3ª avaliação de identificação_senko

7/23/2019 3 Avaliao de Identificao_Senko

1/50

UNIVERSIDADE FEDERAL DA PARABA

PROGRAMA DE PS-GRADUAO EM ENGENHARIA MECNICA

CENTRO DE TECNOLOGIA

IDENTIFICAO DE SISTEMAS

(3 Lista de Exerccios)

PROFESSOR: Jos A R!"#

ALUNO: R!$%&'( S)*+o

Jo,o P)sso&

M&'o . /012

1


2/50

1 E3)'$4$!os (o Co)#%o5 A A R6 7Identificao de Sistemas Dinmicos Lineares8

5.2. I()*9!!$&' & "*,o () 9'&*s)';*$!& (!s$')9& () "< ='o$)sso >o?)'*&(o =)#& s)>"!*9)

)@"&,o & (!)')*&:1 0

A B A 1B A 1By t a y t b u t+ =

[ ] 1

0

A B A 1B A 1B Ta

y t y t u tb

= =

"9!#!&*(o o )s9!


3/50

u=[1.197; -1.830;-.420;-.5721;-.287;.435; -1.404;.193; -1.771;.701;

-.389;-1.040; -1.256;.966];

n=length(y);

Y=[];

!=[];

"r#=2$1$n;

Y=[Y;y(#)];

!=[!;-y(#-1) u(#-1)];

en%

theta=(!n&(!'!))!'y(2$14);

a1=theta(1)

0=theta(2)

&1 0112

0 011

Co


4/50

5.3. Co*s!()'&' o ='o$)sso (!s$')9o $&'&$9)'!&(o =)#& )@"&,o:

0 1A B A B A 1By t b u t b u t= +

[ ] 0

1

A B A B A 1B Tby t u t u tb

= =

o*() &s s)>"!*9)s


5/50

theta=(!n&(!'!))!'Y;

0=theta(1)

1=theta(2)

t=[1$11];

!gure(1)

*l"t(t+u)

!gure(2)

*l"t(t+y)

"rt=2$1$n

ye,t=!theta;

en%

t=2$1$n;

!gure(3)

*l"t(t+Y+t+ye,t')

0 01

1 021

Co


6/50

5.5. A(

1

1 1

052 A BA B

A1 052 BA1 052 B A Bp

z Y zG z

z z z

= =

Lo>o

1

1 /

A B 052

A B 1 05 J 05 02

Y z z

z z z

=

+

A B 05 J A 1B 05 02 A /B 052 A 1By ! y ! y ! u != + + Q )@"&,o () (!)')*&s (o ='o$)sso

- U9!#!&*(o o M&9#&

E3)'$4$!o 22 (o #!?'o (o Co)#%o

$#)&' #$#os) #$#$

910:02:1/6"'916 '&'&" (06 '06 s06)*(o':1:/2 "(16 ()>'&" (0(-1-002(-/02"(-16 '0'-1-002'-/02"'-16 s0s-1-002s-/02"s-16)*(9/1:1:/26

F!>"'&s (&s ')s=os9&s & $&(& )*9'&(&!>"')1s"=#o91/16=#o99/5"(69!9#)WD)>'&"Ws"=#o91//6=#o99/5(69!9#)WR)s=os9& ()?!(o &o ()>'&"W!>"')/s"=#o91/16=#o9915"'69!9#)WR&


7/50

o' +:1:/06 X(YX(6(+Z6X'YX'6'+Z6XsYXs6s+Z6 !(Y!(6(+-1 "(+-1Z6!'Y!'6'+-1 "'+-1Z6!sY!s6s+-1 "s+-1Z6)*(9)9&(!*?!(W!(!(WX(69)9&'!*?!'W!'!'WX'69)9&s!*?!sW!s!sWXs6&1[(9)9&(10[(9)9&(/&1['9)9&'10['9)9&'/&1[s9)9&s10[s9)9&s/o' 9/:1:/0 )s9(!(9)9&(6 )s9'!'9)9&'6 )s9s!s9)9&s6)*(

