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Real I Ment A Cao Estados
Sistema
ẋ0 a0,0 a0,1 . . . a0,n−1 x0 b0
ẋ1 a1,0 a1,1 . . . a1,n−1 x1 b1
. = . .. ... .. .. + .. u
. .
ẋn−1 an−1,0 an−1,1 . . . an−1,n−1 xn−1 bn−1
| {z } | {z }| {z } | {z }
ẋ A x B
x0
x1
y = c0 c1 . . . cn−1 ..
| {z }
C
xn−1
| {z }
x
x0
x1
u = − k0 k1 . . . kn−1 .. +r
| {z }
K
xn−1
| {z }
x
Sistema
ẋ = Ax + Bu
y = Cx
Lei de realimentação
u = −Kx + r
u = −Kx + r
ẋ = Ax + Bu = Ax + B(−Kx + r) = (A − BK) x + Br
y = Cx
Sistema
Sistema realimentado
∗
a = a∗0 a∗1 ··· a∗n−1
ẋ = Ax + Bu
y = Cx
u = −Kx + r
−1d
T, T , T = 0, z = Tx, x = T−1z
dt
d(T−1z) d(T −1
z)
−1
= AT z + Bu ⇒ T = TAT−1z + TBu ⇒
dt dt
−1
{z } z + |{z}
⇒ ż = |TAT TB u
F G
−1
y = CT
| {z } z
H
0 1 ··· 0 0
0 0 ··· 0 0
F= .. .. .. ..
,G = ..
0 0 ··· 1 0
−a0 −a1 · · · −an−1 1
ż = Fz + G |{z}
u
−Kcz+r
ż = (F − GKc) z + Gr
y = Hz
−1 −1 −1
det sTT − TAT + TBKT = 0
T det (sI − A + BK) T−1 = 0
det (sI − A + BK) = 0
Kc = k0c k1c ··· c
kn−1
sI − F + GKc
0 1 ··· 0
0 0 ··· 0
sI − .. .. .. ..
0 0 ··· 1
−a0 − k0c c
−a1 − k1c · · · −an−1 − kn−1
| {z }
F−GKc
−a − Kc = −a∗
Kc = a∗ − a
KT −1 = Kc ⇒ K = KcT
t1
t2
T= ..
tn−1
tn
ti = ti,1 ti,2 · · · ti,n , i = 1, . . . , n
| {z }
linha
F = TAT−1 ⇒ |{z} G = TB
F T = TA, |{z}
canônica canônica
t2 = t1 A t1B =0
t3 = t2A = t1A2 t2B = t1AB =0
t4 = t3A = t1A3 t3B = t1A2B =0
.. ..
tn = tn−1A = t1An−1tnB = t1An−1B =1
2 n−1
t1 B AB A B · · · A B = 0 0 0 · · · 1
| {z }
Mc
n = dim (A)
2 n−1
Mc = B AB A B · · · A B
det (Mc) 6= 0 → Controlável
det (Mc) = 0 → Não controlável
1 1
ẋ1 = − x1 + u
r1c r1c
r2 1
ẋ2 = − x2 + u
l l
" # " #
− r11c 0 1
A= eB= r1 c
0 − rl2 1
l
2 n−1
Mc = B AB A B · · · A B
" #
1 1
r1 c − c r12
2
Mc = 1 r2
l − l2
(
1 r2 1 1 Não controlável se rl2 = r11c
det (Mc) = − + 2 2
r1c l 2 l c r1 Controlável se rl2 6= r11c
10
y*(t)
yMA(t)
9
y (t)
MF
u(t)
8
6
Amplitude
0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
