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    Lab No. 3-Block Diagram Reduction

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    Ashno Khan
    i) The controller and plant are represented as transfer functions and converted to state space using ss(). ii) A cascaded system is formed using series() and feedback is applied using feedback(). iii) The closed loop transfer function is obtained and converted to state space. The impulse response is plotted, showing the system response over time.

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    Lab No. 3-Block Diagram Reduction

    Uploaded by

    Ashno Khan
    28 views12 pages
    i) The controller and plant are represented as transfer functions and converted to state space using ss(). ii) A cascaded system is formed using series() and feedback is applied using feedback(). iii) The closed loop transfer function is obtained and converted to state space. The impulse response is plotted, showing the system response over time.

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    Lab no. 3-Block Diagram Reduction

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    i) The controller and plant are represented as transfer functions and converted to state space using ss(). ii) A cascaded system is formed using series() and feedback is applied using feedback(). iii) The closed loop transfer function is obtained and converted to state space. The impulse response is plotted, showing the system response over time.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    28 views12 pages

    Lab No. 3-Block Diagram Reduction

    Uploaded by

    Ashno Khan
    i) The controller and plant are represented as transfer functions and converted to state space using ss(). ii) A cascaded system is formed using series() and feedback is applied using feedback(). iii) The closed loop transfer function is obtained and converted to state space. The impulse response is plotted, showing the system response over time.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    Lab No.

    03
    Section: A Block Diagram Reduction
    General Description:
    Block diagram consist of Uni-directional operational block that represent the transfer function of
    the variable of the interest. The block diagram of representation of a given system often can be
    reduced to a simplified block diagram with fewer blocks than original block.
    Useful Commands for block-reduction:

    i) conv
    Convolution and polynomial multiplication:
    Syntax:
    w = conv(u,v)

    ii) Tf
    Create or convert to transfer function model.

    sys = tf(num,den)
    sys = tf(num,den,Ts)
    sys = tf(M)
    sys = tf(num,den,ltisys)
    tfsys = tf(sys)

    iii) Feedback
    Syntax:
    sys = feedback(sys1,sys2)

    Problem # 01:
    Find the Close-loop gain of a given system in Matlab using feedback.
    Source Code:
    %Block diagram reduction
    num=conv([1 1],[1]); %convolving the cascaded System neuminator
    den=conv([1 2],[200 0 0]); %convolving the denominator system denominator
    G=tf(num,den) %calculating the tf of a system
    H=1;.
    T=feedback(G,H) %using feed-back command to find cloase loop tf

    Output:

    G=

    s+1
    -----------------
    200 s^3 + 400 s^2

    Continuous-time transfer function

    T=

    s+1
    -------------------------
    200 s^3 + 400 s^2 + s + 1

    Continuous-time transfer function.

    Problem# 02:
    Find the Close loop Transfer function of a given system using Matlab.
    Source Code:
    %Problem # 02 %find the close loop transfer function of a system.
    num1=[1]; %declaring the numerator of feed-forward path.
    den1=[200 0 0]; %declaring the denominator of feed-forward path.
    num2=[1 1]; %declaring the numerator of feed-back path.
    den2=[1 2]; %declaring the denominator of feed-back path.
    G=tf(num1,den1) %finding tf of feed-forward path
    H=tf(num2,den2) %finding tf of feed-back path
    T=feedback(G,H,1) %finding tf of close-loop system: Put 1 for +ve
    %Feedback at end of feedback(G,H)

    Output:

    G=

    1
    -------
    200 s^2

    Continuous-time transfer function.

    H=

    s+1
    -----
    s+2

    Continuous-time transfer function.

    T=

    s+2
    -------------------------
    200 s^3 + 400 s^2 - s - 1

    Continuous-time transfer function.


    Section: B State Space Representation
    General Description:
    In control engineering, a state-space representation is a mathematical model of a physical
    system as a set of input, output and state variables related by first-order differential equations.
    "State space" refers to the space whose axes are the state variables. The state of the system can
    be represented as a vector within that space.
    Useful Commands: ss
    ss is used to create real- or complex-valued, state-space models (SS objects) or to convert
    transfer function or zero-pole-gain models to state space.
    Specify state-space models or convert LTI model to state space
    Syntax
    ss
    sys = ss(a,b,c,d)
    sys = ss(a,b,c,d,Ts)
    sys = ss(d)
    sys = ss(a,b,c,d,ltisys)
    sys_ss = ss(sys)

