Chapter 3 Continuous-Time System Representation and Modeling

3.1 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. 3.2 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 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.

31

The general form of a transfer function denoted by G(s) is

N (s) bn s n + bn 1s n 1 + + b1s + b0 = G (s) = D ( s ) am s m + am 1s m 1 + + a1s + a0

(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

G (s) =

s 2 + 3s 1 s3 + s 2

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).

32

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 (3.2) y = Cx + Du 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. 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
x1 1 2 x1 0 x = 2 0 x + 1 u 2 2 x1 y = [1 0] + u . x2

Listing 3.2 >> A = [1 2;2 0]

A = 1 2 2 0

>> B = [0 1]' B = 0 1 >> C = [1 0] C = 1 >> D = 1 0

33

D = 1 >> sysg=ss(A,B,C,D) a = x1 x2 b = x1 x2 c = y1 d = y1 u1 1 x1 1 x2 0 u1 0 1 x1 1 2 x2 2 0

Continuous-time model. A 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

34

This may have the form

G ( s) = k

(s + z1 )(s + z 2 ) (s + z m ) (s + 1)(s + 2) . =2 (s + p1 )(s + p 2 ) (s + p n ) s(s + 2)(s + 3)(s + 4)

In MATLAB, we can write

Listing 3.3 >> z = [-1 2]

z = -1 -2

>> p = [0 2 3 4] p = 0 >> k = 2 k = 2 >> sys=zpk(z,p,k) Zero/pole/gain: 2 (s+1) (s+2) ------------------s (s+2) (s+3) (s+4) >> -2 -3 -4

3.3

SYSTEM TRANSFORMATION
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.

35

Converting Transfer Function to State-Space 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-polegain 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 zeropole-gain model using the function [z,p,k]=ss2zp(A,B,C,D).

3.4

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.

36

Extraction of Transfer Function Data 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).

3.5

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 = 2.56155281280883 -1.56155281280883 >> zvector = zero(sysg) zvector = 2 -1

37

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 Fig. 3.1.

Fig. 3.1 Pole-zero map of sysg. 3.6 LTI MODELS

The command ltimodels is used as a help file on the description of different LTI models used in MATLAB. It gives a general information on the various types of LTI models supported in the Control System Toolbox.

38

There is another command, ltiprops, that is able to give details on the generic properties of LTI models.

3.7

EXERCISES
A system is described by the differential equation 2

d3 d2 d y (t ) 2 y (t ) + 3 y (t ) + 2 y (t ) = x (t ) . 3 dt dt dt

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. Compare the results in No. 2 and No. 4. What can you say about it? 6. Determine the poles and zeros of the system. 7. Plot the pole-zero map of the system. 8. Generate the zero-pole-gain model of the system using any model transformation technique. 9. Determine the solution to the differential equation given assuming zero initial conditions, and plot the response for 0 t 10 seconds. 10. Convert the continuous-time system to discrete-time using the function c2d. Set the sampling time to 0.1 secs.

39