Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl MOD MATMATIS SISTM DINAMIS DAN SISTM KNDAI PNDAHUUAN KASIFIKASI SISTM MOD MATMATIS SISTM FISIS PMODAN STAT SPAC Tn ltr ITB [YS- 98] hl dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl PNDAHUUAN Untu nlss dn dsn sstm ndl, sstm ss hrus dbut mdl ssny. Mdl ss hrus dpt mnmbrn rtrst dnms sstm tsb scr mmd. Mdl mtmts dturunn dr huum-huum ss sstm ybs. - Dnm sstm mns dmdln dnn huum-huum Nwtn. - Dnm sstm ltr dmdln dnn huum-huum Krch, Ohm. Mdl mtmts sutu sstm: umpuln prsmn yn mnmbrn dnm sutu sstm scr mmd. Mdl mtmts dpt mnnt ursny dnn mmdln scr lbh lnp, bl dprlun dlm nlss yn tlt. Prlu mprm ntr sdrhnn mdl dnn urs hsl nlss. Tn ltr ITB [YS- 98] hl dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Ksdrhnn mdl dcp dnn mmprhtn trtr pntn sj dlm pmdln. - Pmdln dnn prsmn drntl (bun prsl), n mnhlnn st-st nnlnr trtntu dn prmtr-prmtr trdstrbus yn munn d pd sstm. - Pmdln sutu mpnn pd runs rndh td dpt dunn pd runs tn. Sutu sstm yn mml mdl mtmts sm td sllu mnmbrn mdl ss yn sm (Msl: nl sstm mns dnn sstm ltr). Du pndtn nlss : - Funs Alh (Trdsnl, untu sstm SISO) - Stt Spc (Mdrn, untu sstm mdrn, msl MIMO) Tn ltr ITB [YS- 98] hl 3 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl KASIFIKASI SISTM - INA VS NONINA - TIM-INVAIANT VS TIM-VAYING - CONTINUOUS-TIM VS DISCT-TIM - DTMINISTIC VS STOCHASTIC - UMPD- VS DISTIBUTD - PAAMTS - TANSF FUNCTION VS STAT SPAC Tn ltr ITB [YS- 98] hl 4 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl - INA VS NON-INA - Sstm ss umumny brst nnlnr dlm tnt trtntu. - Untu drh rj yn cl, sstm nnlnr dpt dnp lnr (pc-ws lnrstn) Drh lnr - Sstm lnr : brlu huum suprpss: - rspns sutu sstm trhdp bbrp nput brbd mrupn mbns rspns msn-msn nput. - Pnujn lnrn sutu sstm mllu nput snusdl. - Dlm bbrp hl lmn-lmn nnlnr snj dsrtn dlm sstm ndl untu ptms unju rj. - ly n- dp pd sstm ntrl ptml wtu, sstm ndl pswt dn sstm pluru ndl. Tn ltr ITB [YS- 98] hl 5 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl TIM-INVAIANT VS TIM-VAYING - Sstm tm-nvrnt mml prmtr-prmtr yn nstn, t trntun wtu. - spns ny t trntun pd st pn nput dbrn. - Sstm tm-vryn mml stu tu lbh prmtr yn brubh trhdp wtu. - spns ny trntun pd wtu dbrn nput. - Cnth Sstm Kndl Tm-vryn: Sstm ndl pswt run ns : bbtny brurn bt nsums bhn br. CONTINUOUS-TIM VS DISCT-TIM - Sstm ntnyu wtu : mml smu vrbl / snyl yn ntnyu trhdp wtu. - Sstm dsrt wtu : mml stu tu lbh vrbl / snyl yn dsrt trhdp wtu. Tn ltr ITB [YS- 98] hl 6 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl DTMINISTIC VS STOCHASTIC - Sstm rmnst mml rspns trhdp sutu nput yn dpt dtb dn bruln / nsstn. - Sstm stst: rspns trhdp nput yn sm td sllu mnhsln utput yn sm. UMPD- VS