.
Listing 3-1 > numg = [1 3 -1] numg = 1 3-1 > deng = [1 0 1 -2] deng = 1 0 1 -2 > sysg = tf(numg,deng) Transfer function: s^2 + 3 s - 1 ------------- s^3 + s – 2 As seen in Listing 3-1, the first steps were to generate the numerator and denominator polynomials numg and deng, respectively. The final step is to generate a system sysg that uses numg and deng to as the numerator and denominator vectors for the function tf(num,den).
State-Space Representation
In state-space representation, the integro-differential equation is transformed in
to simultaneous first-order differential equations. These simultaneous first-order differential equations can then be represented as matrix equations in the form of
x = Ax + Bu
y = Cx + Du (3-2)
where there matrices A, B, C, and D are matrices that describe the system. The vectors x and u are the state and input vectors, respectively. The vector y is called the output vector. The first equation is called the state equation and the second equation is called the output equation.
4 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
To generate a system described by its state-space model, the MATLAB®
function sys=ss(A,B,C,D) is used, where A, B, C, and D are the matrices that describes the system. Listing 3-2 shows an example of a script that generates a state-space model of the system described by the equations
5 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
As seen in Listing 3-2, the first steps were to generate the matrices A, B, C, and D using the techniques discussed in Chapter 1. The last step is to used the function sys=ss(A,B,C,D) to generate the state-space model of the system described by the state and output equations.
Zero-Pole-Gain (ZPK) Model
Sometimes it is necessary to create a model given the zeros, poles, and the gain of the LTI system. The function sys=zpk(z,p,k), is used to create such models, where z is a vector of zeros, p is a vector of poles, and k is the dc gain of the system. As an example, consider an LTI system with the following specs:
Poles = 0, -2, -3, -4
Zeros = -1, -2
Gain = 2
This may have the form
6 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL G(s)=k =2 (s+z1)(s+z2)…(s+zm) (s+1)(s+2) (s+p1)(s+p2)…(s+pn) s(s+2)(s+3)(s+4)
MATLAB® has many useful functions to transform one mathematical model of an
LTI system to another model. Such LTI transformations are useful for solving control engineering problems, and are listed below.
Converting Transfer Function to State-Space
7 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
An LTI system represented by a transfer function can be transformed into a state
space model by using the function [A,B,C,D] = tf2ss(num,den), where num and den are the numerator and denominator polynomials of the transfer function to be converted.
Converting State-Space to Transfer Function
An LTI system represented by a state space representation can be transformed
into a transfer function model by using the function [num,den]=ss2tf(A,B,C,D).
Converting Transfer Function to Zero-Pole-Gain Model
An LTI system represented by a transfer function can be transformed into a zero-
pole-gain model using the function [z,p,k]=tf2zp(num,den).
Converting Zero-Pole-Gain Model to Transfer Function
An LTI system represented by a zero-pole-gain model can be transformed into a
transfer function model by using the function [num,den]=zp2tf(z,p,k)
Converting Zero-Pole-Gain Model to State-Space
An LTI system represented by a zero-pole-gain model can be transformed into a
state space model using the function [A,B,C,D]=zp2ss(z,p,k).
Converting State-Space to Zero-Pole-Gain Model
An LTI system represented by a state space model can be transformed into a
zero-pole-gain model using the function [z,p,k]=ss2zp(A,B,C,D).
EXTRACTION OF DATA FROM AN EXISTING MODEL
It is sometimes difficult to determine the data of a certain system manually, which
makes MATLAB® an efficient tool for data extraction.
Extraction of Transfer Function Data
8 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
A system sys can have transfer function data such as the numerator polynomial and the denominator polynomial. Given a system sys, the transfer function numerator and denominator vectors can be obtained using the function [num,den]=tfdata(sys).
Extraction of State-Space Data
A system sys can have state space data such as the system matrix A, input matrix B, output matrix C, and the feedforward matrix D. Given a system sys, the state space data can be obtained using the function [A,B,C,D]=ssdata(sys).
Extraction of Zero-Pole-Gain Data
A system sys can have zero-pole-gain data such as zeros, poles, and system gain. Given a system sys, the zero-pole-gain data can be obtained using the function [z,p,k]=zpkdata(sys).
