Modeling and Control

Class 1
Professor: Alain Segundo Potts
[Link]@[Link]
Room 742-1
 Bibliography
OGATA, K. "Modern Control Engineering"
Prentice Hall, 4th edition, 2003.
ZILL, Dennis G. Differential Equations with
Applications in Modeling. São Paulo: Pioneira
Thomson Learning, 2003. 492 p.
DORF, R.C.; BISHOP, R.H.; 'Modern Control
Systems", Prentice Hall, 10th edition, 2001.
Class notes
 Reviews
Two evaluations.
Exercise lists
 Structure of the Subject
Study of dynamic systems
Formulation
Modeling Stability analysis
System forecasting

Response of the systems

Closed loop and open loop.
Control Types of control
Optimal response
Modeling of dynamic systems
The notion of the dynamic state of a system had its
origin in Newtonian mechanics, however, it was the
works of the physicist-mathematician Henry Poincaré and
Alexander Lyapunov at the turn of the 20th century, who
they established the foundations of dynamic systems theory
as it is known today.
 Harry Nyquist Hendrik Wade Bode Harold Stephen Black Walter Richard Evans
(1889-1976) (1905-1982) (1898 – 1983)(1920 - 1999)

Analysis of systems based on their frequency response

Analysis of systems based on their response in time

Alexander Lyapunov Pafnuty Chebyshev Andrey Markov Lev Semyonovich Pontryagin

(1857-1918) (1821–1894) (1856–1922) (1908 –1988)
 Structure of the Subject
Study of dynamic systems
Formulation
Modeling Stability analysis
System forecasting

Response of the systems

Closed loop and open loop.
Control Types of control
Optimal response
 Modeling of dynamic systems
Currently, it is a consensus that Engineering
Control must consider both approaches:
the domain of time and the domain of
simultaneous frequency for analysis
the control systems project.

Approach in Approach in the domain

domain of time. of the frequency.
Differential equations Laplace transform
Modeling of dynamic systems
From a mathematical point of view, a
a dynamic system is a concept in which
a function describes the relationship over time of
a point in a geometric space
n-dimensional.
The concept arises from the need to build
models for the physical systems that
evolve over time, based on rules that
link the current state of the system to its
past states.
Modeling of dynamic systems
Consider the mass-spring system oscillating in a
frictionless surface.
Body mass
2 k: spring constant
+
2
kx = 0 X: body displacement
Modeling of dynamic systems
To solve this system, we need to
solve the homogeneous equation:
2
+ kx = 0
2

( )= 0+ cos t+ 0+ sin t

Initial conditions
Modeling of Dynamic Systems
Equation
differential of
second degree
2
2 + =0
One can standardize the model by always using equations.
first degree differentials.

=
2
= =− 2
Modeling of Dynamic Systems
Dynamics of
system

= 0 1
=
- 0
=−

The order of the system Differential matrix equation

coincides with the number of first order
initial conditions
necessary to solve the
system.
Modeling of dynamic systems
 RLC Circuit
= + C2

0= + C2+ − =0
Modeling of Dynamic Systems
0= + =
C2+ − =0
= + C2 =
Dynamics of
system
1 -1
0

C2 1
= 0 0 C2
2
1 -1
0
2
 RLC Circuit
= + C2

= + C2+ − =0
Modeling of Dynamic Systems
= + =
C2+ − =0
= + C2 Dynamics of =
system Signal of
entry of
system
1 -1
0
1
C2 1
= 0 0 C2 +
2 0
1 −1 0
0
2
Modeling of Dynamic Systems
In general, we can say that the systems
dynamics can be represented by a
function type: Input vector
Vector of states
Time

x = f x, ,

Equation of state
Modeling of dynamic systems
Vector of states ∈ is made up of all
the variables that characterize the dynamics of
system, that is, those variables that
they present an evolution over time.
The reachable space is called
2
= state space
⋮
 Equation of state
= , 2= C2, 3=
State vector
1 -1
0
1
1
2 = 0 0 2 +
2 3
0
3
1 −1 0
0 Input vector
2

= , ,
 Output equation
= ( , , )
?
?
?
=?

= , 2= C2, 3= = − C2

1 0 0
= 0 1 02 = 1 −1 0 2
0 0 13 3
 Types of Dynamic Systems

= , ,
State space model
= ( , , )

Deterministic Stochastic
Linear Non-linear
Continuous Discrete
Invariants in time Variants over time
 Property of Systems
A system can be excited by one or more
input signals.
The output signal of the coupled system is
he returns.

Exciting a system is equivalent to providing it with a

certain amount of energy.
 Properties of Systems
RC Circuit:

=− +
=1

In this circuit, it can be said that:

The input voltage excites the circuit
The output voltage is the response of the system
 Property of Systems
System response to an excitation of the type
unit step of amplitude A and conditions
null initials.

A, t 0 V (t)= A 1 - e ,
−
u(t)=
0, t<0 for all t ≥ 0
 Property of Systems
Homogeneity: If we multiply the input signal by
any constant (including complex) this is equivalent to
multiply the system's response with initial conditions
null by the same constant.

2A
2A

2A, t 0 t
u(t)= V(t)= 2A 1− e,t
−
0
RC
0, t<0 out
 Property of Systems
Additivity:
If a system is excited by a
entry x1arbitrary, produces a response
with null initial conditions y1and when
excited by an entry x2produces a
response with null initial conditions y2e x1+x2
it always results in an answer with
null initial conditions y1+y2this system is
considered additive.
 Property of Systems

B
B

t A+B
−
A+B V(t)=
out
A+( B 1−)e RC
 Types of systems
Linear systems: Linear systems are
those who comply with the properties
of homogeneity and additivity. In these
systems can apply the principle of
superposition.
Principle of superposition: States that the
response produced by the application of two
various functions is the sum of the two answers
individuals.
 Property of Systems
Time invariance:
If a system is initially in
null initial conditions, an input signal
arbitrary x(t) produces a response y(t) and a
input signal x(t-t 0) produces a response
y(t-t0) for a t0any arbitrary one, the
the system is classified as invariant in
time.
 Property of Systems
Invariance in time

2A
2A

t0 t0
2A, t 0t −
t −t0

u(t)= V(t)=
out
2A 1− e,t tRC
0
0, t<t0
 Property of Systems

Systems Systems
Additives Homogeneous

Systems Systems
Invariants Systems
Linear
in time LIT
 Property of Systems
Why focus on LIT systems?

Their behavior can be easily

predictable.
Most of Control Theory is based
in the linearity of controlled systems.
Most systems can be
linearized around a point of
operation and are considered invariant in
time in a given period of time.