25
y*(t)
yMA(t)
y (t)
MF
u(t)
20
15
Amplitude
10
0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
ẋ = Ax + Bu
y = Cx
0 = Ax∞ + Bu∞
y∞ = Cx∞
y∞ = r∞
Ax∞ + Bu∞ = 0
Cx∞ = r∞
[A]n×n [B]n×1 [x∞]n×1 [0]n×1
=
[C]1×n [0]1×1 [u∞]1×1 [r∞]1×1
−1
[x∞]n×1 [A]n×n [B]n×1 [0]n×1
=
[u∞]1×1 [C]1×n [0]1×1 [r∞]1×1
u = −K (x − x∞) + u∞
[x∞]n×1
u = −Kx + [K]1×n [1]1×1
[u∞]1×1
−1
[A]n×n [B]n×1 [0]n×1
u = −Kx + [K]1×n [1]1×1
[C]1×n [0]1×1 [r∞]1×1
−1
[A]n×n [B]n×1 [0]n×1
u = −Kx + [K]1×n [1]1×1 r∞
[C]1×n [0]1×1 [1]1×1
| {z }
N
u = −Kx + Nr∞
−7.963 43.4815 12.4444 46.3704 23
1.2206 1.6071 −7.3527 −5.8808 −1
A = ,B =
−0.039452 7.0958 −4.9734 0.97504 2
−1.2214 1.252 5.843 6.3293 2
C = −0.0330 0.2230 0.1039 0.3873
2 3
Mc = B AB A B A B
23 −109 437 −1517
−1 0 14 −72
, AB = , A B = , A B =
2 3
B=
2 −16 79 −303
2 −5 8 −4
23.000 −109.000 437.000 −1517.000
−1.000 −0.000 14.000 −72.000
Mc =
2.000 −16.000 79.000 −303.000
2.000 −5.000 8.000 −4.000
a= a0 a1 ... an−1 = −6 −5 5 5
det (sI − A + BK) = s4 + 22s3 + 179s2 + 638s + 840
∗
a = 840 638 179 22
∗
Kc = a − a = 840 638 179 22 − −6 −5 5 5
Kc = 846.000 643.000 174.000 17.000
K = KcT = 23.771 318.984 −195.744 90.366
ẋ = Ax + Bu, y = Cx + Du
−1
[A]4×4 [B]4×1 [0]4×1
N= [K]1×4 [1]1×1
[C]1×4 [0]1×1 [1]1×1
[[K]1X4 [1]1X1] = 23.771 318.984 −195.744 90.366 1
Saulo O. D. Luiz, AMNLima/Controle Analógico/UFCG/DEE - 32
−7.963 43.482 12.444 46.370 23
1.221 1.607 −7.353 −5.881 −1
[A]4X4 [B]4X1
= −0.039 7.096 −4.973 0.975 2
[C]1X4 [0]1X1
−1.221 1.252 5.843 6.329 2
−0.033 0.223 0.104 0.387 0
[A]4X4 [B]4X1
−1 adj
[A]4X4 [B]4X1 [C]1X4 [0]1X1
=
[C]1X4 [0]1X1 [A]4X4 [B]4X1
det
[C]1X4 [0]1X1
Saulo O. D. Luiz, AMNLima/Controle Analógico/UFCG/DEE - 33
1.987 7.746 −13.154 −5.824 8
−1 −0.668 1.052 2.981 5.230 3
[A]4X4 [B]4X1
= −0.482 1.600 1.713 4.634 2
[C]1X4 [0]1X1
0.684 −0.374 −3.297 −4.751 1
0.878 0.583 −4.469 −4.832 −6
0
0
[0]4X1
= 0
[1]1X1
0
1
N = 840
