State Space Analysis of Control System PDF

State Space Analysis of C Control l system
Topics

Ap practical control system. y State space representation Definitions. Critical considerations while selecting state variables. State variable selection. Advantages of state variable representation. Generic state space representation. Block diagram representation of linear systems. Writing differential equations in First Companion form
State Space Analysis of Control System Mugdha Salvi, VCET 3
29-Apr-13
A practical control system

(bi noise) (bias i )
Window Wi d opening/closing i / l i (random noise)
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State Space Analysis of Control System Temperature control system in a car Mugdha Salvi, VCET
Another Practical Control System
noise
Water level control in an overhead tank

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State Space Representation

noise
Input variable:
Manipulative (control) Non-manipulative p ( (noise) )
control
Y Y* Z
System Controller
Output variable:
Variables of interest that can be either be measured or calculated
State variable: Minimum set of parameters which completely y status. summarize the systems
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Definitions
State: The state of a dynamic system is the smallest number of variables (called state variables) such that the knowledge d of these variables b at t = t0, together with the knowledge of the input for t t0, completely determine the behavior of the system for any time t t0. Note: State variables need not be physically measurable or observable quantities. This gives extra flexibility.
Definitions
State vector: A n - dimensional vector whose components are n state variables that describe the system completely. St t Space: State S the n - dimensional space whose co-ordinate axes consist of the x1 axis, , x2 axis, , ., , xn axis is called a state space. Note: N t For any dynamical system, the state space remains unique, q , but the state variables are not unique. q
Critical Considerations while selecting State Variables.

Minimum number of variables

Minimum number of first-order differential equations needed to describe the system dynamics completely Lesser number of variables: won wont t be possible to describe the system dynamics Larger number of variables:

Co p Computational o co complexity pe y Loss of either controllability, or observability or both.
Linear independence. If not, it may result in:

Bad: May not be possible to solve for all other system variables Worst: May not be possible to write the complete state equations
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Sate Variable Selection

Typically, the number of state variables (i.e. the order of the system) is equal to the number of p energy gy storage g elements. However, independent there are exceptions! Is there a restriction on the selection of the state variables ? YES! All state variables should be linearly independent y must collectively y describe the system y completely. p y and they
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Advantages of State Space R Representation i

Systematic y analysis y and synthesis y of higher g order systems without truncation of system dynamics Convenient tool for MIMO systems U if Uniform platform l tf for f representing ti time-invariant ti i i t systems, time-varying systems, linear systems as well as nonlinear systems Can describe the dynamics in almost all systems (mechanical systems, electrical systems, biological systems, y , economic systems, y , social systems y etc.) ) Note: Transfer function representations are valid for only l f for linear li time i invariant i i (LTI) systems
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State variable representation of a system
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State Space Analysis of Control System Mugdha Salvi, VCET
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Generic State Space Representation
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Generic State Space Representation
Summary:
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Block diagram representation of linear systems

& x (t) = Ax(t ) + Bu (t ) : state equation y (t ) = Cx (t ) + Du (t ) : output equation
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State Model for Linear system

u Input
SISO system Initial state : x(0)
y Output
State variables
& x (t) ( ) = Ax(t ) + bu (t ) : state equa q tion y (t ) = cx (t ) + du (t ) : output equation x1 (t ) a11 a12 a x (t ) a22 2 21 ;A = x(t) = x ( t ) n an1 an 2 y (t ) = x(t )
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a1n b1 b a2 n ; b = 2 ; c = [c c 1 2 ann bn
cn ]
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State Model for Linear system

& x (t) = Ax(t ) + Bu (t ) : state equation u1 - up MIMO system y (t ) = Cx (t ) + Du (t ) : output p equ q ation Input Initial state : x(0) x1 (t ) a11 a12 a1n a x (t ) a a 22 2n x( (t) ) = 2 ; A = 21 ; State variables x ( t ) a a a n2 nn n n1 b11 b12 b1 p c11 c12 c1n d11 d12 b c d b b c c d 22 21 22 2p 21 22 2n 21 B= ;C = ;D = b b b c c c n1 n 2 q1 q 2 np qn d q1 d q 2 y (t ) = x(t )
y1 - yq Output
d1 p d2 p d qp
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Writing Differential Equations in First Companion Form (Phase variable form/Controllable canonical form)
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First Companion Form (Controllable Canonical Form)
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Example 1
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Example 2 (spring(spring -mass mass-damper system)
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Example 3 (R L C circuit)
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Realization of First Companion Form (Controllable Canonical Form)
Consider only the following transfer function
Corresponding differential equation is: where, Solving for highest derivative of z(t) we obtain
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Example 4 (Constant as numerator)
By cross multiplication:
The corresponding differential equation is found by taking the inverse Laplace transform, assuming zero initial conditions:
Choose state variables as:

