DYNAMICS and CONTROL

MODULE 1I (III)
Models of
Systems & Signals
Formalism
Presented by

Pedro Albertos
Professor of Systems Engineering and Control - UPV

DYNAMICS & CONTROL

Modules:
Examples of systems and signals

Models of systems and signals

Representations
Analogies
Formalism
Controlled systems: properties
Control systems design
Control benefits
Topics to study

DYNAMICS & CONTROL

Compact representation of CT Signals

y(t ) Y0 sen(wt )
Or by means of transformed
representations.
Laplace Transform:
L

y (t ) Y ( s)

ws
y ( s) Y0 2
s w2
1
at
y (t ) Y0e ; Y (s) Y0
sa

DYNAMICS & CONTROL

Discrete-time Signals

yk 0

1.5

2.25 3

Compact representation of DT Signals

2.5

y(k ) 3(1 0.5k )

2
Amplitud
Magnitude

It is a sequence

Or using transformed representations

1.5

y( z ) 1.5z

2.25z

...

z 1 Delay operator
0.5

4
tiempo

Time

1.5 z 1
y( z )
(1 z 1 )(1 0.5 z 1 )

DYNAMICS & CONTROL

Input
Const.

ALGORITHM

Output: y(k)

Computer sequence

y(0) = 25;
for k=1 to k=100
y(k+1)=0.95*y(k)+10;

Represent y(k)
MODEL:

y(k+1) = 0.95*y(k) + u(k);

u(k) = 10;
y(0) = 25

DYNAMICS & CONTROL

u(k)

SYSTEM

y(k)

Compact System representation:

y(k 1) 0.95 * y(k) u(k)

zy(z) 0.95*y(z) u(z)

z 1 Delay operator

Or by means of an operator between transformed signals

1
y( z )
u( z)
z 0.95

T.F. :

1
G( z )
z 0.95

T.F. : Transfer Function

DYNAMICS & CONTROL

Tank system

Water balance
qi (t ) qr (t ) qo (t )

Outlet flow

qo (t ) F h(t )

Retained flow

Adh(t )
qr
dt

dh(t )
1

qo (t ) F h(t )

dt
A

DYNAMICS & CONTROL

Electric Circuit

Capacitor

Voltage balance
V (t ) R.I (t ) Vc (t )

Q(t )
Vc (t )
C

Accumulated charge

VC

Q(t )

I ( )d

dVc
I (t ) C
dt
V (t ) Vc (t ) RC

dVc (t )
dt

dVc (t )
1

V (t ) Vc (t )
dt
RC

DYNAMICS & CONTROL

Model as an operator

Capacitor

Voltage balance

dVc (t )
1

V (t ) Vc (t )
dt
RC

VC

Laplace transform properties (see Appendix)

Unicity

y (t ) Y ( s)
L

Linearity
sVc ( s )

1
V ( s) Vc ( s)
RC
Derivative

1
Vc ( s)
V ( s)
1 RCs

ay1 (t ) by2 (t ) aY1 ( s) bY2 ( s)

dy (t ) L
sY ( s)
dt
G( s)

1
1 RCs

DYNAMICS & CONTROL

u(k)

Experimental Modeling
11

200

10.8

180

10.6

160

10.4

SYSTEM

y(k)

140

10.2

120
10

100
9.8

80

9.6
9.4

60

9.2

40

uk 10 10
u( z)

10
1 z 1

10

10

20

10

10
y( z )
(1 z 1 )( z 0.95)

y( z)
1
G( z )

u ( z ) z 0.95

10

DYNAMICS & CONTROL

Block Diagrams
Series composition:
U(z)

G1(z)

G2(z)

Y(z)

U(z)

G2(z)G1(z)

Y(z)

Paralell composition:
G1(z)

U(z)

Y(z)
+

G2(z)

U(z)

G1(z)+G2(z)

Y(z)

Loop arrangement:
U(z)

G(z)

H(z)

Y(z)

Y(z)

G(z)
U ( z)
1 G(z)H(z)

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DYNAMICS & CONTROL

Kind of systems
By the attached signals

By the operator

Continuous / Discrete
Logic/Binary
Deterministic / stochastic
Approximated/concrete
Monovariable / multivariable

Linear / nonlinear
Static / Dynamic
Time variant / Invariant
Concentrated / Distributed

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DYNAMICS & CONTROL

Kind of Models
Black box

White box

Input / Output relationship

Experimental modeling
Use of analogies
Null initial conditions (in
equilibrium)

Internal and external relationships

Behavioral description: first principles
Stated as equations
Initial conditions are considered

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DYNAMICS & CONTROL

Representations
Signals: TRANSFORMED
y (t )

b( z )
Y ( z)
a( z )

Systems: OPERATOR
b( z )
G( z)
a( z )
Transfer Function

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DYNAMICS & CONTROL

What have we seen today?

Formalism in modeling systems and signals
Parameterizing the signals information
Expressing in equivalent representations
Transformations
Models of systems as operators
Models of systems as set of equations
Systems connection and structure

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DYNAMICS & CONTROL

A historical curiosity
The steem generator

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DYNAMICS & CONTROL

A historical curiosity
The steem generator

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DYNAMICS & CONTROL

A historical curiosity
The steem generator

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DYNAMICS & CONTROL

A historical curiosity

The steem generator and the Watts regulator (17361819)

How it works?

On Governors J.
Clerk Maxwell (1868)

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DYNAMICS & CONTROL

Lets explore the

control systems,
their structure,
their goals, and
the benefits.

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DYNAMICS & CONTROL

What is next?
Modules:
Examples of systems and signals

Models of systems and signals

Controlled systems: properties

Dynamic and static behavior

Sensitivity and Robustness
Control systems design
Control benefits
Topics to study

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DYNAMICS & CONTROL

Thank you!

The sources of some of these figures are:

Slide 12-1 http://upload.wikimedia.org/wikipedia/commons/0/01/Newcomen_atmospheric_engine_%28Heat_Engines%2C_1913%29.jpg. Author: Andy Dingley Public Domain.
Slide 12-2 http://upload.wikimedia.org/wikipedia/commons/1/16/Newcomen_atmospheric_engine_animation.gif. Author: Emoscopes. GNU Free Documentation License
Slide 13-1 http://commons.wikimedia.org/wiki/File:Boulton_and_Watt_centrifugal_governor-MJ.jpg By Dr. Mirko Junge (Own work) [CC-BY-3.0 (http://creativecommons.org/licenses/by/3.0)], via Wikimedia
Commons
Slide 14. http://upload.wikimedia.org/wikipedia/commons/thumb/5/55/Catalonia_Terrassa_mNATEC_MaquinaDeVapor_ReguladorDeWatt.jpg/800px20
Catalonia_Terrassa_mNATEC_MaquinaDeVapor_ReguladorDeWatt.jpg. Author Friviere GNU