u = −k0x0 − k1x1 − k2x2 − k3x3 + Nr
u = −23.771x0 − 318.984x1 + 195.744x2 − 90.366x3 + 840r
y*(t)
yMA(t)
3.5
y (t)
MF
2.5
Amplitude
1.5
0.5
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Time (seconds)
Saulo O. D. Luiz, AMNLima/Controle Analógico/UFCG/DEE - 35
Observador de estados
d
x̂ = Aox̂ + Bou + L (y − ŷ)
dt
ŷ = Cox̂
Ao ≈ A, Bo ≈ B, Co ≈ C
Funções de transferência
−1 Ŷ (s)
HU (s) = Co (sI − Ao + LCo) Bo =
U (s)
−1 Ŷ (s)
HY (s) = Co (sI − Ao + LCo) Lo =
Y (s)
Faça Y (s) = 0:
Usando ( 3) em ( 2):
Saulo O. D. Luiz, AMNLima/Controle Analógico/UFCG/DEE - 39
−1 Ŷ (s)
Ŷ (s) = Co(sI − Ao + LCo) BU(s) ⇒ = Co(sI − Ao + LCo)−1B
U(s)
(4)
Faça U(s) = 0
Usando ( 6) em ( 5):
Saulo O. D. Luiz, AMNLima/Controle Analógico/UFCG/DEE - 40
sX̂(s) = AoX̂(s)+L(Y (s)−CoX̂(s)) ⇒ sX̂ (s) = AoX̂(s)+LY (s)−LCoX̂(s) ⇒
Usando ( 7) em ( 6):
Ŷ (s)
⇒ = Co(sI − Ao + LCo)−1L (8)
Y (s)
d
−1
T, T , T = 0|z = Tx ⇒ x = T−1z
dt
−1
ż = TAT
| {z } z + |{z}
TB u
F G
No observador:
d x̂
= Aox̂ + Bou + L(y − ŷ)
dt
y = Cox̂
x̂ = T−1ẑ
−1 d ẑ
T = AoT−1ẑ + Bou + L(Cx − Cox̂)
dt
Saulo O. D. Luiz, AMNLima/Controle Analógico/UFCG/DEE - 44
−1 d ẑ
T = AoT−1ẑ + Bou + LC(x − x̂)
dt
−1 d ẑ
T = AoT−1ẑ + Bou + LCT−1(z − ẑ )
dt
ẑ˙ = |TAT −1
{z } ẑ + TB
|{z} u + TL CT −1
|{z} | {z } (z − ẑ)
F G Lo H
−1 −1
y = CT
| {z } z e ŷ = Cx̂ = CT
| {z } ẑ
H H
d
z̃ = (F − LoH) z̃
dt
∗
T
a = a∗0 a∗1 ... a∗n−1
0 0 · · · −a0
l0o
1 0 · · · −a1
.. .. .. .. l1o
, ,
F= H = 0 0 · · · 0 1 L o = ..
0 1 ··· ..
o
ln−1
0 0 1 −an−1
0 0 . . . l0o
0 0 . . . l1o
sI − F + LoH = sI − (F − LoH) = sI − F − .. .. . . . ..
o
0 0 . . . ln−1
F = AT−1
F = TAT−1 ⇒ T−1 |{z}
canônica
−1
H
|{z} = CT
canônica
−1
T = t1 t2 · · · tn−1 tn
T
ti = t1,i t2,i . . . tn,i , i = 1, · · · , n
| {z }
coluna
t2 = At1 Ct1 = 0
t3 = At2 = A2t1 Ct2 = CAt1 = 0
.. ..
tn = Atn−1 = A(n−1)t1 Ctn = CA(n−1)t1 = 1
C 0 0
CA 0 −1 0
.. t =
1 .. ⇒ t1 = Mo ..
CAn−1 1 1
| {z }
Mo
C
CA
CA2
Mo =
..