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Example 4
Vector matrix form it can be written as:
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Example 4
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Example 5 (T.F. T with polynomial in numerator)
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Example 5
Introduce the effect of the block with the numerator., where b1 =1; b2= 7, and b3=2, states that
C ( s ) = ( 1 s 2 + 2 s + 3 ) X 1 ( s )
Taking Inverse Laplace Transform:
But
Hence, Hence
y (t ) = c(t ) = 1 x3 + 2 x2 + 3 x1 = x3 + 7 x2 + 2 x1
[1
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Example 5
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Second Companion Form / Observable Canonical Form
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Second Companion Form (Observable Canonical Form)
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We observe that A, b and c matrices of one companion form corresponds to the transpose of the A, c and b matrices, respectively of the other.
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Diagonal Canonical Form

The poles of the transfer function appear in the main diagonal This form follows directly from the partial fraction expansion of the transfer function
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Case 1: Poles are Real and Distinct
The matrix is a diagonal matrix with the poles of G(s) as its diagonal elements l
Case 2: Real and Complex poles
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Case 3: Real and Repeated poles

Partial fraction expansion is given by:
where
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Case 3: Real and Repeated poles
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Jordan Canonical Form
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Where each of the submatrices i is in the Jordan form . The b and c matrices of the overall system are the concatenations of the bi and ci matrices respectively of each of the subsystems:
The state variable model derived for the case of distinct poles, is a special case of Jordan canonical form where each Jordan block is of 1 x 1 dimension
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Example 6
Obtain state-space representations in the controllable canonical form, observable canonical form, and diagonal canonical form form.
controllable canonical form
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Example 6
observable canonical form
diagonal canonical form
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Converting from State Space to a Transfer Function Transfer

Given the state and output equations take the Laplace transform assuming zero initial conditions:
Solving for X(s) or Substituting X(s)into Y(s)yields
where I is the identity matrix.
if U(s) = U(s) and Y(s) = Y(s) are scalars, we can find the transfer function,
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Example - 7
Given the system defined below, find the transfer function, T(s) / Y(s)=U(s), where U(s) is the input and Y(s) is the output.
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Example - 7
Calculate (sI - A)-1:
Therefore, the transfer function is:
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Eigenvalues
The roots of the characteristic equation are referred to as eigenvalues of the matrix A.
(i I A) = 0 ( sI A) = 0
which is called the characteristic equation of the system.
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Properties of eigenvalues
1. 2.
If coefficients of A are all real, , its eigenvalues g either real or in complex conjugate pairs. If 1, 2, , n are the eigenvalues of A, then
tr(A) = i
i =1 n
i e the trace of A is sum of all the eigenvalues of A. i.e. 3. If i, i = 1, 2, , n is an eigenvalue of A, it is an eigenvalue of A'. 4. If A is nonsingular, with eigenvalues of i, i = 1, 2, , n , then 1/ i, i = 1, 2, , n , are the eigenvalues of A-1.
Eigenvectors
Any nonzero vector xi that satisfies the matrix equation

