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Lecture#4 State Space Model

The document discusses state space models for representing dynamic systems. It begins by explaining the advantages of the state space approach over other modeling techniques. It then defines key concepts related to state space models such as state variables, state vectors, and state equations. Examples are provided to show how to derive state space models for various systems, including mass-spring-damper, electrical, and RLC circuit systems. The document also covers topics like determining the free and forced responses of state space models.

Uploaded by

Alfares King
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
269 views

Lecture#4 State Space Model

The document discusses state space models for representing dynamic systems. It begins by explaining the advantages of the state space approach over other modeling techniques. It then defines key concepts related to state space models such as state variables, state vectors, and state equations. Examples are provided to show how to derive state space models for various systems, including mass-spring-damper, electrical, and RLC circuit systems. The document also covers topics like determining the free and forced responses of state space models.

Uploaded by

Alfares King
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 31

Prof.

Wahied GHARIEB


EE455: Applied Control

Lecture# 4
State Space Model
2 EE455: Applied Control

Advantages of State Space Approach
Classical Approach
Modern Control Approach
Transfer Function
Linear Time Invariant
System, SISO
Laplace Transform,
Frequency domain
Only Input-output
Description: Less Detail
Description on System
Dynamics

State Variable Approach
Linear Time Varying,
Nonlinear, Time
Invariant, MIMO
Time domain
Detailed description of
Internal behavior in
addition to I-O
properties
3 EE455: Applied Control

State Space Representation
Select a particular subset of all possible independent
system variables and call them state variables.

For an nth-order system, write n simultaneous first-
order differential equations in terms of state
variables.

If we know the initial conditions of all state variables
at t
0
and the system input for t>t
0
, we can solve the
simultaneous differential equations for the state
variables for t>t
0
.

4 EE455: Applied Control

Concept of State Variable
System variable: Any variable that responds to an input or initial
conditions in a system.

State variables: The smallest set of linearly independent system
Variables.

Sate vector: A vector whose elements are the state variables.

State space: The n-dimensional space whose axes are the state variables.

State equations: A set of n simultaneous, first-order differential equations
with n variables, where the n variables to be solved are the state variables.

Output equation: The algebraic equation that expresses the output
variables of a system as linear combinations of the state variables and the
inputs.
5 EE455: Applied Control

Dynamic System must involve elements that memorize
the values of the input

Integrators in CT serve as memory devices

Outputs of integrators are considered as internal state
variables of the dynamic system

Number of state variables to completely define the
dynamics of the system=number of integrators involved
Concept of State Variable
6 EE455: Applied Control

State Space Model
Input equation
Output equation
7 EE455: Applied Control

State Space Model
Most linear systems encountered are time-invariant: A, B,
C, D are constant, i.e., dont depend on t
Example: DC motor with constant coefficients

when u(t) and y(t) are scalar, system is called single-
input, single-output (SISO)

when input & output signal dimensions are vectors,
MIMO
Example: Aircraft , Electrical power station


8 EE455: Applied Control

Mass-Spring-damper system
Therefore, we define variable x
1
and
x
2
.
) ( ) (
) ( ) (
2
2
t r t ky
dt
t dy
b
dt
t y d
M = + +
y x =
1
y x

=
2
Dynamic equation of the
system:
9 EE455: Applied Control

If the measured output of the system
is position, then we have:
In matrix form:
General State-Space
Model:
Mass-Spring-damper system
10 EE455: Applied Control

Electrical System

11 EE455: Applied Control

RLC Circuit

12 EE455: Applied Control

RLC Circuit

13 EE455: Applied Control

RLC Circuit

Example: Given the electric network, find a state-space
representation. (Hint: state variables V
c
and i
L
, output i
R
)
) (
/ 1
0
0 / 1
/ 1 ) /( 1
t v
L i
v
L
C RC
i
v
L
C
L
C
(

+
(

=
(

| |
(

=
L
C
R
i
v
R i 0 / 1
14 EE455: Applied Control

Block Diagram of State Space model
Time Invariant System
A(t)= State Matrix
B(t)= Input Matrix
C(t)=Output Matrix
D(t)=Direct Transmission Matrix
15 EE455: Applied Control

c x
c x
c x

=
=
=
3
2
1
1
3 2 1 3
3 2
2 1
24 9 26 24
x y
r x x x x
x x
x x
=
+ =
=
=

Transfer Function to State Space


16 EE455: Applied Control

Decomposed Transfer Function
17 EE455: Applied Control

Decomposed Transfer Function
18 EE455: Applied Control

State Space to Transfer Function
Du Cx y
Bu Ax x
+ =
+ =
Given the state and output equations



Take the Laplace transform assuming zero initial conditions:

(1)

(2)