THE POLE-ZERO MAP
In the analysis and design of feedback control systems, it is important to
determine the location of the zeros and poles of the system. One way of determining the zeros and poles of the system is by using the function zpkdata as described earlier. If you are interested in the determining only the zeros of the system, the zero function can be used. One the other hand, if you are interested in determining only the poles of the system, the pole function can be used. Listing 3-4 shows an example of zero and pole determination using the zero and pole functions.
Listing 3-4 > % Use the system generated earlier. > pvector = pole(sysg) pvector =
9 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
The visual representation of the poles and zeros of the system in the s-plane is generated by using the function pzmap as follows:
Listing 3-5 > pzmap(sysg)
The visual representation of the pole-zero map is shown in Figure 3-1.
Figure 3-1. Pole-zero map of sysg
10 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
LTI MODELS
The command ltimodels is used as a help file on the description of different LTI models used in MATLAB®. It gives general information on the various types of LTI models supported in the Control System Toolbox.
There is another command, ltiprops, that is able to give details on the generic properties of LTI models.
III. SOFTWARE NEEDED
ITEM NO. DESCRIPTION QUANTITY
Matlab® 2010 1
IV. PROCEDURES
A system is described by the differential equation
3 2 d d d 3 2 2 dt y(t)- dt y(t)+3 dt y(t)+2y(t)=x(t)
1. Determine the transfer function model of this system and generate it in
MATLAB®.
2. Determine the roots of the denominator polynomial.
3. Generate the state-space model of the system using any model
transformation technique.
4. Determine the eigenvalues of the state matrix A.
5. Determine the poles and zeros of the system.
6. Plot the pole-zero map of the system.
11 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
7. Generate the zero-pole-gain model of the system using any model
transformation technique.
8. Determine the solution to the differential equation given assuming zero initial conditions, and plot the response for 0 ≤ t ≤10 seconds.
9. Convert the continuous-time system to discrete-time using the function
c2d. Set the sampling time to 0.1 secs.
V. MATLAB COMMANDS AND RESULTS
1. Determine the transfer function model of this system and generate it
in MATLAB®.
2. Determine the roots of the denominator polynomial.
12 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
3. Generate the state-space model of the system using any model
transformation technique.
4. Determine the eigenvalues of the state matrix A.
5. Determine the poles and zeros of the system.
13 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
6. Plot the pole-zero map of the system.
14 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
7. Generate the zero-pole-gain model of the system using any model
transformation technique.
8. Determine the solution to the differential equation given assuming zero
initial conditions, and plot the response for 0 ≤ t ≤10 seconds.
15 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
9. Convert the continuous-time system to discrete-time using the function
c2d. Set the sampling time to 0.1 secs.
16 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
VI. QUESTIONS
1. What is the significance of studying the different system modeling methods?
Studying different system modeling methods can make it easy to understand
the system and each model for a specific system has a different response and behavior that can be used for evaluating and studying the different ways of representing system.
2. Why is it necessary to convert the transfer function model into state
space model?
Two of the most powerful ways to represent systems are the transfer function form and the state space form. Transfer function is a way of presentation in the frequency domain while a state-space representation is a mathematical model of a physical system as a set of input, output and state variables related by first-order differential equations or difference equations. It is required to convert model into another model depending on the classes of variables of the system.
3. Compare the results in No. 2 and No. 4. What can you say about it?
There results are quite similar and the eigenvalues of the matrix A is identical to the roots of denominator polynomial. 4. What is meant by zeros and poles?
Zeros and Poles are the frequencies for which the value of the denominator and numerator of transfer function becomes zero respectively. The values of the poles and the zeros of a system determine whether the system is stable, and how well the system performs. Control systems, in the simplest sense, can be designed simply by assigning specific values to the zeros and poles of the system.
5. What is an eigenvalue of a matrix?
17 DE LA SALLE LIPA COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING ELECTRONICS ENGINEERING DEPARTMENT FEEDCON – FEEDBACK AND CONTROL SYSTEMS LABORATORY EXPERIMENT MANUAL
Eigenvalue is the value which when multiplied by identity matrix and subtracted from the actual matrix A would give 0. It is a square matrix represents a transformation on some vector space.
VII. CONCLUSION
In this experiment, I was able to familiarize with the different system modeling methods and I was able to extract data from an existing system model. Classification of models can be useful for selecting the right type of model for the planned purpose and scope. In complex software system a data extraction is one way to understand it. Also, in pole – zero map it shows the location of the poles and zeros of the transfer function in the complex plane. Lastly, LTI models allows users to run and program equation then perform it in different equations. All of the parts of the equation are properties of transferring function.
