Tham khảo tài liệu 'bishop, robert h. - the mechatronics handbook [crc press 2002] part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | and the composite system output is y t y1 t . We thus obtain X 1 t X 2 t A1 B1C2 0 a2 X1 t _X2 t B1D2 B2 u t y t C1 D1C2 X t X2 t D1D2 u t Parallel Connection The system interconnection shown in Fig. is known as a parallel connection. To obtain the desired state space model we observe that the input is u t u1 t u2 t and the output for the whole system is y t y1 t y2 t . We obtain X 1 t A1 0 X1 t B1 X 2 t 0 A2_ _X2 t B2 u t y t C1 C2 X t x2 t D1 D2 u t FIGURE Parallel connection. Feedback Connection The system interconnection shown in Fig. is known as feedback connection with unit negative feedback and it corresponds to the basic structure of a control loop where S1 is the plant and S2 is the controller. To build the composite state space model we observe that the overall system input satisfies the equation u t u2 t y1 t and the overall system output is y t y1 t . Furthermore we assume FIGURE Feedback connection. 2002 CRC Press LLC and the composite system output is y t y1 t . We thus obtain X 1 t X 2 t A1 B1C2 0 a2 X1 t _X2 t B1D2 B2 u t y t C1 D1C2 X t X2 t D1D2 u t Parallel Connection The system interconnection shown in Fig. is known as a parallel connection. To obtain the desired state space model we observe that the input is u t u1 t u2 t and the output for the whole system is y t y1 t y2 t . We obtain X 1 t A1 0 X1 t B1 X 2 t 0 A2_ _X2 t B2 u t y t C1 C2 X t x2 t D1 D2 u t FIGURE Parallel connection. Feedback Connection The system interconnection shown in Fig. is known as feedback connection with unit negative feedback and it corresponds to the basic structure of a control loop where S1 is the plant and S2 is the controller. To build the composite state space model we observe that the overall system input satisfies the equation u t u2 t y1 t and the overall system output is y t y1 t . Furthermore we assume FIGURE Feedback connection. 2002 CRC Press LLC 25 .