Solving for in Eq. (1),


or
(3)
Substituting Eq. (3) into Eq. (2) yields


The transfer function is
) ( ) ( ) (
) ( ) ( ) (
s s s
s s s s
DU CX Y
BU AX X
+ =
+ =
) (s X
) ( ) ( ) ( s s s BU X A I =
) ( ) ( ) (
1
s s s BU A I X

=
) ( ) ( ) ( ) (
1
s s s s DU BU A I C Y + =

) ( ] ) ( [
1
s s U D B A I C + =

D B A I C
U
Y
+ =
1
) (
) (
) (
s
s
s
19 EE455: Applied Control

Eigen Values
Roots of Characteristics
Equation
Example
20 EE455: Applied Control

Diagonalization of nxn matrix
21 EE455: Applied Control

Diagonalization of nxn matrix
22 EE455: Applied Control

Diagonalization of nxn matrix
23 EE455: Applied Control

Diagonalization of nxn matrix
24 EE455: Applied Control

Diagonalization of nxn matrix
Another approach using the eigenvectors:

For distinct eigenvalues solve the equation



Where i is the eigenvalues index
i i i
P P A =
] P ...... P [P matrix n nsformatio linear tra The
n 2 1
=
25 EE455: Applied Control

Invariance of Eigenvalues
26 EE455: Applied Control

Free Response of State Space Model
) ( ) ( t Ax t x
dt
d
=
By taking Laplace transform
) 0 ( ) ( ) 0 ( ) ( ) (
) ( ) 0 ( ) (
1
x s x A sI s x
s Ax x s x s
u = =
=

) ( ) (
) 0 ( ) ( ) (
nxn matrix transition state t
x t t x
u
u =
By taking inverse Laplace transform
27 EE455: Applied Control

Free Response of State Space Model
(t) compute ,
4 - 3 -
1 0
u
(

= A
1
) ( ) (

= u A sI s
1
4 - 3 -
1 0
s 0
0
) (

(

|
|
.
|

\
|

|
|
.
|

\
|
= u
s
s
1
4 s 3
1 -
) (

(

|
|
.
|

\
|
+
= u
s
s
28 EE455: Applied Control

Free Response of State Space Model
(

|
|
.
|

\
|
+
+ +
= u
s 3 -
1 4
3 ) 4 (
1
) (
s
s s
s
(

u u
u u
=
(s) ) (
(s) ) (
22 21
12 11
s
s
3
5 . 0
1
5 . 1
) 1 )( 3 (
4
) (
11
+

+
=
+ +
+
= u
s s s s
s
s
3
5 . 0
1
5 . 0
) 1 )( 3 (
1
) (
12
+

+
=
+ +
= u
s s s s
s
29 EE455: Applied Control

Free Response of State Space Model
3
5 . 1
1
5 . 1
) 1 )( 3 (
3
) (
21
+
+
+

=
+ +

= u
s s s s
s
3
5 . 1
1
5 . 0
) 1 )( 3 (
) (
22
+
+
+

=
+ +
= u
s s s s
s
s
(
(

+ +
= u


) e 1.5 5 . 0 ( ) e 1.5 5 . 1 (
) e 0.5 - 5 . 0 ( ) e 0.5 - 5 . 1 (
) (
3t - 3t -
-3t -3t
t t
t t
e e
e e
t
) 0 ( ) ( ) ( x t t x u =
30 EE455: Applied Control

Forced Response of state space model
) ( ) ( ) ( t Bu t Ax t x
dt
d
+ =
By taking Laplace transform
) ( ) ( ) 0 ( ) ( ) (
) ( ) ( ) 0 ( ) ( ) (
) ( ) ( ) 0 ( ) (
1 1
s Bu s x s s x
s Bu A sI x A sI s x
s Bu s Ax x s x s
u + u =
+ =
+ =

}
}
u + u =
u + u =
t
t
d Bu t x t t x
d t Bu x t t x
0
0
) ( ) ( ) 0 ( ) ( ) (
) ( ) ( ) 0 ( ) ( ) (
t t t
t t t
By taking inverse
Laplace transform
31 EE455: Applied Control

Forced Response of state space model
(

=
(

=
(

=
1
0
(0) x
(0) x
,
1
0
B ,
4 - 3 -
1 0
2
1
A
Free response
t t
t t
e e t x
e e t x
3
2
3
1
5 . 1 5 . 0 ) (
5 . 0 5 . 0 ) (


+ =
=
Forced response
t
t
t t
t
t
t t
e d e e t x
e d e e t x
3
0
) ( 3 ) (
2
3
0
) ( 3 ) (
1
] 5 . 1 5 . 0 [ ) (
) 1 (
3
1
] 5 . 0 5 . 0 [ ) (


= + =
= =
}
}
t
t
t t
t t
Complete response = free response + forced response

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