SYSTEM DYNAMICS

(KJM 497)
State-Space Representation
of Two DOF System

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System Dynamics KJM 497

OBJECTIVES

TO DETERMINE THE STATE SPACE

REPRESENTATIOIN OF A MDOF
MECHANICAL SYSTEM.

TO
UNDERSTAND
THE
STEPS
INVOLVE IN OBTAINING THE STATE
SPACE REPRESENTATION.

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System Dynamics KJM 497

STATE SPACE REPRESENTATION:

State-Space Equations:
x& = Ax + Bu

State Equation
Output Equation

y = Cx + Du

where,
x1
x
x = 2


xn

a11
a
A = 21

an1

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a12
a22
an 2

a1n
a2 n

ann

b11 b12
b
b22
21

B=

bn1 bn 2

b1r
b2 r

bnr

u1
u
u = 2


u r

System Dynamics KJM 497

STATE SPACE REPRESENTATION:

where,

c11
c
C = 21

cm1

y1
y
y = 2


ym

d11
d
D = 21

d m1
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d12
d 22
dm2

d 1r
d 2 r

d mr

c12
c22
cm 2

c1n
c2 n

cmn
u1
u
u = 2


u r
System Dynamics KJM 497

EXAMPLE:
Consider a two DOF system as shown in figure below. Obtain the
state space representation.
x1

x2
c2

c1
f(t)

m1

m2
k1

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k2

System Dynamics KJM 497

Solution:

x1

1. Draw the Free Body Diagram (FBD).

x2

f(t)

m1

m2
k1

x1

f(t)

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k2

x2

c1 ( x&1 x&2 )
m1

c2

c1

k1 ( x1 x2 )

c2 x&2
m2

k 2 x2

System Dynamics KJM 497

x1

f(t)

x2

c1 ( x&1 x& 2 )
m1

k1 ( x1 x 2 )

c 2 x& 2
m2

k 2 x2

2.Apply Newtons Second Law.

Mass 1, m1:

+ F x = max

f (t ) c1 ( x&1 x&2 ) k1 ( x1 x2 ) = m&x&1

m1&x&1 + c1 x&1 c1 x&2 + k1 x1 k1 x2 = f (t )
Mass 2, m2:

c1 ( x&1 x&2 ) + k1 ( x1 x2 ) c2 x&2 k2 x2 = m2 &x&2

m2 &x&2 c1 x&1 + c1 x&2 + k1 x1 k1 x2 + c2 x&2 + k2 x2 = 0
m2 &x&2 c1 x&1 + (c1 + c2 )x&2 + k1 x1 (k1 k 2 ) x2 = 0

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(1)

(2 )
System Dynamics KJM 497

m1&x&1 + c1 x&1 c1 x&2 + k1 x1 k1 x2 = f (t )

m2 &x&2 c1 x&1 + (c1 + c2 )x&2 + k1 x1 (k1 k 2 ) x2 = 0

(1)
(2 )

1
[ c1 x&1 + c1 x&2 k1 x1 + k1 x2 + f (t ]
m1
1
&x&2 =
[c1 x&1 (c1 + c2 )x&2 k1 x1 + (k1 k2 ) x2 ]
m2
&x&1 =

2.Define State Variables.

x1 = x1
x2 = x&1
x3 = x2
x4 = x&2
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System Dynamics KJM 497

3.Define State Equation (from state variables).

x1 = x1
x2 = x&1

x&1 = x2
x&2 = &x&1

x3 = x2
x4 = x&2

x&3 = x4
x&4 = &x&2

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Need to be substitute
using state variables

&x&1 =

1
[ c1 x&1 + c1 x&2 k1 x1 + k1 x2 + f (t ]
m1

&x&2 =

1
[c1 x&1 (c1 + c2 )x&2 k1 x1 + (k1 k2 ) x2 ]
m2
System Dynamics KJM 497

3. State Equation.

x&1 = x2
x&2 = &x&1 =

1
[ c1 x2 + c1 x4 k1 x1 + k1 x3 + f (t ]
m1

x&3 = x4
x&4 = &x&2 =

1
[c1 x2 (c1 + c2 )x4 k1 x1 + (k1 k2 ) x3 ]
m2

4. Output Equation.

y = x1

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System Dynamics KJM 497

3. State-Space Equation in Matrix Form.

0
x&1 k1
x&
2 = m1
x&3 0
k1
x&4 m
2

1
c1
m1
0
c1
m2

0
k1
m1
0
(k1 k2 )
m2

0
0
c1 x1 f (t )

m1

2
+ m1
1 x3
(c1 + c2 ) 0
x4 0

m2

x1
x
y = [1 0 0 0] 2
x3

x4
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System Dynamics KJM 497

CONCLUSION:

Know how to determine the state space

representation of MDOF system.

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System Dynamics KJM 497

EXAMPLE:
Consider mass-spring-damper system as shown in figure below. The
displacement x of the mass is the output of the system and the
external force f(t) is the input to the system. Derive the mathematical
model of the system.
f(t)

x1

300

x2
c1

k2

m
k1

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c2

System Dynamics KJM 497

x1

x2

c1 (x&1 x&2 )

f (t ) cos 30

c2 x&2

k1 ( x1 x2 )

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k2 x2

System Dynamics KJM 497

x1

x2

c1 (x&1 x&2 )

f (t ) cos 30

c2 x&2

k1 ( x1 x2 )
f (t ) cos 30 c1 (x&1 x&2 ) k1 ( x1 x2 ) = m&x&1

c1 ( x&1 x&2 ) + k1 (x1 x2 ) c2 x&2 k2 x2 = 0

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k2 x2

(1)
(2 )
System Dynamics KJM 497

2.Define State Variables.

x1 = x1
x2 = x&1
x3 = x2
x4 = x&2

x&1 = x2
x&2 = &x&1
x&3 = x4
x&4 = &x&2

f (t ) cos 30 c1 (x&1 x&2 ) k1 ( x1 x2 ) = m&x&1

c1 ( x&1 x&2 ) + k1 (x1 x2 ) c2 x&2 k2 x2 = 0

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(1)
(2 )
System Dynamics KJM 497

Fakulti Kejuruteraan Mekanikal

System Dynamics KJM 497