dynamics and control - … · dynamics and control presented by pedro albertos professor of systems...
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DYNAMICS and CONTROL
Presented by
Pedro AlbertosProfessor of Systems Engineering and Control - UPV
MODULE 1I (1)
Models of
Systems & Signals
1
Representations
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DYNAMICS & CONTROL
Modules: Examples of systems and signals
Models of systems and signals
• Representations
• Analogies
• Formalism
Controlled systems: properties
Control systems design
Control benefits
Topics to study
SYSTEM
SIG
NA
LS
SIGNALS: Time variant magnitudes
What is common in all the examples?
SYSTEMS: Set of interconnected elements3
DYNAMICS & CONTROL
What can you see in this image?
Misleading Information
A signal is composed of:
Basic signal
Some given information may have:
Different meaning
Multiple meaning
Noise/disturbances/harmonics
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Signal
Room Thermometer
MeasuredPeople
Heating
Ventilation
TemperatureO
uts
ide
Tem
p.
Win
d
Curt
ains
7
)(tT
Continuous Time
Discrete Time
Binary
Multivalue, discrete
Qualitative
…
Kind of signals
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DYNAMICS & CONTROL
Large
Regular
Small
Continuous Time
Discrete Time
Binary
Multivalue, discrete
Qualitative
…
Sinusoidals
Steps
Ramps
Random
…
Kind of signals
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DYNAMICS & CONTROL
Continuous Time
Discrete Time
Binary
Multivalue, discrete
Qualitative
…
Sinusoidals
Steps
Ramps
Random
…
Kind of signals
8
DYNAMICS & CONTROL
Continuous Time
Discrete Time
Binary
Multivalue, discrete
Qualitative
…
Sinusoidals
Steps
Ramps
Random
…
Kind of signals
8
DYNAMICS & CONTROL
Continuous Time
Discrete Time
Binary
Multivalue, discrete
Qualitative
…
Sinusoidals
Steps
Ramps
Random
…
Kind of signals
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)(tT
Concept of System
• Set of components interacting among them and with the
environment:
GESTALT: The whole is more than the sum of the parts
Key Features: INTERACTION
DYNAMICS
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System’s Model
• Pilot plant (aero-modelism)
• Equivalent electric (mechanical) model
• Simulation model (training system)
• Mathematical model
• Hybrid models
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Type of Systems (models)• Static
• Resistor
• Display
• Dynamic• Water tank
• DC motor
• Multivariable
• Concentrated/Distributed
• Linear
• Time invariant
• Uncertain
• Stochastic
• Fuzzy
• …
How to judge if a system is a dynamic one?
According to the signals:
u(t) y(t)
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G
• Binary
• Digital
• Continuous
System’s structure
Process 2 Process nProcess 1
• Series
• Parallel
Process 2
Process 1
+
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System’s structure• Loop
Process 2Process 1
Process 3
+)(tr )(te )(tx )(ty
)(td
)(tm
• General
• Any combination of series/parallel/loop
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Representation of systems and signals
Information and noise
Representation:
• Graphics
• Table
• Mathematical Function
What have we seen today?
Physical systems:
• Variables relationships
• Analogies
• Mathematical models
• Systems’ structure
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What is next?
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DYNAMICS & CONTROL
Modules: Examples of systems and signals
Models of systems and signals
• Representations
• Analogies
• Formalism
Controlled systems: properties
Control systems design
Control benefits
Topics to study
Thank you!
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The sources of some of these figures are :
•Slide 8-1 http://commons.wikimedia.org/wiki/File%3AIndustrial_robot.jpg Por Jo Teichmann, Augsburg, Germany (KUKA Roboter GmbH) [Public domain], undefined
•Slide10 http://commons.wikimedia.org/wiki/File%3AIndustrial_robot.jpg Por Jo Teichmann, Augsburg, Germany (KUKA Roboter GmbH) [Public domain], undefined
DYNAMICS & CONTROL