DYNAMICS and CONTROL

MODULE 1I (App)
Models of
Systems & Signals
Math review
Presented by

Pedro Albertos
Professor of Systems Engineering and Control - UPV

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Y(z)

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G(s)

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Model
ABSTRACTION!!!

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Dealing with Signals: Sinusoidal

y(t ) Y0 sen(wt j )
Parameters
Magnitude: Yo
Frequency: w
Phase: j
Operations:
Sum
Linear combination
Delay
Derivative
Integral
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Dealing with Signals

y (t )

Laplace Transform:

Y ( s) e st y (t )dt
0

Laplace transform properties

L

Unicity

y (t ) Y ( s)
L

Linearity

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

L

Integral

Y ( s)
0 y( )d s
L

Delay

y(t ) e sY ( s)

dy (t ) L
Derivative dt sY ( s ) y (0)

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Laplace Transform of typical signals

f (t )

F ( s)

Impulsounitario
Unitary
Impulse

EscalnStep
unitario
Unitary

1
s

Rampa unitaria
Unitary
Ramp

1
s2

at

at sen t

at cos t

e
Delay

y(t T )

1
sa

2
s a 2

sa
2
s a 2

e sT Y (s)

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Laplace Transform of typical signals

f (t )

F ( s)

Impulsounitario
Unitary
Impulse

EscalnStep
unitario
Unitary

1
s

Rampa unitaria
Unitary
Ramp

1
s2

at

at sen t

at cos t

e
Delay

y(t T )

1
sa

2
s a 2

sa
2
s a 2

e sT Y (s)

DYNAMICS & CONTROL

Laplace Transform of typical signals

f (t )

F ( s)

Impulsounitario
Unitary
Impulse

EscalnStep
unitario
Unitary

1
s

Rampa unitaria
Unitary
Ramp

1
s2

at

at sen t

at cos t

e
Delay

y(t T )

e s
s

1
sa

2
s a 2

sa
2
s a 2

e sT Y (s)

DYNAMICS & CONTROL

Laplace Transform of typical signals

f (t )

F ( s)

Impulsounitario
Unitary
Impulse

EscalnStep
unitario
Unitary

1
s

Rampa unitaria
Unitary
Ramp

1
s2

at

at sen t

at cos t

e
Delay

y(t T )

e s
s

1
sa

2
s a 2

sa
2
s a 2

e sT Y (s)

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Inverse Laplace Transform

1
y (t ) e
sa
at

2
2
2
2

Y (s) 2
s 3s 2 ( s 1)( s 2) s 1 s 2

y(t ) 2e 2e

2t

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Inverse Laplace Transform

1
y (t ) e
sa
at

2
2
2
2

Y (s) 2
s 3s 2 ( s 1)( s 2) s 1 s 2

y(t ) 2e 2e

2t

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Inverse Laplace Transform

1
y (t ) e
sa
at

2
2
2
2

Y (s) 2
s 3s 2 ( s 1)( s 2) s 1 s 2

y(t ) 2e 2e

2t

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yk 0

Discrete-time Signals

1.5

2.25 3

y( z ) 3z 1 3z 2 3z 3 ...

2.5

Amplitud
Magnitude

1.5

0.5

4
tiempo

Time

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yk 0

Discrete-time Signals

1.5

2.25 3

2.5

Amplitud
Magnitude

1.5

0.5

4
tiempo

Time

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Correspondence between CT and DT

dy (t )
dt

yk 1 yk
T

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Correspondence between CT and DT

dy (t )
dt

yk 1 yk
T

s.Y ( s)

z 1
.Y ( z )
T

z 1
s
T

z 1 sT
But, the delay:

Ts

ze

Ts
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Systems to be modeled
By the attached signals

By the operator

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

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

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Model as an operator

Voltage balance
Laplace transform

VC
Set of differential equations
dx(t )
a11 x(t ) a12 y (t ) b1u (t )
dt
dx(t ) dy (t )
2

a21 x(t ) a22 y (t ) b2u (t )

dt
dt

Set of algebraic equations

sx( s ) a11 x( s ) a12 y ( s ) b1u ( s )
2sx( s) sy ( s) a21 x( s) a22 y ( s) b2u ( s)

dVc (t )
1

V (t ) Vc (t )
dt
RC
1
sVc ( s )
V ( s) Vc ( s)
RC
1
Vc ( s )
V ( s)
1 RCs

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u(k)

SYSTEM

y(k)

Compact System representation:

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

By means of an operator between transformed signals

1
y( z )
u ( z ) Transfer Function :
z 0.95

1
G( z )
z 0.95

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Block Diagrams
Series composition:
U(z)

G1(z)

G2(z)

Y(z)

X(z)

G( z ) G2 ( z )G1 ( z )

Y ( z)
G2 ( z )
X ( z)
U(z)

X ( z)
G1 ( z )
U ( z)

G(z)

Y(z)

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Block Diagrams
U ( z)

Paralell composition:

G1 ( z )

Y1 ( z )

Y ( z)
+

G2 ( z )

Y ( z ) Y1 ( z ) Y2 ( z )
Y1 ( z )
G1 ( z )
U ( z)

Y2 ( z )
G2 ( z )
U ( z)

Y2 ( z )

G( z ) G1 ( z ) G2 ( z )
U(z)

G(z)

Y(z)
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Block Diagrams
U ( z)

E( z)

G( z )
-

Y ( z) G( z) E ( z)
M ( z ) H ( z )Y ( z )
E( z) U ( z) M ( z)

Loop arrangement:

M ( z)

Y ( z)

H ( z)

G( z )
Y ( z)
1 G( z ) H ( z )
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Simulation tools MATLAB

s 10
G( s)
( s 2)( s 5)
Programming
>> s=zpk('s');
>> G=(s+10)/(s+2)/(s+5)

Zero/pole/gain:
(s+10)
----------(s+2) (s+5)

Exploiting
>> step(G)

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Simulation tools MATLAB

s 10
G( s)
( s 2)( s 5)
Programming
>> s=zpk('s');
>> G=(s+10)/(s+2)/(s+5)

Zero/pole/gain:
(s+10)
----------(s+2) (s+5)

Exploiting
>> step(G)

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Simulation tools MATLAB

s 10
G( s)
( s 2)( s 5)
Programming
>> s=zpk('s');
>> G=(s+10)/(s+2)/(s+5)

Zero/pole/gain:
(s+10)
----------(s+2) (s+5)

Exploiting
>> step(G)

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DYNAMICS & CONTROL

Simulation tools MATLAB

s 10
G( s)
( s 2)( s 5)
Programming
>> s=zpk('s');
>> G=(s+10)/(s+2)/(s+5)

Zero/pole/gain:
(s+10)
----------(s+2) (s+5)

Exploiting
>> step(G)

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DYNAMICS & CONTROL

Simulation tools MATLAB

s 10
G( s)
( s 2)( s 5)
Programming
>> s=zpk('s');
>> G=(s+10)/(s+2)/(s+5)

Zero/pole/gain:
(s+10)
----------(s+2) (s+5)

Exploiting
>> step(G)

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What have we seen today?

A bit of Maths around modeling
Parameterizing the signals information
Laplace and Z- Transformations
Typical transformed signals
Models of systems as operators
Systems connection and structure
Modeling and simulation tools

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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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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/800px21
Catalonia_Terrassa_mNATEC_MaquinaDeVapor_ReguladorDeWatt.jpg. Author Friviere GNU