Chap1see4113 121004215116 Phpapp01 PDF

Chapter 1
Mathematical Modeling
of Dynamic Systems in
State Space
Saturday, September PMDRMFRCIED 1

29, 2012
Introduction to State Space
analysis
• Two approaches are available for the
analysis and design of feedback
control systems
– Classical or Frequency domain technique
– Modern or Time domain technique

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Introduction to State Space
analysis
• Classical technique is based on converting a
system’s differential equation to a transfer
function
• Disadvantage
– Can be applied only to Linear Time Invariant system
– Restricted to Single Input and Single output system
• Advantage
– Rapidly provide stability and transient response
information

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Introduction to State Space analysis
• Modern technique or state space approach is
a unified method for modeling, analyzing and
designing a wide range of systems
• Advantages :
– Can be used to nonlinear system
– Applicable to time varying system
– Applicable to Multi Input and Multi Output system
– Easily tackled by the availability of advanced digital
computer

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Time varying
• A time-varying control system is a
system in which one or more of the
parameters of the system may vary as a
function of time
• Dynamic system: input, state, output
and initial condition

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The state variables of a dynamic
system
• The state of a system is a set of variables
whose values, together with the input
signals and the equations describing
the dynamics , will provide the future
state and output of the system
• The state variables describe the present
configuration of a system and can be
used to determine the future response,
given the excitation inputs and the
equations describing the dynamics.
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The State Space Equations

x(t )  Ax (t )  Bu (t )
y (t )  Cx(t )  Du(t )

x(t )  derivative _ of _ the _ state _ vector
x(t )  state _ vector
y (t )  output _ vector
u (t )  input _ of _ control _ vector
A  system _ matrix
B  input _ matrix
C  output _ matrix
D  feedfoward _ matrix

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Two types of equation
• State equation

x(t )  Ax (t )  Bu (t )
• Output equation
y(t )  Cx(t )  Du(t )

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Terms
• 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
• State space: The n-dimensional space
whose axes are the state variables
• State space representation: A
mathematical model for a system that
consists of simultaneous, first order
differential equations and output equation
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Terms
• State variables: the smallest set of
linearly independent system variables
such that the value of the members of the
set
• State vector: a vector whose elements
are the state variables

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Modeling of Electrical Networks
Voltage-current, voltage-charge, and
impedance relationships for capacitors,
resistors, and inductors

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An RLC circuit

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State variable characterization
• The state of the RLC system described
a set of state variables x1 and x2
• X1 = capacitor voltage = vc(t)
• X2 = inductor current = iL(t)
• This choice of state variables is
intuitively satisfactory because the
stored energy of the network can be
described in terms of these variables
1 2 1
E  LiL  Cvc
2
2 2
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Utilizing Kirchhoff’s current law
• At the junction
• First order differential equation
• Describing the rate of change of
capacitor voltage
dvc
ic  C  u (t )  iL
dt
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Utilizing Kirchhoff’s voltage law
• Right hand loop
• Provide the equation describing the
rate of change of inductor current
diL
L   Ri L  vc
dt
• Output of the system, linear algebraic
equation
vo  RiL (t )
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State space representation
• A set of two first order differential equation and
output signal in terms of the state variables x1 and x2
dx1 1 1
  x2  u (t )
dt C C
dx2 1 R
  x1  x2
dt L L
y (t )  vo (t )  Rx 2
 1
   0   x   1 

x
x   1    C . 1   .u
  C
 x   1  R   x2   0 
 2  
L L
 x1 
y  0 R . 
 x2 
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Example 1 : RL serial network
• Figure below shows an RL serial

network with an input voltage vi(t) and
voltage drop at inductance, L as an
output voltage vo(t). Form a state space
model for this system using the current
i(t) in the loop as the state variable.

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• RL serial network – first order system

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RL serial network
• Write the loop equation for the system
using Kirchhoff’s voltage law,
Vi (t )  VR (t )  VL (t )  VR (t )  Vo (t )
di (t )
VL (t )  L  Vo (t )
dt
VR (t )  i (t ) R
di (t )
Vi (t )  i (t ) R  L
dt
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RL serial network
• State variable is given only one, therefore
the system is a first order system
• A state equation involving i is required
di (t )
Vi (t )  i (t ) R  L
dt
di (t )
L  i (t ) R  Vi (t )
dt
di (t ) R 1
  i (t )  Vi (t )
dt L L