DISTIBUTD PAAMTS - Pmdln mpnn yn sdrhn bl dpt dnp bhw prmtr-prmtr mpnn tsb dpt dmdln scr trumpul dstu tt. - Dcrn dnn prsmn drnsl bs. - Pmdln prmtr trdstrbus lbh tpt dunn, mslny pd sstm trnsms. - Dcrn dnn prsmn drnsl prsl. Tn ltr ITB [YS- 98] hl 7 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl TANSF FUNCTION VS STAT SPAC - Anlss sstm sdrhn, SISO yn brst lnr, ntnyu, tm-nvrnt, lumpd-prmtrs, rmnst, dpt dlun mllu pndtn trdsnl (uns lh) yn mrupn dmn runs mpls. Alt bntu nlss dn prncnn dpt brup t cus (dmn wtu), Bd Plt tu Nyqust (dmn runs). - Untu sstm mdrn yn mpls dn brurs tn (dtnd dnn MIMO, nn-lnr, tm-vryn, ptml, rbust) hrus dunn pndtn stt spc yn brst dmn wtu. Tn ltr ITB [YS- 98] hl 8 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu nn ltr() c Huum Fss : Krch Prsmn dnms sstm / Prsmn drnsl d c c Dlm bntu plc : (np nds mul 0) si I( s) I( s) ( s) Cs I( s) I( s) ( s) s( s) sc C I( s) s I si s c Funs lh : ( s) s I( s) C s I( s) C Cs Cs Tn ltr ITB [YS- 98] hl 9 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu nn ltr () (t) (t) C - (t) 0 (t) t d ( ) 0 ( ) d 0 ( ) } c ( t) ( t) C d t 0( ) C d 0 ( 3) c Tn ltr ITB [YS- 98] hl 0 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Trnsrms plc : 0 0 s I ( ) I ( ) s I I sc ( ) 0 3 ( ) s I ( ) I ( ) & ( ) ( 3) 0 0 s ( ) 0 0 sc s s ( ) ( s )( s ) 0 S s s 0 0 ( ) ( ) ( ) ( ) sc 0 ( ) ( ) ( )( ) [ ] 0 s s s s s s C 0 s s C s s s 0 ( ) ( ) s C s s 0 s ( ) 3 s C s C s Tn ltr ITB [YS- 98] hl dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu nn ltr (3) Op Amp dl : Z n ~ Shn 0 0 - x 0 x ~0 vrtul rund, shn Prsmn nn: x x Dprlh: : Tn ltr ITB [YS- 98] hl dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu nn ltr (4) x 3 c - 3 ~ d( x ) C d ~ C x 3 ~ x C d sc shn Cs Tn ltr ITB [YS- 98] hl 3 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu Sstm Mns: Trnsls() n nput b m y utput pd t < 0 : sstm t brr pd t 0 rb d rn dnn cptn nstn dn ns tn y utput rlt trhdp rund m d y m d y b dy dn y ( n) b dy y b dn n plc : ( ms bs ) Y ( bs ) Y( s) U bs ms bs U Tn ltr ITB [YS- 98] hl 4 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl untu Sstm Mns : Trnsls() x b m y lur Huum Nwtn du : m F m d x b dx x d plc : M mss, () A prcptn, m / s F y, N ms X bs X X F Dprlh Funs Alh: X F ms bs Ambl : (t), shn F(s) ; m ; b; X s s ( s )( s ) Tn ltr ITB [YS- 98] hl 5 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu Sstm Mns: ts Jα T J mmn nrs bbn m α prcptn sudut bbn rd / s T trs yn dbrn pd sstm Nm T J w d θ dθ J b tu : dω J bω T T ω cptn sudut rd / s θ smpnn sudut (rd) b Tn ltr ITB [YS- 98] hl 6 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu Gnrtr DC : rus mdn ο Kcptn nstn n ο Arus utput dpt dntrl dr bsrny rus n rus jnr z φ n φ } () Knstnt nrtr KV pd r/nput : d () : ( ) ( 3) Substtus (3) - (): d Tn ltr ITB [YS- 98] hl 7 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Tn ltr ITB [YS- 98] hl 8 dr 8 Dlm plc: KV pd lp nn/uput Atu: Substtus : [ ] s s s s s s ) ( ) ( FunsAlh : ) ( ) ( z d ; z ) ( ) ( ) ( ) ( s s z s s z s d z z d z z t
