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Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
lecture 4
Lecture 4
Different representations
نمايشهای مختلف
HODE SS
x1 x 2
c 5c 4c r
x 2 4 x1 5 x 2 r
c x1
SD
TF
c( s ) 1 Mason’s rule
G( s) 2
r ( s ) s 5s 4
SD
TF
Mason’s rule c( s ) 1
G( s) 2
r ( s ) s 5s 4
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Dr. Ali Karimpour Feb 2013
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y( s)
M i i
i 1
u ( s)
Example 1 1 مثال
m
c( s )
M i i
i 1
r ( s)
m 1 M 1 s 2 1 1
c( s ) s 2 .1 1 Note
1 2
2
r (s) 1 5s 4s s 5s 4 6
Dr. Ali Karimpour Feb 2013
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Example 2 2 مثال
C ( s)
?
N ( s)
Example 3 3 مثال
Find the TF model for the following state diagram.
c
1 S-1 b
r(s) c(s)
-a
c( s ) c.1 + bs-1.1 cs b
r ( s) 1+as-1 sa
Example 3 3 مثال
Find the TF model for following state diagram.
1 S-1 S-1 b
r(s) c(s)
-a
-c
c( s ) ds 1 bs 2 ds b
1 2
2
r ( s) 1 as cs s as c
TF SS
1 x1 x 2
G( s)
s 2 5s 4 Realization x 2 4 x1 5 x 2 r
c x1
SD
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c( s ) s 2 7s 12 s 1 7 s 2 12s 3 X
G( s) 3
r (s) s 4s 5s 2 1 4s 1 5s 2 2s 3 X
2
X (1 4s 1 5s 2 2s 3 ) r (s) X r (s) 4s 1 X 5s 2 X 2s 3 X
s 1 X 7s 2 X 12s 3 X c(s)
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-4
x1 x2
-5 x 2 x3
x3 2 x1 5x2 4 x3 r
-2
c 12 x1 7 x2 13x3
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cs b
sa
c
1 S-1 b
r(s) c(s)
-a
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r(s) 1 1
x3 3 x2 x1 c(s)
1 S-1 1 S-1 4 1 S-1 1
-1 -1 -2 x1 2 3 2 x1 1
x 0 1 2 x 2 1 r
2
x 3 0 0 1 x3 1
x1 2 x1 4 x2 x2 3x3 x3 r
x1
x2 x2 3x3 x3 r
c [1 0 0] x 2
x3 x3 r x3
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c x1 Dr. Ali Karimpour Feb 2013
lecture 4
c
cs b
1 S-1 b
sa
-a
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3? 1? -2
?
G(s) S-1
s 1 s2 s3
1 3
-1
r(s) 1 S-1 -2
c(s)
cs b
sa 1 -3 1
S-1
c -2
1 S-1 b
-a 17
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1 3
-1
r(s) 1 S-1 x2 -2
c(s)
1 0 0 1
1 -3 1
x 0 3 0 x 1u
S-1 0 0 2 1
x3
-2
c [3 2 1]x
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c( s ) s 2 7s 12 s 2 7s 12 6? -1? 2?
G( s) 3
r (s) s 4s 5s 2 (s 1) (s 2)
2 2
( s 1) 2
s 1 s 2
S-1 x2 1 1 S-1 x1
1 6
-1 -1
-1
r(s) 1 S-1 c(s)
x3 2
-2
x1 x1 x2 1 1 0 0
x 2 x2 r x 0 1 0 x 1 r
x3 2 x3 r 0 0 c(s)
2 1
c 6 x1 1x2 2 x3 c [6 1 2]x 19
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SS
HODE
x1 x 2
x1 5x1 4x1 r x 2 4 x1 5 x 2 r
c x1
TF
1
G( s)
s 2 5s 4
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Exercises
Ans
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Exercises (Continue)
Answer
c1 k
2 2
r2 s k1 k 2
4-3 Find g such that C(s)/R(s) for following system is
(2s+2)/s+2
Answer
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Exercises (Continue)
Answer
Answer
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Exercises (Continue)
Answer
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Exercises (Continue)
G(s)
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Exercises (Continue)
-a -b
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It appears in many exams.***** Dr. Ali Karimpour Feb 2013
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Exercises (Continue)
c S-1 S-1 1
r(s) c(s)
-a -b
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Appendix: Example 2: Express the following set of differential
equations in theX (form
t ) AXof
(t ) Br (t ) and draw
corresponding state diagram.
x1 x1 (t ) 2 x2 (t )
x2 2 x1 (t ) 3x3 (t ) r1 (t )
x3 x1 (t ) x2 (t ) r2 (t )
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1 3 1 0
X (t ) 0 2 0 X (t ) 0 r (t ) c(t ) [1 0 0] X (t ) 2r (t )
0 0 5 1
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With :
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