Ax i = i x i (i I A) x i = 0
where i, i = 1, 2, , n , denotes the ith eigenvalue of A, is called the eigenvector of A associated with the eigenvalue i. If A has distinct real roots, then A can be diagonalized by the transformation matrix P whose basis vectors are the eigenvectors g of A.
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Generalized Eigenvectors
If A has multiple order eigenvalues and is nonsymmetric. nonsymmetric . Assume that A has q (<n) distinct eigenvalues, eigenvalues then q eigenvectors are given by
(i I A) x i = 0, where h i is i ith eigenvalue i l , i = 0,1,..., 01 q
Among remaining highhigh-order eigenvalues, let j be of the mth order (m n q); corresponding generalized eigenvectors are given by:
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Generalized Eigenvectors
( j I A) x n-q +1 = 0 ( j I A) x n-q + 2 = x n-q +1 ( j I A) x n-q +3 = x n-q + 2 ( j I A) x n-q + m = x n-q + m 1
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Example 8 (Eigenvectors)
Find the eigenvectors of the matrix
the eigenvalues are = -2, and -4
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Example 8
Thus, Th
Using the other eigenvalue, -4, we have Thus, eigenvectors is
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Diagonalization I
Note that if an n x n matrix A with distinct eigenvalues is given by:
1, 2, , n = n distinct eigenvalues of A the transformation x = Pz, where
will transform P-1 AP into the diagonal matrix, or
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Example 9 (Diagonalization I)
Consider the following state-space representation of a system:
Eigen values are:
If we define a set of new state variables zl, z2, and z3 by the transformation
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Transformation to Jordon Canonical Form

If the matrix A involves multiple eigenvalues, then diagonalization is impossible. But it is then transformed into the Jordan Canonical Form.
has the eigenvalues 1, 1, 3 then the transformation x = Sz, where
will yield
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Transformation of State variables

The original g system y dynamics y are given g by, y

& x (t) = Ax(t ) + bu (t ) ; x(t0 ) = x 0
Th on transformation Then f i the h system d dynamics i are d described ib d as: -1

x (t) = A x (t ) + bu (t ) ; x (t0 )P x (t0 ) y (t ) = c x (t ) + du (t ) where, A = P -1AP, AP b = P -1b, b c = cP, cP d = d
y (t ) = cx (t ) + du (t )
(Note: Both systems have identical output response to the same input) p )
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Diagonalization II
If A has distinct real roots, then A can be diagonalized by the transformation matrix P whose basis vectors are the eigenvectors of A.
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Example 10 (Diagonalization II)

System is given by:
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Example 10 (Diagonalization II)
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Solution of Homogeneous state equation in Time T domain

We can write the solution of the homogeneous state equation as or where (t) is an n x n matrix and is the unique solution l i of f Also,
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Solution of Homogeneous state equation in Laplace domain

We can write the solution of the homogeneous state equation as or The matrix exponential is computed as,
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Solution of Non Homogeneous state equation in Time domain

Consider d the h non homogeneous h state equation: The solution in the time domain is given by:
Where by definition, and which is called the statetransition matrix.


The first term on the right rightg -hand side of the equation q is the response due to the initial state vector, x(0). Notice also that it is the only term dependent on the initial state vector and not the input. We call this part of the response the zero zero-input response, since it is the total response if the input is zero. Th second The d term term, , called ll d the h convolution l i i integral l, is i dependent only on the input, u, and the input matrix, matrix, B, not the initial state vector. We call this part of the response the zero zero-state response, since it is the total response if the initial state vector is zero.
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Consider the state and output equation:
Solution of Non Homogeneous state equation in Laplace domain
Taking the Laplace transform of both sides of the state equation yields OR
Taking the Laplace transform of the output equation yields

Taking g the Laplace p Inverse of the state equation q yields y
Where, Where
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Properties of State Transition Matrix (STM) T

For the time-invariant system: For which We have the following:
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if the matrix A is diagonal, then
the h eigenvalues, i l 1, 2, , n of f the h matrix i A are distinct, di i
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If there is a multiplicity in the eigenvalues, eigenvalues for example, if the eigenvalues of A are: 1, 1, 1, 4, 4 5, 5 , n then (t) will contain, contain in addition to the exponentials e1t, e4t, e5t, , ent , terms like te1t, t2e1t .
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Cayley Hamilton Theorem

The Cayley-Hamilton theorem is very useful in proving theorems involving matrix equations or solving problems involving matrix equations. C id an n x n matrix Consider i A and d its i characteristic h i i equation: i The Cayley-Hamilton theorem states that the matrix A satisfies its own characteristic equation, or that
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Proof for the Cayley Hamilton Theorem Theorem

