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    Ch.3.1 Introduction To State Variables

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    Salman Masri
    1) The document introduces state-variable formulation as a way to model dynamic systems using state variables that completely describe the system's response. 2) Key properties of state variables are that they must be independent and not uniquely defined. The number of state variables needed is related to the number of energy-storing elements in the system. 3) State-variable models express the time derivatives of state variables as linear combinations of the state variables and inputs. These equations are solved simultaneously to determine the system response over time.

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    © All Rights Reserved
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    Ch.3.1 Introduction To State Variables

    Uploaded by

    Salman Masri
    13 views10 pages
    1) The document introduces state-variable formulation as a way to model dynamic systems using state variables that completely describe the system's response. 2) Key properties of state variables are that they must be independent and not uniquely defined. The number of state variables needed is related to the number of energy-storing elements in the system. 3) State-variable models express the time derivatives of state variables as linear combinations of the state variables and inputs. These equations are solved simultaneously to determine the system response over time.

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    Ch.3.1 Introduction to State Variables

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    1) The document introduces state-variable formulation as a way to model dynamic systems using state variables that completely describe the system's response. 2) Key properties of state variables are that they must be independent and not uniquely defined. The number of state variables needed is related to the number of energy-storing elements in the system. 3) State-variable models express the time derivatives of state variables as linear combinations of the state variables and inputs. These equations are solved simultaneously to determine the system response over time.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    13 views10 pages

    Ch.3.1 Introduction To State Variables

    Uploaded by

    Salman Masri
    1) The document introduces state-variable formulation as a way to model dynamic systems using state variables that completely describe the system's response. 2) Key properties of state variables are that they must be independent and not uniquely defined. The number of state variables needed is related to the number of energy-storing elements in the system. 3) State-variable models express the time derivatives of state variables as linear combinations of the state variables and inputs. These equations are solved simultaneously to determine the system response over time.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 10

    Dynamic System Analysis

    State Variables
    Introduction to State Variables
    Review from Chapter 2 / Motivation
    Parameters Input

    𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡

    Variable

    Sketch Free body Diagram Model

    • In Chapter 3, we want to re-express the equations in a “nicer”


    form:
    • Express in terms of what we shall call as state variables
    • Nice: Hopefully reduce the order of the differential equation
    • Price to pay for nice: number of equations
    State-Variable Equations
    𝒒 𝑡 = 𝑞1 𝑡 … 𝑞𝑖 𝑡

    • A form of system models is known as state-variable formulation.

    𝑡 = 𝑡0
    𝑓 𝑡 𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡

    t
    𝑞 𝑡 < 𝑡0 𝑞 𝑡0 𝑞 𝑡 > 𝑡0

    • This set of state variables must completely describe the effect of the
    past history of the system on its response in the future.
    State-Variables Properties
    𝒒 𝑡 = 𝑞1 𝑡 … 𝑞𝑖 𝑡
    • State variables must be independent,
    • It must be impossible to express any state variable as an algebraic function of the
    remaining state variables and the inputs.
    𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡
    • State variables are not unique,
    • For the same problem we could choose many different sets of state variables.

    • Number of state variables needed


    • Hint 1: For mechanical systems, the state variables are usually related to the energy stored
    in each of the system’s energy-storing elements (i.e., number of springs and mass)
    • Hint 2: inspect the element at each “junction”
    • Each mass needs at least 2 state variables
    • At each junction, if you have a least one friction element then add a state variable
    State-Variable Equations
    • In some systems, the number of state variables is different from the number of energy-
    storing elements. Think of a connection between a spring and damper in series.

    Node / Node /
    Junction Junction

    x1 x2
    𝑥1
    • If we choose the state variable 𝒒 𝑡 = 𝑣 , you can not determine 𝑥2 and 𝑣2?
    1
    State-Variable Equations

    𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡

    Variable Input

    Sketch Free body Diagram Model

    • State variables: 𝒒 𝑡 = 𝑞1 𝑡 𝑞2 𝑡 𝑞3 𝑡
    • Inputs: 𝒖 𝑡 = 𝑢1 𝑡 𝑢2 𝑡
    • Model:
    No derivatives
    𝑞ሶ 1 = 𝑎11 𝑞1 + 𝑎12 𝑞2 + 𝑎13 𝑞3 + 𝑏11 𝑢1 + 𝑏12 𝑢2
    𝑞ሶ 2 = 𝑎21 𝑞1 + 𝑎22 𝑞2 + 𝑎23 𝑞3 + 𝑏21 𝑢1 + 𝑏22 𝑢2
    𝑞ሶ 3 = 𝑎31 𝑞1 + 𝑎32 𝑞2 + 𝑎33 𝑞3 + 𝑏31 𝑢1 + 𝑏32 𝑢2
    State-Variable Equations
    • State variables, qi, are solved as a group at each time step and we don’t solve them independently. Solve the
    differential equations simultaneously.

    𝑞ሶ 1 = 𝑎11 𝑞1 + 𝑎12 𝑞2 + 𝑎13 𝑞3 + 𝑏11 𝑢1 + 𝑏12 𝑢2


    𝑞ሶ 2 = 𝑎21 𝑞1 + 𝑎22 𝑞2 + 𝑎23 𝑞3 + 𝑏21 𝑢1 + 𝑏22 𝑢2
    𝑞ሶ 3 = 𝑎31 𝑞1 + 𝑎32 𝑞2 + 𝑎33 𝑞3 + 𝑏31 𝑢1 + 𝑏32 𝑢2
    • Coefficients, 𝑎𝑖𝑗:
    • For linear systems all coefficients are constants.
    • For linear systems whose parameters vary with time, some of these coefficients are functions of time
    • Nonlinear elements could yield coefficients which are functions of the state variables.

    𝑡 = 𝑡0 𝑓 𝑡

    t
    𝑞 𝑡 < 𝑡0 𝑞 𝑡0 𝑞 𝑡 > 𝑡0
    State-Variable Equations
    • After solving the model, one can solve for the 𝑞’s for all time.
    𝑡 = 𝑡0
    𝑓 𝑡

    t
    𝑞 𝑡 < 𝑡0 𝑞 𝑡0 𝑞 𝑡 > 𝑡0

    • One can solve for the outputs, (𝑦1, 𝑦2) variables

    𝑦1 = 𝑐11 𝑞1 + 𝑐12 𝑞2 + 𝑐13 𝑞3 + 𝑑11 𝑢1 + 𝑑12 𝑢2


    𝑦2 = 𝑐21 𝑞1 + 𝑐22 𝑞2 + 𝑐23 𝑞3 + 𝑑21 𝑢1 + 𝑑22 𝑢2

    • It is not uncommon to have some of the output variables, yi, to be identical to the state variables.
    State-Variable Equations
    • The general approach for deriving the mathematical model in state-variable form includes:

    1. Identify the state variables and the inputs

    2. Draw FBD for each independent mass and junction point that can move with an unknown motion.

    3. Sum the forces on each FBD to obtain a set of differential equations. Add equations of the state variables.

    4. Manipulate the equations in state-variable form.

    5. Express the output variables as algebraic functions of the state variables, the inputs and possibly time.

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