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𝑑𝑢𝑐 (𝑡)
𝑖 𝑡 =𝐶
𝑑𝑡
Dan fungsi tegangan pada sistem dengan Kirchoff
𝑑𝑖(𝑡)
𝑢 𝑡 = 𝑅𝑖 𝑡 + 𝐿 + 𝑢𝑐 (𝑡)
𝑑𝑡
Dengan substitusi didapatkan Ordinary Differential Equation (ODE)
∞
ℒ𝑓 𝑡 = න 𝑓 𝑡 𝑒 −𝑠𝑡 𝑑𝑡 = 𝐹(𝑠)
0
s = 𝜎 + 𝑗𝜔
Inverse Laplace
1 𝜎+𝑗∞
𝑓 𝑡 = ℒ −1 𝐹 𝑠 = න 𝐹(𝑠)𝑒 𝑠𝑡 𝑑𝑠
2𝜋𝑗 𝜎−𝑗∞
Laplace in Matlab
𝐹 = 𝑙𝑎𝑝𝑙𝑎𝑐𝑒 (𝑓)
𝐹 = 𝑖𝑙𝑎𝑝𝑙𝑎𝑐𝑒 (𝑓)
Transfer Function
Adalah ratio output dengan input dalam domain S menggunakan transformasi laplace
Pembilang = zero
Penyebut = pole
Tranfer Function in Matlab
>>num=[b1,b2,...,bm,bm+1];
>>den=[1,a1,a2,...,an−1, an];
>> G=tf(num,den)
Contoh
>> den=conv(conv(conv([1,3,1],[1,3,1]),[1,6]),[1,6,5,3]);
>> num=6*[1,5];
>>G=tf(num,den)
Tranfer Function in Matlab
Sehingga
G=6*(s+5)/(sˆ2+3*s+1)ˆ2/(s+6)/(sˆ3+6*sˆ2+5*s+3)
Tranfer Function in Matlab
Dalam bentuk system multivariable dengan delay,
Sampling
Time
Discrete-Time System
Dengan Ts = 0.1 s
>>num=[6 -0.6 -0.12];
>>den=[1 -1 0.25 0.25 -0.125];
>>H=tf(num,den,’Ts’,0.1,’ioDelay’,5)
Atau……
>>z=tf(’z’,0.1);
>>H=(6*zˆ2-0.6*z-0.12)/(zˆ4-zˆ3+0.25*zˆ2+0.25*z-0.125);
>>H.ioDelay=5;
State Space
Memiliki bentuk umum untuk LTI
State Space
Definisikan
State Space in Matlab
Dapat ditulis dengan membuat matrix A, B, C, dan D
>>A=[2.25, -5, -1.25, -0.5; 2.25, -4.25, -1.25, -0.25; 0.25, -0.5, -1.25,-1; 1.25, -1.75, -0.25, -
0.75];
>>B=[4, 6; 2, 4; 2, 2; 0, 2];
>>C=[0, 0, 0, 1; 0, 2, 0, 2];
>>D=zeros(2,2);
>>G=ss(A,B,C,D)
State Space in Matlab
Untuk model discrete-time state space models
𝑥 𝑘 + 1 𝑇 = 𝐹𝑥 𝑘𝑇 + 𝐺𝑢(𝑘𝑇)
ቊ
𝑦 𝑘𝑇 = 𝐶𝑥 𝑘𝑇 + 𝐷𝑢(𝑘𝑇)
Dapat menggunakan
>> G=ss(A,B,C,D,’Ts’,T )
Zero-Pole-Gain
U(t) Y(t)
G1(s) G2(s)
Parallel Connection
G1(s))
U(t) Y(t)
G2(s)
Positive Feedback
U(t) Y(t)
G1(s)
G2(s)
Negative Feedback
U(t) Y(t)
G1(s)
G2(s)
Complicated connection
5ss 3s 4s 10ss
1/3 s
1/4s
Penyederhanaan
U(t) Y(t)
G(s)
Transfer Function
G(s)
B(s)
H(s)
Introduction to System Identification
Transfer Function
Contoh
>> u=[1.4601,0.8849,1.1854,1.0887,1.413,1.3096,1.0651,0.7148,...
1.3571,1.0557,1.1923,1.3335,1.4374,1.2905,0.841,1.0245,... ERROR :
Data harus di transpose terlebih
1.4483,1.4335,1.0282,1.4149,0.7463,0.9822,1.3505,0.7078,...
dahulu
0.8111,0.8622,0.8589,1.183,0.9177,0.859,0.7122,1.2974,...
1.056,1.4454,1.0727,1.0349,1.3769,1.1201,0.8621,1.2377,...
1.3704,0.7157,1.245,1.0035,1.3654,1.1022,1.2675,1.0431];
>> y=[0,0,8.7606,13.1939,17.41,17.6361,18.7627,18.5296,17.0414,...
13.4154,14.4539,14.59,16.1104,17.6853,19.4981,19.5935,...
16.4106,14.3359,15.7463,18.1179,17.784,18.8104,15.3086,...
13.7004,14.8178,13.2354,12.2993,11.6001,11.6074,13.7662,...
14.195,13.763,11.8713,13.8566,14.6944,17.8659,17.6543,...
16.6386,17.1071,16.5373,14.643,15.0862,16.8058,14.7641,...
15.4976,14.679,16.6552,16.6301];
>> t1=arx([y,u],[4,4,1])
Discrete-time IDPOLY model: A(q)y(t) = B(q)u(t) + e(t)
A(q)=1-qˆ-1 + 0.25 qˆ-2 + 0.25 qˆ-3 - 0.125 qˆ-4
B(q) = 4.83e-008 qˆ-1 + 6 qˆ-2 - 0.5999 qˆ-3 - 0.1196 qˆ-4
Estimated using ARX
Loss function 7.09262e-010 and FPE 9.92966e-010
Sampling interval: 1
Berdasarkan tabel T (Sampling Time) = 0.1 s
Dengan menggunakan , dapat dihasilkan data object dari sistem.
Contoh :
>> U=iddata(y,u,0.1); T=arx(U,[4,4,1]); H=tf(T); G=H(1)
TAic1 TAic2
Generation of Identification Signals
dibutuhkan sinyal input yang memiliki spektrum yang cukup agar bentuk
sistem dinamiknya mampu dihasilkan
Karena hal ini, sinyal input haruslah terus ada. Karena hal ini maka digunakan
Pseudorandom Binary Sequence (PRBS)
Contoh a : d2c
>> G=tf([1,7,11,5],[1,7,21,37,30]);
t=[0:.2:6]'; u=idinput(31,'PRBS');
y=lsim(G,u,t); U=arx([y u],[4 4 1]);
G1=tf(U); G1=G1(1); G1.Ts=0.2; G2=d2c(G1) 31 Sequence Input
>> t=[0:.1:8]'; u=sin(t); y=lsim(G,u,t); u1=iddata(y,u,0.1);
U=arx(u1,[4 4 1]); G1=tf(U); G1=G1(1); G2=d2c(G1)
81 Sequence Input