To prove this theorem, note that adj( I - A) is a polynomial in A of degree n - 1. That is, where B1 = I. Since we obtain
From this equation, we see that A and Bi (i = 1,2,. . . , n) commute. Hence, the product of ( I - A) and adj( I - A) becomes zero if either of these is zero. If A is substituted for in this last equation, then clearly I - A becomes zero. Hence, we obtain
This proves the Thi th Cayley-Hamilton C l H ilt theorem
Methods for computing
At e
Method 1: If matrix A can be transformed into a diagonal form, then eAt can be given by:
where P is a diagonalizing matrix for A. If matrix A can be transformed into a Jordan canonical form, then eAt can be given by
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Method 2:
At e
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At e
Method 3: The third method is based on Sylvester's interpolation method. We shall first consider the case where the roots of the minimal polynomial ( ) of A are distinct.. Solve the determinant to find value of eAt about the last column
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Sol ing the determinant is similar to solving Solving sol ing the equation eq ation below: belo
Where, i can be found by solving the following equations simultaneously,
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the case where the roots of the minimal polynomial ( ) of A are multiple.. Solve the determinant to find value of eAt about the last column
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the case where the roots of the minimal polynomial ( ) of A are multiple..
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Example 11 (STM and x(t))

Consider the following matrix A: Compute eAt the 3 methods
Method 1:
The eigenvalues of A are 0 and -2 (1, = 0, 2 = -2). A necessary transformation matrix P may be obtained as
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Example 11
Method 2:
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Example 11
Method 3:
Substituting b 0f for 1, and d -2 for 2 in this equation, we obtain Expanding the determinant, we obtain
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Example 11
Method 3:
Since 1, = 0 and 2 = -2, , the above two equations q become
Solving for 0(t) and 1 (t) gives
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For the state equation and initial state vector shown find the state-transition matrix and then solve for x(t), x(t) where u(t) is a unit step
and
Example 12 (STM) T
To find STM which is given by, Calculate ( (sI A) )-1
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Example 12
taking g the partial p fractions
taking the inverse Laplace transform of each term, we obtain
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Example 12
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Example 12
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State Space Analysis of C Control l system

A practical control system

Window Wi d opening/closing i / l i (random noise)

Another Practical Control System

Water level control in an overhead tank

State Space Representation

Critical Considerations while selecting State Variables.

Minimum number of variables

Co p Computational o co complexity pe y Loss of either controllability, or observability or both.

Linear independence. If not, it may result in:

Sate Variable Selection

Advantages of State Space R Representation i

State variable representation of a system

State Space Analysis of Control System Mugdha Salvi, VCET

Generic State Space Representation

State Space Analysis of Control System Mugdha Salvi, VCET

Generic State Space Representation

State Space Analysis of Control System Mugdha Salvi, VCET

Block diagram representation of linear systems

State Space Analysis of Control System Mugdha Salvi, VCET

State Model for Linear system

State Space Analysis of Control System Mugdha Salvi, VCET

State Model for Linear system

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

First Companion Form (Controllable Canonical Form)

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

Example 2 (spring(spring -mass mass-damper system)

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

Realization of First Companion Form (Controllable Canonical Form)

Consider only the following transfer function

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

First Companion Form (Controllable Canonical Form)

State Space Analysis of Control System Mugdha Salvi, VCET

Example 4 (Constant as numerator)

Choose state variables as:

Vector matrix form it can be written as:

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

Example 5 (T.F. T with polynomial in numerator)

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

Second Companion Form / Observable Canonical Form

State Space Analysis of Control System Mugdha Salvi, VCET

Second Companion Form (Observable Canonical Form)

State Space Analysis of Control System Mugdha Salvi, VCET

Second Companion Form (Observable Canonical Form)

Diagonal Canonical Form

State Space Analysis of Control System Mugdha Salvi, VCET

Case 1: Poles are Real and Distinct

Case 2: Real and Complex poles

State Space Analysis of Control System Mugdha Salvi, VCET

Case 3: Real and Repeated poles

State Space Analysis of Control System Mugdha Salvi, VCET

State Space Analysis of Control System Mugdha Salvi, VCET

Case 3: Real and Repeated poles

State Space Analysis of Control System Mugdha Salvi, VCET