 R 1
i (t )   i (t )   Vi (t )
 L L
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RL serial network
• The output equation,
Vi (t )  VR (t )  VL (t )  VR (t )  Vo (t )
Vo (t )  VR (t )  Vi (t )
Vo (t )  i (t ) R  Vi (t )
y (t )   R i (t )  1Vi (t )
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Example 2 : RC serial network
• Figure below shows an RC circuit with
input voltage vi(t) and output voltage at
resistor ie vo(t). Form a state space model
for this system using the voltage vc(t)
across the capacitor as the state variable
R V0
VR
Vi i VC C

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RC serial network
• Write the equations for the system using
Kirchhoff’s voltage law,
vi (t )  vR (t )  vc (t )  vc (t )  vo (t )      (1)
for _ the _ capacitor
dvc (t )
i (t )  C      (2)
dt
for _ the _ resistor
vo (t )  i (t ) R      (3)
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RC serial network
• State variable is given only one
• Therefore the system is a first order
system
• Therefore a state equation involving vc is
required
• Combine equation (2) and (3) yields
vo (t ) dvc (t )
 i (t )  C
R dt
dvc (t )
vo (t )  RC      (4)
dt
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RC serial network
• Eliminate vo(t) from equation (4) and
combine with equation (1) and rearrange
gives vi (t )  vc (t )  vo (t )
dvc (t )
vi (t )  vc (t )  RC
dt
dvc (t )
RC  vc (t )  vi (t )
dt
dvc (t )  1 1
 vc (t )   vc (t )  vi (t )    (5)
dt RC RC
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RC serial network
• Output of the system
vo (t )  vc (t )  vi (t )      (6)
• Rearrange equation (5) and (6) in matrix
form yields

 1   1 
v c (t )    vc (t )    vi (t )
 RC   RC 
y (t )   1vc (t )  1vi (t )
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RC serial network
x(t )  state _ vector  vc (t )
• Where,  
x(t )  derivative _ state _ vector  v c (t )
u (t )  input _ vector  vi (t )
y (t )  output _ vector  vo (t )  vr (t )
1
A  state _ matrix  
RC
1
B  input _ matrix 
RC
C  ouput _ matrix  1
D  direct _ transmission _ matrix  1

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• Consider RLC serial network
• RLC serial network – second order
system

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State Variables and output
• Select two state variables,
x1 (t )  q (t )
x2 (t )  i (t )
output  y (t )  VL (t )
input  u (t )  Vi (t )
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Loop equation
• Using Kirchoff’s Voltage Law,
vi (t )  vR (t )  vL (t )  vc (t )
di (t ) 1
L  Ri (t )   i (t )dt  vi (t )
dt C
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Converting to charge
• Using equation,
dq(t )
i (t ) 
dt
2
d q(t ) dq(t ) 1
L 2
 R  q (t )  vi (t )
dt dt C
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Derivatives of state vector
x1 (t )  q (t )
 dq (t )
x1 (t )   i (t )  x2 (t )
dt
x2 (t )  i (t )
 di (t )
x2 (t ) 
dt
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State equation
• First state equation
 dq(t )
x1 (t )   i(t )  x2 (t )
dt
• Second state equation, using
q (t )   i (t )dt
di (t ) 1
L  Ri (t )   i (t )dt v(t )
dt C
di (t ) q (t ) Ri (t ) v(t )
  
dt LC L L
 1 R 1
x2 (t )   x1 (t )  x2 (t )  u (t )
LC L L
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State equation in matrix form

x(t )  Ax (t )  Bu (t )
  
  0 1   x (t )   0 
x (t )
x(t )       1
1 R    1    1 u (t )
 x (t )  LC    x2 (t )  
L L
 2 
 dq (t ) 
  dt   0 1  q (t )  0 
x(t )     1 R    1  v(t )
di (t )     i (t )   
   LC L L
 dt 
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Output equation
• Output system is VL
VL (t )  VR (t )  VC (t )  vi (t )
VL (t )  VC (t )  VR (t )  vi (t )
1
V L(t )    i (t )dt  i (t ) R  vi (t )
C
1
VL (t )   q (t )  Ri (t )  vi (t )
C
1
VL (t )   x1 (t )  Rx 2 (t )  u (t )
C
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Output equation in matrix form
y (t )  Cx(t )  Du(t )
 1   x1 (t ) 
y (t )    R     1u (t )
 C   x2 (t )
 1  q(t )
VL (t )    R     1v (t )
 C   i (t ) 
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Change State Variables but
output still same
x1 (t )  VR (t )
x2 (t )  VC (t )
y (t )  VL (t )
u (t )  Vi (t )
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Voltage formula for R, L and C
VR (t )  i (t ) R
1
VC (t )   i (t )dt
C
di (t )
VL (t )  L
dt
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Derivative of first state equation
x1 (t )  VR (t )

