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Contents
One slide course summary State space models Example: mass-spring-damper State space models and transfer functions Poles and zeros of state space models State space transformations
Contents
One slide course summary State space models Example: mass-spring-damper State space models and transfer functions Poles and zeros of state space models State space transformations
Contents
One slide course summary State space models Example: mass-spring-damper State space models and transfer functions Poles and zeros of state space models State space transformations
Example: mass-spring-damper
p k m F
friction coef.: c The force F is considered as input, and the mass velocity v is considered as output of this system. The system is of second order, since it has one mass which can contain both kinetic and potential energy.
Example: mass-spring-damper
A possible selection of states are the position p and the velocity v.
Example: mass-spring-damper
A possible selection of states are the position p and the velocity v. The derivative of v is given by Newtons second law: mv = k p c v + F = c 1 k v = p v+ F m m m
Example: mass-spring-damper
A possible selection of states are the position p and the velocity v. The derivative of v is given by Newtons second law: mv = k p c v + F = c 1 k v = p v+ F m m m The derivative of p is simply given by: p=v
Example: mass-spring-damper
Thus, we have the following state space model: p v v = = 0 k m 0 1 c m 1 p v p v + + 0
1 m
F F
which is indeed of the form: x(t) = Ax(t) + Bu(t) y(t) = Cx(t) + Du(t)
Contents
One slide course summary State space models Example: mass-spring-damper State space models and transfer functions Poles and zeros of state space models State space transformations
B+D
Example: mass-spring-damper
For the spring-mass-damper system with m = 1, c = 3, k = 2, the state space representation is: p v v = = 0 2 0 1 3 1 p v p v + + 0 1 0 F F
Example: mass-spring-damper
G(s) = C (sI A) = 0 1 s 0 0 s
1
B+D 0 1 2 3
1
0 1
+ 0
Example: mass-spring-damper
G(s) = C (sI A) = 0 1 s 0 0 s s 1 2 s+3
1
B+D 0 1 2 3 0 1
1
0 1
+ 0
= 0 1
Example: mass-spring-damper
G(s) = C (sI A) = 0 1 s 0 0 s s 1 2 s+3
1
B+D 0 1 2 3 0 1 s+3 1 2 s 0 1
1
0 1
+ 0
= 0 1
1 = 2 0 1 s + 3s + 2
Example: mass-spring-damper
G(s) = C (sI A) = 0 1 s 0 0 s s 1 2 s+3
1
B+D 0 1 2 3 0 1 s+3 1 2 s 0 1
1
0 1
+ 0
= 0 1
1 = 2 0 1 s + 3s + 2 s = 2 s + 3s + 2
+ +
Contents
One slide course summary State space models Example: mass-spring-damper State space models and transfer functions Poles and zeros of state space models State space transformations
Example: mass-spring-damper
For the mass-spring-damper system, the A matrix was: A= 0 2 1 3
which has the characteristic polynomial: 1 det (I A) = 2 +3 = 2 + 3 + 2 = ( + 1)( + 2) Thus, the system has poles in {1, 2}.
Bu + Du = 0
1
C + Du = 0 , = (zI A) A zI B C D u
Bu
C + Du = 0 , (A zI) + Bu = 0 =0
Bu + Du = 0
1
C + Du = 0 , = (zI A) A zI B C D u
Bu
C + Du = 0 , (A zI) + Bu = 0 =0
Thus, z is a zero for G(s) A zI B C D does not have full column rank
Example: mass-spring-damper
For the mass-spring-damper system, zeros must satisfy: A zI B =0 C D or 0 z 1 z 1 (1) = z = 0 2 3 z 1 = 0 1 0 1 0 Hence, the system has a zero in the origin.
Contents
One slide course summary State space models Example: mass-spring-damper State space models and transfer functions Poles and zeros of state space models State space transformations
Example: mass-spring-damper
For the mass-spring-damper system, we change basis using the following transformation matrix: T = 1 1 1 2 , T
1
2 1 1 1
Example: mass-spring-damper
A = T 1 AT = 2 1 1 1 0 1 2 3 1 1 1 2
Example: mass-spring-damper
A = T 1 AT = = 2 1 1 1 1 0 0 2 0 1 2 3 1 1 1 2
Example: mass-spring-damper
A = T 1 AT = = B = T 1 B = 2 1 1 1 1 0 0 2 2 1 1 1 0 1 0 1 2 3 1 1 1 2
Example: mass-spring-damper
A = T 1 AT = = B = T 1 B = 2 1 1 1 1 0 0 2 2 1 1 1 0 1 = 1 1 0 1 2 3 1 1 1 2
Example: mass-spring-damper
A = T 1 AT = = B = T 1 B = 2 1 1 1 1 0 0 2 2 1 1 1 0 1 = 1 1 0 1 2 3 1 1 1 2
C = CT = 0 1
1 1 1 2
Example: mass-spring-damper
A = T 1 AT = = B = T 1 B = 2 1 1 1 1 0 0 2 2 1 1 1 0 1 = 1 1 = 1 2 0 1 2 3 1 1 1 2
C = CT = 0 1
1 1 1 2
Example: mass-spring-damper
A = T 1 AT = = B = T 1 B = 2 1 1 1 1 0 0 2 2 1 1 1 0 1 = 1 1 = 1 2 0 1 2 3 1 1 1 2
C = CT = 0 1 D=D
1 1 1 2
Example: mass-spring-damper
A = T 1 AT = = B = T 1 B = 2 1 1 1 1 0 0 2 2 1 1 1 0 1 = 1 1 = 1 2 0 1 2 3 1 1 1 2
C = CT = 0 1 D=D=0
1 1 1 2
Example: mass-spring-damper
Transfer matrix: G(s) = C sI A
1
B+D
Example: mass-spring-damper
Transfer matrix: G(s) = C sI A = 1 2
1
B+D
1
s+1 0 0 s+2
1 1
+0
Example: mass-spring-damper
Transfer matrix: G(s) = C sI A = 1 2
1
B+D
1
s+1 0 0 s+2
1 1
+0
Example: mass-spring-damper
Transfer matrix: G(s) = C sI A = 1 2
1
B+D
1
s+1 0 0 s+2
1 1
+0
Example: mass-spring-damper
Transfer matrix: G(s) = C sI A = 1 2
1
B+D
1
s+1 0 0 s+2
1 1
+0