M&9'!)s () $o?&'!*$!&=[(!*?!(W!(=['!*?!'W!'=[s!*?!sW!s

&1[( 2022)-0010[( 21/221)-001&1[' 202010/)-0010['

2//0/2)-001&1[s 2/1220)-0010[s 2/11/0/)-001=[( 010)-001 -2012/)-001 -2012/)-001 //)-001=[' /1//2//)-001 -/210121)-001 -/210121)-001 //2/20/)-001=[s

020022111)-001 -0212010)-001 -0212010)-001 021201)-001

a) O9)' & s&4(& (o ='o$)ssoy"t#=&'& os s)>"!*9)s s!*&!s () )*9'&(&:

! S!* ()>'&": u"t# $ %6

7


8/50

0 10 20 300

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2Degrau

0 10 20 300

0.2

0.4

0.6

0.8

1

1.2

1.4Resposta devido ao degrau

!! S!* '&


9/50

0 5 10 15-1

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

1Sinal senoidal

0 5 10 15-1.5

-1

-0.5

0

0.5

1

1.5Resposta devido ao sinal senoidal

b) U9!#!&*(o $o'&"

1

0

052I0K0521G

d

d

d

a

b

= =

V)9o' () =&'


10/50

05 /JJ 05 /IJA B

05/IJ 05//Er

) t

=

M&9'! () $o?&'!*$!& =&'& o s!* s)*o!(

05 I0F 05 GGFA B

05GGF 05GH0s

) t =

V)'!!$&-s) @") os )#)


11/50

5.6. S)& o s!s9)"!*9) "*(& o'()" & 001N1006)001'&*(*N516

11


12/50


13/50

0 10 20 30 40 50 60 70 80 90 100-1.5

-1

-0.5

0

0.5

1

1.5

- R"4(o $o<


14/50

R/ 1 $o)!$!)*9) () $o'')#&,o


15/50

0 50 100-1.6

-1.4

-1.2

-1

-0.8

-0.6

-0.4

-0.2

0a1

amostras

0 50 1000

0.2

0.4

0.6

0.8

1

1.2

1.4b0

amostras

0 50 1000

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8b1

amostras

SE 51112/ so'&


16/50

- %aro caso (nanb)!(21)

1 / 1 1A1 152 05 F B A B A1 152 B A B A Bz z y t z z u t e t + = +

A B 15 2 A 1B 05 F A /B A 1B 05 2 A /B A By ! y ! y ! u ! u ! e ! = + + +

O ='o>'&


17/50

5.*

i) G)'&*(o ) s?&*(o o s!* () )*9'&(& PRBS \1 ) o '"4(o " & 001N1006)001'&*(*N516


18/50

0 10 20 30 40 50 60 70 80 90 100

-1

-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6

0.8

1

- R"4(o

0 10 20 30 40 50 60 70 80 90 100-0.03

-0.02

-0.01

0

0.01

0.02

0.03

- P'o>'&


19/50

91:1:N6!>"')1=#o995"6&3!sY0 N -1/ 1/Z!>"')/=#o9)

=&'


20/50

SEs"


21/50

0 20 40 60 80 100-0.9

-0.8

-0.7

-0.6

-0.5

-0.4

-0.3

-0.2

-0.1

0a1

amostras

0 20 40 60 80 1000

0.5

1

1.5

2

2.5

3b0

amostras

SE /2//01)001

R/ 201)-001

P&'& o $&so $o*s!()'&*(o &9o' () )s@")$!" & 05 & so


22/50

)*()*(911:1:1006!>"')=#o99150'5&3!sY0 100 1 /Z

MR*=/6 *"


23/50

0 20 40 60 80 100-0.9

-0.8

-0.7

-0.6

-0.5

-0.4

-0.3

-0.2

-0.1

0a1

amostras

0 20 40 60 80 1000

0.5

1

1.5

2

2.5

3b0

amostras

SE 1111)001

R/ /012)-001

Us&*(o o '&*(o< e+

='o$)sso () )s9!


24/50

5. G)'&*(o ) s?&*(o o s!* () )*9'&(& PRBS \1 ) o '"4(o " & 1N10006)1'&*(*N516


25/50

- R"4(o

0 100 200 300 400 500 600 700 800 900 1000-4

-3

-2

-1

0

1

2

3

- Es9!