    Creation of State-Space Models


    sys = ss(a,b,c,d) creates a SS object representing the continuous-time state-space model
    For a model with Nx states, Ny outputs, and Nu inputs:
    a is an Nx-by-Nx real- or complex-valued matrix.
    b is an Nx-by-Nu real- or complex-valued matrix.
    c is an Ny-by-Nx real- or complex-valued matrix.
    d is an Ny-by-Nu real- or complex-valued matrix.
    To set D = 0 , set d to the scalar 0 (zero), regardless of the dimension.
    sys = ss(a,b,c,d,Ts) creates the discrete-time model with sample time Ts (in seconds). Set Ts = -1
    or Ts = [] to leave the sample time unspecified.

    sys = ss(d) specifies a static gain matrix D and is equivalent to


    sys = ss([],[],[],d)
    sys = ss(a,b,c,d,ltisys) creates a state-space model with generic LTI properties inherited from the
    LTI model ltisys (including the sample time).
    Matlab Practice

    The state-space representation consists of specifying the A, B, C, and D matrices followed by the creation
    of an LTI state-space object using the MATLAB command, ss(A,B,C,D).

    Problem # 01:

    Let;

    0 1 0 0
    A=[ 0 0 1 ]; B=[0] ; C=[1 1 0]; D=0;
    −4 − 5 − 8 4

    As 𝑋̇ = 𝐴𝑋 + 𝐵𝑈

    Y=CX+DU

    Matlab Source Code for the Problem:

    ‘State_Space_Model’

    A=[0 1 0;0 0 1;-4 -5 -8];


    B=[0;0;4];
    C=[1 1 0];
    D=[0];
    State_Space_Model =ss(A,B,C,D)
    Transfer_Function=tf(State_Space_Model)

    Matlab Output:
    Problem # 02:

    For illustration of state space representation, consider the following simple model of an electric
    motor.
    Where θ is the angular displacement of the rotor and I is the driving current. The relation
    between the input current u = I and the angular velocity y is described by the state-space
    equations.

    This model is specified by typing

    to which MATLAB responds


    Problem # 03:

    Given the control system;

    i) Determine the state variable representation of Controller.


    ii) Repeat above for Plant
    iii) Use series and feedback systems to find impulse response.
    Source Code:
    %Problem # 03:SS_for_Cascaded_Feedback_System
    % determine state space representation of controller
    numC=[1];
    denC=[1 2];
    sys_C=tf(numC,denC)
    sys_ss_C=ss(sys_C)
    % plant state-space moodel
    nump=[1];
    denp=[1 2 4];
    sys_P=tf(nump,denp)
    sys_ss_P=ss(sys_P)
    % use series
    [num_Series,den_Series]=series(numC,denC,nump,denp)
    % use feedback
    num_feedback=[1]
    den_feedback=[1]
    [num_Closed_Loop_tf,den_Closed_Loop_tf]=feedback(num_Series,den_Series,num_fe
    edback,den_feedback,-1)
    Closed_Loop_tf=tf(num_Closed_Loop_tf,den_Closed_Loop_tf)
    ss_of_Closed_Loop_tf=ss(Closed_Loop_tf)
    %Impulse response:
    impulse(Closed_Loop_tf)
    Impulse response:

    Fig 3.1: Impulse Response of the System

    Output:

    >> Problem # 03_SS_for_Cascaded_Feedback_System

    sys_C =

    -----

    s + 2

    Continuous-time transfer function.

    sys_ss_C =

    a =

    x1

    x1 -2
    b =

    u1

    x1 1

    c =

    x1

    y1 1

    d =

    u1

    y1 0

    Continuous-time state-space model.

    sys_P =

    -------------

    s^2 + 2 s + 4

    Continuous-time transfer function.

    sys_ss_P =

    a =

    x1 x2

    x1 -2 -2

    x2 2 0

    b =
    u1

    x1 0.5

    x2 0

    c =

    x1 x2

    y1 0 1

    d =

    u1

    y1 0

    Continuous-time state-space model.

    num_Series =

    0 0 0 1

    den_Series =

    1 4 8 8

    num_feedback =

    den_feedback =

    num_Closed_Loop_tf =

    0 0 0 1

    den_Closed_Loop_tf =

    1 4 8 9

    Closed_Loop_tf =
    1

    ---------------------

    s^3 + 4 s^2 + 8 s + 9

    Continuous-time transfer function.

    ss_of_Closed_Loop_tf =

    a =

    x1 x2 x3

    x1 -4 -2 -2.25

    x2 4 0 0

    x3 0 1 0

    b =

    u1

    x1 0.5

    x2 0

    x3 0

    c =

    x1 x2 x3

    y1 0 0 0.5

    d =

    u1

    y1 0

    Continuous-time state-space model.

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