TUGAS

SISTEM PENGENDALIAN MODERN

DESIGN SERVO AND STABILITY RANGE

Disusun oleh :
Kartini
02311640000041

DEPARTEMEN TEKNIK FISIKA

INSTITUT TEKNOLOGI SEPULUH NOPEMBER
SURABAYA
2019
 Plant yang digunakan adalah vehicle suspension (1/4 vehicle)

Sistem memliki persamaan seperti berikut :

Ẋ= Ax + Bu
Y= Cx
Dengan matriks A, B, dan C untuk plant tersebut adalah :
0 1 0 0
−25.31 −0,14
A = [−4252500 0 ]
46.55 0 −47.76 1
1551.7 0 −1832 0
0
B= [ 6.517 ]
−46.55
−1551.7
C = [0 0 1 0]

DESIGN SERVO
Menggunakan n = 4, sehingga sinyal kontrol u sebagai berikut :
u = - (k2x2 + k3x3 + k4x4 ) + k1 ( r- x1)
= - Kx + k1 r
dengan : K = [𝑘1 𝑘2 𝑘3 𝑘4 ]
State feedback matriks K didapat dari matlab :

K = [−5.9461𝑥104 −30.375 −3.529 −0.0214]

Unit-Step Response dari desain sistem :
0 1 0 0
−25.31 −0,14
A-BK =[−4252500 0 ]-
46.55 0 −47.76 1
1551.7 0 −1832 0
0
[ 6.517 ] [−5.9461𝑥104 −30.375 −3.529 −0.0214]
−46.55
−1551.7
0 1 0 0
−37691,69 197,95 −2,309 −0,000126
=[ ]
−2767869,9 −1413,97 −169,05 0,0009
−92264312,2 −47133,5 −7308,53 −33,3
Persamaan State :
ẋ = [A – BK]x + Bk1r
ẋ1 0 1 0 0 𝒙1 0
ẋ2 −37691,69 197,95 −2,309 −0,000126 𝒙2 6.517
[ ]= [ ] [ ]+ [ ]k r
ẋ3 −2767869,9 −1413,97 −169,05 0,0009 𝒙3 −46.55 1
ẋ4 −92264312,2 −47133,5 −7308,53 −33,3 𝒙4 −1551.7
ẋ1 0 1 0 0 𝒙1 0
ẋ2 −37691,69 197,95 −2,309 −0,000126 𝒙2 −0.0388
[ ]= [ ] [ ]+ [ ]r
ẋ3 −2767869,9 −1413,97 −169,05 0,0009 𝒙3 0.2768
ẋ4 −92264312,2 −47133,5 −7308,53 −33,3 𝒙4 9.2266
Persamaan output :
𝒙1
𝒙2
y = [0 0 1 0] [𝒙 ]
3
𝒙4
u(∞)= -Kx(∞) + k1 r(∞)
= - Kx(∞) + k1 r

Grafik unit-step response

Sehingga :
𝑥1 (∞)
𝑥2 (∞)
u(∞) = -[−5.9461𝑥104 −30.375 −3.529 −0.0214] + −5.9461𝑥104 𝑟
𝑥3 (∞)
[ 𝑥4 (∞) ]
𝑟
0
= -[−5.9461𝑥104 −30.375 −3.529 −0.0214] [0] + −5.9461𝑥104 𝑟 = 0
0
Pada saat steady state, sinyal kontrol u menjadi 0
STABILITY RANGE
State Equation system :
0 1 0 0
−4252500 0 −25.31 −0,14
A=[ ]
46.55 0 −47.76 1
1551.7 0 −1832 0
Liapunov Function :
V(x) = xT Px
Untuk menganalisa stabilitas, digunakan matriks Q, positive-semidefinitereal symmetric :
0 0 0 0
Q = [0 0 0 0]
0 0 0 0
0 0 0 1
P didedifinisikan sebagai : AT P + PA = - Q
0 −4252500 46.55 1551.7 𝑝11 𝑝12 𝑝13 𝑝14
1 0 0 0 𝑝 𝑝 𝑝 𝑝
[ ] [𝑝 21 𝑝22 𝑝23 𝑝24 ]+
0 −25.31 −47.76 −1832 31 32 33 34
0 −0,14 1 0 𝑝41 𝑝42 𝑝43 𝑝44
𝑝11 𝑝12 𝑝13 𝑝14 0 1 0 0 0 0 0 0
𝑝21 𝑝22 𝑝23 𝑝24 −4252500 0 −25.31 −0,14
[𝑝 𝑝32 𝑝33 𝑝34 ] [ 46.55 0 ] = [0 0 0 0]
31 −47.76 1 0 0 0 0
𝑝41 𝑝42 𝑝43 𝑝44 1551.7 0 −1832 0 0 0 0 −1
−4252500𝑝21 + 46.55𝑝31 + 1551.7𝑝41 + (−4252500𝑝12 + 46.55𝑝13 + 1551.7𝑝14 ) = 0
−4252500𝑝21 + 46.55𝑝31 + 1551.7𝑝41= - (−4252500𝑝12 + 46.55𝑝13 + 1551.7𝑝14)
𝑝21 = −𝑝12
𝑝31 = −𝑝13
𝑝41 = −𝑝14
𝑝11 − 4252500𝑝22 + 46.55𝑝23 + 1551.7𝑝24 = 0
−25.31𝑝21 − 47.76 𝑝31 − 1832𝑝41 − 4252500𝑝32 + 46.55𝑝33 + 1551.7𝑝34 = 0
−0,14 𝑝21 + −4252500𝑝42 + 46.55𝑝43 + 1551.7𝑝44 = 0
−4252500𝑝22 + 46.55𝑝32 + 1551.7𝑝42 + 𝑝11 = 0
𝑝23 = 𝑝32
𝑝24 = 𝑝42
𝑝12 + 𝑝21 = 0
−25.31𝑝22 − 47.76 𝑝32 − 1832𝑝42 + 𝑝31 = 0
−0,14 𝑝22 + 𝑝23 + 𝑝41 = 0
 𝑝11 𝑝12 𝑝13 𝑝14
𝑝21 𝑝22 𝑝23 𝑝24
P = [𝑝 𝑝32 𝑝33 𝑝34 ]
31
𝑝41 𝑝42 𝑝43 𝑝44
Untuk P masing-masing > 0 maka sistem adalah stabil