CAn−1
n = dim (A)
det (Mo) 6= 0 → Observável
det (Mo) = 0 → Não observável
l ẋ1 l ẋ1 r1 r1
+ x1 = u ⇒ = −x1 + u ⇒ ẋ1 = − x1 + u
r1 r1 l l
x2 x2
Cẋ2 + = u ⇒ Cẋ2 = − + u
r2 r2
x2 u
ẋ2 = − +
Cr2 C
Saulo O. D. Luiz, AMNLima/Controle Analógico/UFCG/DEE - 55
r1
r1
ẋ1
− 0
x1
= l
l
1 + 1 u
ẋ2 0 − x2
| {z Cr2 } C }
| {z
A B
x1
y= 0 1
| {z } x2
C
" #
C 0 1
Mo = =
CA 0 − cr12
det (Mo) = 0
−7.963 43.4815 12.4444 46.3704 23
1.2206 1.6071 −7.3527 −5.8808 −1
A = ,B =
−0.039452 7.0958 −4.9734 0.97504 2
−1.2214 1.252 5.843 6.3293 2
C = −0.0330 0.2230 0.1039 0.3873
C = −0.033 0.223 0.104 0.387
CA = 0.058 0.145 −0.304 −0.290
2
CA = 0.081 0.231 −0.524 −0.295
3
CA = 0.016 −0.182 0.193 0.031
C −0.033 0.223 0.104 0.387
CA 0.058 0.145 −0.304 −0.290
Mo = =
CA2 0.081 0.231 −0.524 −0.295
CA3 0.016 −0.182 0.193 0.031
8 7 6 23
−1 adj M o
3 9 −5 −1
Mo = =
det Mo 2 9 −6 2
1 −7 5 2
0 0 0 6 −6
−1 1 0 0 5 −5
,a=
F = TAT =
0 1 0 −5 5
0 0 1 −5 5
3030.000 −4420.000
1655.000 −210.000
Lo = a∗ − a = , −1
L = T L o =
330.000 −1925.000
25.000 325.000
ẋ = Ax + Bu
y = Cx
u = −KPx + KI xI
ẋI = e, e = r − y
ẋI [0]1×1 − [C]1×n [xI ]1×1 [0]1×1 [1]1×1
= + u+ r
ẋ [0]n×1 [A]n×n [x]n×1 [B]n×1 [0]n×1
xI
u=− K
|{z} i x
h
−KI KP
−7.963 43.4815 12.4444 46.3704 23
1.2206 1.6071 −7.3527 −5.8808 −1
A =
B =
−0.039452 7.0958 −4.9734 0.97504
, 2
−1.2214 1.252 5.843 6.3293 2
C = −0.0330 0.2230 0.1039 0.3873
0.000 0.033 −0.223 −0.104 −0.387
0.000 −7.963 43.481 12.444 46.370
[0]1×1 − [C]1×n
= 0.000 1.221 1.607 −7.353 −5.881 (9)
[0]n×1 [A]n×n
0.000 −0.039 7.096 −4.973 0.975
0.000 −1.221 1.252 5.843 6.329
[0]1×1 − [C]1×n
det sI − = s5 + 5s4 + 5s3 − 5s2 − 6s
[0]n×1 [A]n×n
[0]1×1 − [C]1×n
det sI − = s (s − 1) (s + 1) (s + 2) (s + 3)
[0]n×1 [A]n×n
det (sI − F + GKc) = s5 + 122s4 + 2379s3 + 18538s2 + 64640s + 84000
det (sI − F + GKc) = (s + 4) (s + 5) (s + 6) (s + 7) (s + 100)
0.000 0.000 −0.000 0.000 −1.000
23.000 −109.000 437.000 −1517.000 4993.000
Mc =
−1.000 −0.000 14.000 −72.000 284.000
2.000 −16.000 79.000 −303.000 1052.000
2.000 −5.000 8.000 −4.000 −33.000
−1.000 −0.000 0.000 0.000 0.000
0.000 −0.033 0.223 0.104 0.387
T=
0.000 0.058 0.145 −0.304 −0.290
0.000 0.081 0.231 −0.524 −0.295
0.000 0.016 −0.182 0.193 0.031
Kc = 84000.000 64646.000 18543.000 2374.000 117.000
K = −84000.000 −864.151 17632.510 −150.816 18963.312
KI = 84000
KP = −864.151 17632.510 −150.816 18963.312
u = 84000xI + 864.151x0 − 17632.510x1 + 150.816x2 − 18963.312x3
Planta:
ẋ = Ax + Bu (11)
y = Cx (12)
Observador:
d
x̂ = Ax̂ + Bu + L (y − ŷ) (13)
dt
ŷ = Cx̂ (14)
Lei de controle:
u = −kx̂ + Nr (15)
Erro de estado:
x̃ = x − x̂ ⇒ x̂ = x − x̃ (17)
Usando (17) em (16):
Planta:
ẋ = Ax + Bu (23)
y = Cx (24)
Observador:
d
x̂ = Ax̂ + Bu + L (y − ŷ) (25)
dt
ŷ = Cx̂ (26)
Lei de controle:
u = −kpx̂ + kixi (27)
ẋi = e = r − y (28)
Erro de estado:
x̃ = x − x̂ ⇒ x̂ = x − x̃ (30)
Usando (30) em (29) :