Identifikasi Sistem

I.D. Landau, G.
Zito - "Digital Control Systems" - Chapter 1 1

Chapter I
Continuous Control Systems : A Review
I.D. Landau, G. Zito - "Digital Control Systems" - Chapter 1 2
Chapter 1. Continuous Control Systems : A Review
1.1 Continuous-time Models
1.1.1 Time Domain
1.1.2 Frequency Domain
1.1.3 Stability
1.1.4 Time Response
1.1.5 Frequency Response
1.1.6 Study of the Second-order System
1.1.7 Systems with Time Delay
1.1.8 Non-minimum Phase Systems
1.2 Closed-loop Systems
1.2.1 Cascaded Systems
1.2.2 Transfer Function of Closed-loop Systems
1.2.3 Steady-state Error
1.2.4 Rejection of Disturbances
1.2.5 Analysis of Closed-loop Systems in the Frequency Domain:
Nyquist Plot and Stability Criterion
1.3 PI and PID Controllers
1.3.1 PI Controller
1.3.2 PID Controller
1.4 Concluding Remarks
1.5 Notes and References
Continuous Time Models
Time Domain
) ( ) (
1
t u
T
G
t y
T dt
dy
+ =
(*)
+
-
1
T
G
T
I
t
u
u
y
dy
dt
_
t
y
; ) ( ) ( )
1
( t u
T
G
t y
T
p = +
dt
d
p =
Obs.:
(*)
Continuous Time Models
Frequency Domain
u(t) = periodic input
j s + = s = complex frequency
st
e s H t y ) ( ) ( =
e
st
s H s
dt
t dy
) (
) (
=
st st
e
T
G
e s H
T
s = + ) ( )
1
(
(*)
T s
G
s H
+
=
1
) (

log H
SYSTEM
u(t) = e
jt
u(t) = e
st
y(t) = H(j ) e
jt
y(t) = H(s) e
st
= transfer function
The transfer function can also be obtained by:
- replacing pwith sin (*) (see slide #3)
- Laplacetransform
Stability
Ex.: 1storder system
) ( ) (
1
t u
T
G
t y
T dt
dy
+ =
T s
G
s H
+
=
1
) (
T.F. :
Unforced response(u=0):
0
) 0 ( ; 0 ) (
1
y y t y
T dt
dy
= = +
st
Ke t y = ) (
st
Ke s
dt
dy
=
?
?
Solution:
0
1
=
+
T
s Ke
st
y
K
T
s
0
;
1
= =
T t
e y t y
/
0
) (

=
y
T<o
T>o
o
t
unstable
stable

stable
unstable
j
s
s

Stability
The stability (or instability) of a system depends on the roots
of the transfer function denominator:
Stability (asymptotically): for all roots (s
i
) it holds Re s
i
< 0
Instability: there is at least one root s for which Re s > 0
Re s = 0 : boundary of stability
Stability criteria are available for proving the existence of
unstable roots without any explicit calculation of roots.
(ex: Routh Hurwitz criteria)
Time Responses
Input : unit step

Final value (FV)
(steady state)
t
S
t
Maximum overshoot (M)
FV
O.9 FV
t
R
y(t)
t
R
risingtime
t
S
settlingtime(+/- tolerance)
FV finale value
M max. overshoot (% FV)
Ex : 1st order
T s
G
s H
+
=
1
) (
FV = G (static gain);
t
R
= 2.2T;
t
S
= 2.2T (+/-10%);
M = 0

t T
2,2 T
FV
90%
63%
Frequency Responses
(|H(j)| dB = 20 log |H(j)|
; 3 ) 0 ( ) ( dB G G
BP
= )) 0 ( 707 . 0 ) ( ( G G
BP
=
dB N G j G
C
= ) 0 ( ) (
f
BP
(
BP
) (bandwidth) : thefrequency(radianfrequency) fromwhichthezero-frequency
(steady-state) gain G(0) isattenuatedmorethan 3dB.
f
C
(
C
) (cut-off frequency) : thefrequency(rad/s) fromwhichtheattenuationintroducedwith
respect to thezerofrequencyisgreater than N dB.
Q (resonance factor) : the ratio between the gain corresponding to the maximum of the
frequencyresponsecurveand thevalue G(0).
(rad/s)= 2 f (Hz)
Slope : It dependson thenumber of poles
and zerosand on their frequencydistribution
dec dB m n
G
/ 20 ) ( =
Asymptotic Slope (high freq.)