26/50

)''o99-!W9)9&6 )''o () )s9!o'!9


27/50

$#os) #o' )$#$

#o&( s!*&!s2(&9"s!*&!s2:516)s!*&!s2:5/6N#)*>9%"691:1:N6

A#>o'!9&*%o 9)9&9)9&>&


28/50

- Para (/0)!(".11)

P&'


29/50

0 200 400 600 800 1000-1.2

-1

-0.8

-0.6

-0.4

-0.2

0

0.2a1

amostras

0 200 400 600 800 1000-0.25

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1a2

amostras

SE 1//)00R/ /112110)-001

Coo'!9


30/50

0 200 400 600 800 1000-1.6

-1.4

-1.2

-1

-0.8

-0.6

-0.4

-0.2

0

0.2a1

amostras

0 200 400 600 800 1000-0.8

-0.6

-0.4

-0.2

0

0.2

0.4

0.6a2

amostras

SE 1/100//)00

R/ /1100/0)-001

- Para !""1

P&'


31/50

R/ 02)-001

Coo'!9"')1=#o995"6&3!sY0 N -1/ 1/Z!>"')/=#o9)

1:/06o' 9:N 9129-1-029-/)96)*(

A#>o'!9


32/50

)''o@99)''o@9-1)''o@96 &''&


33/50

2. I()*9!!$&' os =&'

l"a% r""2g%l.%at

u=r""2g%l($+1);

y=r""2g%l($+2);

n=length(y);

/

Y=[];

!=[];

"r#=3$1$n;

Y=[Y;y(#)];

!=[!;-y(#-1) -y(#-2) u(#-1)];

en%

teta=!n&(!'!)!'Y; &et"r %e *aretr", e,t!a%"

a1=teta(1)

a2=teta(2)

0=teta(3)

ye,t=!teta; ,a%a e,t!a%a

t=3$1$n;

!gure(1)

*l"t(t+Y+''+t+ye,t+'g')

- P&'


34/50

- U9!#!&*(o o >o'!9


35/50

rue1(#)=u(#)err"(#);

en%

>/=,u(err") ,"at?r!" %" err" ua%r@t!c"

2=1-(>/,u(err")) c"e!c!ente %e c"rrela"

Alt!*la

rue=(1n),u(rue1) c"rrela" crua%a entre ",

,!na!, %e entra%a e err" %e *re&!,"t=1$1$n;

!gure(1)

*l"t(t+y(t)+t+ye,t(t))+t!tle('B"*ara" %a ,a%a real e a e,t!a%a')

!gure(2)

*l"t(t+err"(t))+t!tle('>rr" %e e,t!a"')

- Co


36/50

- Co'')#&,o $'"&(& )*9') o s!* () )*9'&(& ) o )''o () =')?!s,o:

R") 0002

-Co)!$!)*9) () $o'')#&,o


37/50

"r#=1$2

y(#)=0;

ye,t(#)=0;

err"(#)=0.0;

err"(#)=0.0;

err"1(#)=0.0;

err"(#)=0.0; rue1(#)=0;

en%

"r#=3$1$n

!=[-y(#-1);u(#)];

err"(#)=y(#)-!'teta; err" %e e,t!a"

:=*!(la/=,u(err") ,"at?r!" %" err" ua%r@t!c"


Alt!*la


,!na!, %e entra%a e err" %e *re&!,"

t=1$1$n;

!gure(1)


!gure(2)


- Co'')#&,o $'"&(& )*9') o s!* () )*9'&(& ) o )''o () =')?!s,o:

R") 001

37


38/50

-Co)!$!)*9) () $o'')#&,o rr" %e e,t!a"')

38


39/50

- Co'')#&,o $'"&(& )*9') o s!* () )*9'&(& ) o )''o () =')?!s,o:

R") -000

-Co)!$!)*9) () $o'')#&,o


40/50

!=[-y(#-1);-y(#-2);-y(#-3);u(#);u(#-1)];




Alt!*la



t=1$1$n;