 v(t )  VR (t )  VC (t )
dVR (t ) di (t ) R
x1` (t )  R
dt dt L
 R R R
x1 (t )   VR (t )  VC (t )  v(t )
L L L
 R R R
x1` (t )   x1 (t )  x2 (t )  u (t )
L L L
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Derivative of second state
equation
x2 (t )  VC (t )
 dVC (t ) 1 1
x2 (t )   i (t )  VR (t )
dt C RC
 1
x2 (t )  x1 (t )
RC
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State equation in matrix form

x(t )  Ax (t )  Bu (t )
 R R
  
     x (t )   R 
 x1 (t ) 
x(t )    L L  1
     L u (t )
 x (t )  1   x2 (t )  0 
 2  0  
 RC 
 dVR (t )   R R
  dt   L  L  VR (t )   R 
x(t )          L  v(t )

dVC (t )
 
1
0  V C (t )   0 
 dt   RC 
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Output equation
VL (t )  VR (t )  VC (t )  v(t )
VL (t )  VR (t )  VC (t )  v(t )
y (t )   x1 (t )  x2 (t )  u (t )

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Output equation in matrix form
y (t )  Cx(t )  Du(t )
 x1 (t ) 
y (t )   1  1    1 u (t )
 x2 (t )
VR (t ) 
VL (t )   1  1    1 v(t )
VC (t )
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Example 3 : 2 loop
• Find a state space representation if the
output is the current through the resistor.
• State variables VC(t) and iL(t)
• Output is iR(t)
• Input is Vi(t)

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Electrical network LRC
L
node 1
VL
Vi iL
VR
R C
iR
iC VC

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Solution : Step 1
• Label all of the branch currents in the
network.
• iL(t), iR(t) and iC(t)

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Solution : Step 2
• Select the state variables by writing
the derivative equation for all
energy-storage elements i.e.
inductor and capacitor
1
VC (t )   iC (t )dt
C
dVC (t )
 iC (t )  C    (1)
dt
diL (t )
VL (t )  L    ( 2)
dt
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Solution : Step 3
• Apply network theory, such as Kirchoff’s
voltage and current laws to obtain iC(t)
and VL(t) in terms of the state variable
VC(t) and iL(t)
• At node 1, iL (t )  iR (t )  iC (t )
 iC (t )  iL (t )  iR (t )
1
iC (t )   VC (t )  iL (t )    (3)
R
• Around the outer loop,
Vi (t )  VL (t )  VC (t )
VL (t )  VC (t )  Vi (t )    (4)
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Solution : Step 4
• Substitute the result of equation (3) and
equation (4) into equation (1) and (2)
dVC (t ) 1
C   VC (t )  iL (t )    (7)
dt R
di (t )
L L  VC (t )  Vi (t )    (8)
dt
• Rearrange
dVC (t ) 1 1
 VC (t )  iL (t )    (9)
dt RC C
diL (t ) 1 1
  VC (t )  Vi (t )    (10)
dt L L
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Solution : Step 5
• Find the output equation
1
iR (t )  VC (t )    (11)
R

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Solution : Step 6
• State space representation in vector
matrix form are
 dVC (t )   1 1
 dt   RC C  VC (t )  0 
 di (t )    1 .    1  v(t )    (12)
 L    0   iL (t )   L 
 dt   L 
1  VC (t )
iR (t )   0.     (13)
R   iL (t ) 

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Example 4 : 2 loop
• Find the state space representation of the
electrical network shown in figure below
• Input vi(t)
• Output vo(t)
• State variables x1(t) = vC1(t), x2(t) = iL(t)
and x3(t) = vC2(t)

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RLC two loop network
• Identifying appropriate variables on the
circuit yields C1
node R
iR
iC1
Vi iC2 Vo
DC
L C2
iL

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RLC two loop network
• Represent the electrical network shown in
figure in state space where
• Output is v0(t)
• Input is vi(t)
• State variables :-
X1(t) = vC1(t)
X2(t) = iL(t)
X3(t) = vC2(t)

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Solution
• Writing the derivative relations for
energy storage elements i.e. C1, C2 and
L
dvC1 (t )
C1  iC1 (t )
dt
diL (t )
L  vL (t )
dt
dVC 2 (t )
C2  iC 2 (t )
dt
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Solution
• Using Kirchhoff’s current and voltage
laws C
node
1
R
iC1 (t )  iL (t )  iR (t ) iC1
iR
iC2 Vo
iC1 (t )  iL (t )  ic 2 (t )
Vi
DC
L C2
iL
1
iC1 (t )  iL (t )  (vL (t )  vC 2 (t ))
R
vL (t )  vC1 (t )  vi (t )
1
iC 2 (t )  iR (t )  (vL (t )  vC 2 (t ))
Saturday, September
R PMDRMFRCIED 56
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Solution
• Substituting these relations and
simplifying yields the state equations as
dvC1 1 1 1 1
 vC1  iL  vC 2  vi
dt RC1 C1 RC1 RC1
diL 1 1
  vC1  vi
dt L L
dvC 2 1 1 1
 vC1  vC 2  vi
dt RC 2 RC 2 RC 2
vo  vC 2
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Solution
• Putting the equations in vector matrix
form
 1 1 1   1 
  RC C1