n =#poles; m=#zeros
(20 )
-3dB
B
Resonance
GAIN
B
first order
second order )
=2
( )
(40
dB
dec
dB
dec
20 log H(j )

1st Order SystemFrequency Response
) ( ) ( ) (
1
) (
) (

= =
+
= j H e j H
T j
G
j H
j
) 1 (
) ( ) (
2 2
T
G
j H G

+
= =
[ ] T
j G Re
j G
=
1 1
tan
) (
) ( Im
tan ) (

;
10
-2
10
-1
10
0
10
1
10
2
-40
-30
-20
-10
0
[rad/s]
BODE diagram
0
-22.5
-45
-67.5
-90
[Deg] [dB]

gain
phase
first order:
1 _____
1 +s
Second Order SystemAnalysis
) ( ) (
) (
2
) (
2
0
2
0
0
2
2
t u t y
dt
t dy
dt
t y
d

= + +

2
0
0
2
2
0
2
) (
+ +
=
s
s
s H T.F.:

0
: natural frequency(
0
= 2 f
0
)
: dampingfactor
|| < 1 : complexpoles(oscillatoryresponse).
2
0 0 2 , 1
1 = j s
|| 1 : real poles(aperiodicresponse).
1
2
0 0 2 , 1
= s
> 0 : asymptoticallystable system
< 0 : unstablesystem

s
>O
o

< O
1

-

2
=cos
1
o
*
*
Im s
Re s
Second Order System Normalized Time Responses
0
0,2
0,4
0,6
0,8
1
1,2
1,4
0 1 2 3 4 5 6 7 8 9 10
y
0
t
0,3
0,5
1,5
1
0,7
0,6
0,8
0,9
0,00
10,00
20,00
30,00
40,00
50,00
60,00
70,00
80,00
90,00
100,00
0 0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1
M %
1,5
2
2,5
3
3,5
4
0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1
0
t
M
b
M
t
0
=normalizedtimeresponse
What choicefor
0
and ?
) . ( ) . (
0
b diagr t a diagr M
M desired

desired M M
t t ) /( ) (
0 0
=
- Use of functionsomega_dmp.sci(.m)
Second Order System Normalized Frequency Responses
-40
-30
-20
-10
0
10
20
2
nd
Order Systems : Bode Magnitude Diagram
M
a
g
n
i
t
u
d
e

(
d
B
)
Frequency (/
0
)
10
-1
10
0
10
1
= 0.1, 0.3, 0.5, 0.7, 0.9
= 0.1
= 0.9
System with Time Delay
t
y(t)
u(t)
) ( ) (
1
+ = t u
T
G
t y
T dt
dy
T s
Ge
s H
s
+
=

1
) (

T.F.:
Rem.(frequencydomain):
The time delay does not modify the system gain but it introduces
a phase shift proportional to the frequency
with () = - (rad)
H
delay
(j ) = e
- j
= | 1 | . ()

Non-minimum Phase Systems
For Continuous-time Systems (only) one or more unstable zeros
) 5 . 0 1 )( 1 (
1
) (
s s
sa
s H
+ +

=
0 1 2 3 4 5 6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Time (s)
a = - 0.5
a = - 1
Closed Loop Systems
u(t) y(t)
+
-
Controller
r(t)
Plant
CascadedSystems
H (s)
1
H (s)
2
y
1
(t) =H
1
(s) e
st
=u
2
u
1
(t) =e
st
y
2
(t)
H(s) =H
1
(s) H
2
(s)
st
e s H t u s H s H t u s H t y ) ( ) ( ) ( ) ( ) ( ) ( ) (
1 1 2 2 2 2
= = =
) ( ) ( ).... ( ) (
1 2
s H s H s H s H
n
=
Closed Loop Systems