!gure(1)


!gure(2)


- Co'')#&,o $'"&(& )*9') o s!* () )*9'&(& ) o )''o () =')?!s,o:

R") -0000

-Co)!$!)*9) () $o'')#&,o


41/50

- o&e7o &e ;8 or&em 1 :ero

cl",e all

clear all

clc

l"a% r""2g%l.%at

u=r""2g%l($+1);

y=r""2g%l($+2);

n=length(y);

/

n*=6; nuer" %e *araetr",

*=1000eye(n*+n*); c"n%!e, !n!c!a!,

teta=er",(n*+1);

la=1; at"r %e e,uec!ent"

"r#=1$4

y(#)=0;

ye,t(#)=0;

err"(#)=0.0;

err"(#)=0.0; err"1(#)=0.0;

err"(#)=0.0;

rue1(#)=0;

en%

"r#=5$1$n

!=[-y(#-1);-y(#-2);-y(#-3);-y(#-4);u(#);u(#-1)];




Alt!*la



t=1$1$n;

!gure(1)

*l"t(t+y(t)+t+ye,t(t))+t!tle('B"*ara" %a ,a%a real e a e,t!a%a')!gure(2)


41


42/50

- Co'')#&,o $'"&(& )*9') o s!* () )*9'&(& ) o )''o () =')?!s,o:

R") -000/

-Co)!$!)*9) () $o'')#&,o


43/50

"r#=6$1$n

!=[-y(#-1);-y(#-2);-y(#-3);-y(#-4);-y(#-5);u(#);u(#-1)];




Alt!*la



t=1$1$n;

!gure(1)


!gure(2)


- Co'')#&,o $'"&(& )*9') o s!* () )*9'&(& ) o )''o () =')?!s,o:

R") -000/

-Co)!$!)*9) () $o'')#&,o


44/50

- o&e7o &e 68 or&em 1 :ero

cl",e all

clear all

clc

l"a% r""2g%l.%at

u=r""2g%l($+1);

y=r""2g%l($+2);

n=length(y);

/

n*=8; nuer" %e *araetr",

*=1000eye(n*+n*); c"n%!e, !n!c!a!,

teta=er",(n*+1);

la=1; at"r %e e,uec!ent"

"r#=1$6

y(#)=0;

ye,t(#)=0;

err"(#)=0.0;

err"(#)=0.0; err"1(#)=0.0;

err"(#)=0.0;

rue1(#)=0;

en%

"r#=7$1$n

!=[-y(#-1);-y(#-2);-y(#-3);-y(#-4);-y(#-5);-y(#-6);u(#);u(#-1)];




Alt!*la



t=1$1$n;

!gure(1)

*l"t(t+y(t)+t+ye,t(t))+t!tle('B"*ara" %a ,a%a real e a e,t!a%a')!gure(2)


44


45/50

- Co'')#&,o $'"&(& )*9') o s!* () )*9'&(& ) o )''o () =')?!s,o:

R") -0000

-Co)!$!)*9) () $o'')#&,o


46/50

a2(#)=0;

0(#)=0;

1(#)=0;

err"(#)=0.0;

err"(#)=0.0;

err"1(#)=0.0;

err"(#)=0.0; rue1(#)=0;

en%

"r#=3$1$n

!=[-y(#-1);-y(#-2);u(#-1);u(#-2)];




Alt!*la



t=1$1$n;

!gure(1)


!gure(2)


!gure(3)

,u*l"t(221)+*l"t(t+a1(t))+t!tle('a1')+Clael('a",tra,');


,u*l"t(223)+*l"t(t+a1(t))+t!tle('0')+Clael('a",tra,');


- Co


47/50

- C"'?&s (os )''os () )s9!


48/50

- U9!#!&*(o &s ("&s "#9!


49/50

err"(#)=err"(#)err"(#);

err"t(#)=err"(#-1)/=,u(err") ,"at?r!" %" err" ua%r@t!c"


Alt!*la



t=1$1$n;

!gure(1)


!gure(2)


!gure(3)





- Co


50/50

- C"'?&s (os )''os () )s9!

3ª avaliação de identificação_senko

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