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Dprlh: z z z z s Shn : s x s ( ) ( ) s x z z s Tn ltr ITB [YS- 98] hl 9 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu Mtr DC dnn Pnntrln Arus Jnr rnn jnr m m m τ θ (t) smpnn sudut rus jnr J nrs B dmpn nstn rus mdn I m tnn trndus m φ n n cptn rts (putrn)mtr φ I nstn φ nstn shn n d θ m K nstnt tnn mtr Tn ltr ITB [YS- 98] hl 0 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Prsmn rnn : d m m m d d θ m m ( ) s I sθ m m Prsmn Bbn Trs yn dhsln mtr : sbndn dnn lus (yn dlm hl n nstn) dn sbndn dnn rus jnr T T. K T nstnst trs mtr T J d θ B d θ tu : shn : T I ( ) - Js B Θ s Tn ltr ΘITB [YS- 98] T hl dr 8 ( ) s J ms ( m J mb) s ( m B T ) s
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Dnn dns : T m Knstnt wtu jnr m T m J m T Knstnt wtu mtr γ mb T Ftr rdmn Dprlh: Θ s ( ) s [ ] s T T s ( T γ T ) s ( γ ) m m Tn ltr ITB [YS- 98] hl dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu Mtr DC dnn Pnntrln Arus Jnr : b rus jnr Τ nstn rus mdn bc m vlt θ smpnn sudut prs mtr rd J mrn b r sn mtr bbn nrs N m / rd/s mtr bbn m trs yn dhsln mtr, N m Flus lh rus mdn : Trs T : ψ nstnt mtr - trs Tnn Bc MF: Tnn MF: prprsnl trhdp lus (nstn) & cptn sudut putrn prs mtr. ψ Knstn untu nstn T φ b b dθ Tn ltr ITB [YS- 98] hl 3 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Prsmn nput : d b Prsmn utput : T d θ dθ J b Tn ltr ITB [YS- 98] hl 4 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu Sstm Gnrtr-Mtr Wrd-nrd Gnrtr dc mndrv mtr dc dnn pnntrln rus jnr Knurs dsr : m m m θ n nrtr dc I B J srv mtr Funs lh : ( ) s s Prsmn p nn : n ( ) ( ) ( ) ( ) d d θ m m [ ] s I sθ m m Tn ltr ITB [YS- 98] hl 5 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Prsmn Bbn : tu : T I T d θ J d I ( s dθ B ) ( Js Bs) ( Js B ) T s Θ Θ ( ) ( ) ;, shn m m m m Θ shn : T s J s J B s B [ ( m ) [( m ) ( m ) ] ( m ) T ] Θ ( ) s Θ s x ( s ) ( ).. Tn ltr ITB [YS- 98] hl 6 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Mdl Mtmts untu Mtr DC dnn Pnntrln Arus Mdn I rus jnr nstn rus mdn J θ (t) B Trs yn dhsln mtr : shn T T. T ~ φ ns tn ~ Prs bbn : T J d θ B d θ J d θ T B d θ Prs lp r / nput : Tn ltr ITB [YS- 98] hl 7 dr 8
Bb : Mdl Mtmts Sstm Dnms 303 Sstm Kndl Dprlh: d θ s T B ( T s)( T s ) m T J Tm B Knstnt wtu rnn Knstnt wtu mtr Tn ltr ITB [YS- 98] hl 8 dr 8