u
1
(t)
H (s)
1
H (s)
2
- y (t)
y (t) = H
CL
(s) e
st
r(t) = e
st
+
) ( ) ( ) ( ; ) ( ) ( ) ( ) ( ) (
1 2
t y t r t u t u s H s H e s H t y
st
CL
= = =
[ ] ) ( ) ( ) ( ) ( ) ( 1 ) (
1 2 1 2
t r s H s H s H s H t y = +
) ( ) ( 1
) ( ) (
) (
1 2
1 2
s
H
s
H
s
H
s
H
s
H
CL
+
=
Steady State Error
) (
) (
...
...
) (
1 0
1 0
s A
s B
s a s a a
s b s b b
s H
n
n
m
m
=
+ + +
+ + +
=
) ( ) (
) (
) ( 1
) (
) (
s B s A
s B
s H
s H
s
H
CL
+
=
+
=
+
-
r(t)
y(t)
H ( s)
SteadyState (static): r(t) = const. s = 0
r
b a
b
r
B A
B
r
H
y
CL
0 0
0
) 0 ( ) 0 (
) 0 (
) 0 (
+
=
+
= =
Null SteadyState Error (y =r) : H
CL
(0) = 1
0 1
0
0 0
0
= =
+
a
b a
b
) ( ' . ) ... ( ) (
1
1
2
2 1
s A s s a s a s a s s A
n
n
= + + + =

a
0
= 0
) ( '
) ( 1
) (
s A
s B
s
s H =
Internal Model Principle
Null steadystate error for a constant reference:
The T.F. of the direct channel must contain an integrator
Rem.: step= output of an integrator for a Dirac pulse as input
integrator = internal model of the step
Internal Model Principle : In order to obtaina null steadystate
error, H(s) must containtheinternal model of thereferencer(t)
Internal Model of a signal x(t) = T.F. of thefilter that generates
thesignal x(t) for a Dirac pulse as input
Rejection of Disturbances
T.F. disturbance/output:
(sensitivity function)
) ( ) (
) (
) ( 1
1
) (
s B s A
s A
s H
s S
OL
yp
+
=
+
=
Objective : attenuationof theeffect of disturbanceson theoutput at
certain frequencyregions
Typical case : cancellationof theeffect of constant disturbances
(step) in steadystate
) 0 , ( s t
p
b a
a
p
B A
A
p
S
y
yp
0 0
0
) 0 ( ) 0 (
) 0 (
) 0 (
+
=
+
= =
y = 0 a
0
= 0
An integrator isrequiredin thedirect channel

+
-
r(t)
y(t)
H
OL
(s)
p(t) (disturbance)
+
+
For a perfect rejection of a disturbancein steadystate thedirect
channel must containthe internal model of the disturbance
Nyquit Plot and Stability Criterion
Objective:
Analysisof stabilityandrobustnessof closedloopsystems
) ( . ) ( ) ( Im ) ( Re ) ( = + = j H j H j j H j H
CL CL CL CL
-1
+1
Re H (j )
Im H (j )

= 0
= 1
=
H (j )
H (j )
H (s)
1
H (s)
2
= 0
) 1 /( 1 ) (
1
s s H + =
)] 1 ( /[ 1 ) (
2
s s s H + =
Critical
point
Stability Criterion:
Theplot of H
OL
(j) traversedin thesenseof growingfrequencies
must leavethecritical point on theleft.
Robustness Margins
The robustness of the closed loop with respect to system parameters
variations (or model uncertainties) is related to the minimal distance
between the Nyquist plot for the nominal plant model and the
critical point
Im H
-1

G
1
M
Re H
I H
OL
I=1
1

=

cr
(j

)
(j

)
- Gain Margin G
- Phase Margin
- Delay Margin
- Modulus Margin M
) (
1
180
j H
G
OL
=
o
180 ) (
180
=
1 ) ( ) ( 180
0
= =
cr OL cr
j H for
Gain Margin
Phase Margin
Delay Margin
cr
=
For several crossings:
i
cr
i
i
= min
1
max min
1
min
) ( ) ( ) ( 1

= = + = j S j S j H M
yp yp OL
ModulusMargin
i
i
= min
For several crossingswiththeunit circle
for
Robustness Margins
Robustness Margins typical values
Gain Margin: G 2 (6 dB) [min : 1,6 (4 dB)]
Phase Margin: 30 60
Delay Margin: fraction of thesystemdelay(10%) or
of therisingtime(10%)
ModulusMargin: M 0.5 (- 6 dB) [min : 0,4 (-8 dB)]
A ModulusMargin M 0.5 implique G 2 and > 29
Attention: the converse is not true !
TheModulusMarginalsodefinesthetolerancewithrespect
to non-linearities(seepp.73-75)
PI Controller
Plant : G/(1+sT)
Objectives :
1) Null steadystate error
2) Risingtimet
R

y
t
R
t
R
=2.2 T
o
1
0.9
H
CL
(s) =
1
1 +s T
o

-
DesiredT.F. for theC.L.

H
R

=
------------
H
c
(s)
s

G
1

+

s T
-
CONTROLLER
y
PLANT
u
+
r
( )
T
s G s
H
G s
H
T
s T
s
s s
H
G
G s
H
s
H
c
c
c
c
CL
0 0
2
1 ) (
) (
1
1
) (
) (
) (
+
=
+
=
+ +
=
) 1 (
1
) (
0
T s
T
G
s
H
c
+ = H
c
(s) G s T
0
= s
2
T + s
PI Controller
+ =
+ =
+
=
s
T
K
s T T G
T
s
T s
T G
s
H
i
R
1
1
1
1
) 1 (
1
) (
0
0
Proportional Gain
Integral Action
Remark:
Thecontroller parametersdependon thedesiredprformances(T
0
) and
on theplant transfer functionparameters(G,T)
PID Controller
Several structures of thePID controller are possible.
For example, consider thestructure :
deravativeaction
+
+ + =
s
N
T
s
T
s
T
K s
H
d
d
i
PID
1
1
1 ) (
(*)
filteringon thederavativeaction
integral action
proportional gain
Plant :
s a
s
a
b
T
s
T
s
G
s H
2
2 1
0
2 1
1 ) 1 ( ) 1 (
) (
+ +
=
+ +
=
Objectives:
1) t
R
, M
2) Null steadystate error
s
s
s
H
CL
2
0
2
0
2
0
2
) (
+ +
=

Seeslide#18
DesiredClosedLooptransfer function
PID Controller
b
o
1 +a s +a s
1
2
P.I.D.
-
r
H (s) =
o
2
+2
o
s +s
2
o
2
PLANT
+
y
CL
u
+ +
=
+
s
N
T
s
T
N
T T
T T s
N
T
T
s K
s
H
d
i
d i
d i
d
i
PID
1
1
) (
2
(*)
PIDT.F. Numerator = Plant T.F. Denominator
PID Controller
+
= =
s
N
T
s T
Kb
s H s H s H
d
i
PID OL
1
) ( ) ( ) (
0
;
1
N
T
T a
d
i
+ =
.
1
1
2

+ =
N
T T a
d i
2
0
2
0
2
0
2
0
0
2
0
0
2
) (
s s
s s
T
N
T T
N Kb
T T
N Kb
s
N
T T
s T Kb
Kb
s H
d d i
d i
d i
i
CL
+ +
=
+ +
=
+ +
=

0
1 1
2
1
= =
a
N
T
a T
d
i
0
2 2
2
1

= =
T
a
N
T
T
a
T
i
d
i
d
0
0
2 b
T
K
i
=
0
2
1
=
N
T
d
Thecontroller parametersdependon thedesiredprformances
(
0
, ) andon theplant transfer functionparameters(a
1
, a
2
, b
0
)
Concluding Rermarks
- The dynamics of a plant running around a specific operative point
canbe oftendescribed by a linear dynamic model.
-The linear dynamic systems are described by linear differential
equations in the time domain and by transfer functions in the
frequency domain.
- The control systems are closed loop systems containing:
a controller, the plant (which contains the actuator and the sensor)
and the feedback loop.
-The desiredclosed loop performances can be expressed by the
desired (frequency) characteristics of the closed loop system.
- The Nyquist plot (frequency domain) plays a fundamental role
for the closed system stability analysis and its robustness with respect
to plant parameters variations.

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Identifikasi Sistem

Hochgeladen von

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I.D. Landau, G.

Zito - "Digital Control Systems" - Chapter 1 1

Asymptotic Slope (high freq.)

I.D. Landau, G. Zito - "Digital Control Systems" - Chapter 1 14

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