RC1   RC1 

 1
  
 1   1 
x  0 0 x vi
 L   L 
 1 1   1 
 0    
 RC 2 RC 2   RC 2 
y  0 0 1x
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Tutorial 1 : Number 1

• Output is v0(t) and Input is vi(t)
x1 = v 1
x2 = i4
x3 = v 0

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Electrical network 1
• Add the branch current and node
voltages to the network
R1 = 1 Ohm R2 = 1 Ohm R3 = 1 Ohm
V1 V2
i1 i3 i5
Vi C1 = 1 F
L=1H
C2 = 1 F Vo
i2 i4

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Solution
• Write the differential equation for each
energy storage element
dv1
 i2 ; because _ C1  1F
dt
di4
 v2 ; because _ L  1H
dt
dv0
 i5 ; because _ C2  1F
dt
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Solution
• Therefore the state vector is ,
 x1   v1 
  
x   x2    i4 
 x3  vo 
• Derivative state vector is ,
 
 x1   v1 
  
x   x2    i4 
 
 x3  vo 
   
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Solution
• Now obtain i2, v2 and i5 in terms of the
state variables,
i2  i1  i3  vi  v1  (v1  v2 )  vi  2v1  v2
v2  i5  vo  i3  i4  v0  v1  v2  i4  v0
Therefore,
1 1 1
v2  v1  i4  vo
2 2 2
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Solution
• Substituting v2 in i2,
3 1 1
i2  vi  v1  i4  v0
2 2 2
also,
i5  i3  i4  v1  v2  i4
substituti ng _ v2 ,
1 1 1
i5  v1  i4  vo
2 2 2
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Solution
• Therefore rearrange i2, v2 and i5 in matrix
form yields
 3 1 1 
   
 
  
 x1   v1   i  2 2 2   v1  1
  
2  1 1    
   
x  x2  i4  v2     
1
. i4  0 vi
   2 2 2    
 x3  vo   i5   1 1 1  vo  0
     
 2 2 2 
 v1 
y  0 0 1. i4 
vo 
29, 2012
• Output is iR(t)
• Input is vi(t)
x1 = i2
x2 = vC

29, 2012
• Add the branch currents and node
voltages to the schematic and obtain
C = 1F
R1 = 1 Ohm
node V1 node V2
i1
i3
Vi R2=1 Ohm
4V1 iR
DC
L = 1H i2
i4

29, 2012
Solution
di2
 v1 ; because _ L  1H
dt
dvc
 i3 : because _ C  1F
dt
29, 2012
Solution
• Therefore the state vector is,
 x1   i2 
x  
 2  c
x v
29, 2012
Solution
• Now obtain v1 in terms of the state
variables v1  vc  v2
v1  vc  iR
v1  vc  i3  4v1
v1  vc  (i1  i2 )  4v1
v1  vc  vi  v1  i2  4v1
1 1 1
v1  i2  vc  vi
2 2 2
29, 2012
Solution
• Now obtain i3 in terms of the state
variables i  i  i
3 1 2
i3  vi  v1  i2
1 1 1
i3  vi  i2  vc  vi  i2
2 2 2
3 1 3
i3   i2  vc  vi
2 2 2
29, 2012
Solution
• Now obtain the output iR in terms of the
state variables
iR  i3  4v1
1 3 1
iR  i2  vc  vi
2 2 2
29, 2012
Solution
• Hence the state space representation
 1 1  1
   v  

   i   
 i2 2 2 2 v
x   1 2

   3  i
.
v   i3   3 1
  vc  
 c
 2 2   2 
1 3   i2   1 
y  .     vi
2 2  vc   2 
29, 2012
network shown in figure if
• Output is v0(t)
• Input is vi(t)
x1 = iL1
x2 = iL2
x3 = vC

29, 2012
• Add the branch currents and node
voltages to the schematic and obtain
R3 = 1 Ohm
L1 = 1H i3 L2 = 1H
node node
Vi Vo
Vi i2
i1 R2=1 Ohm
DC
Vo
C = 1F

29, 2012
Solution
diL1
 vc  v1
dt
diL 2
 vc  i2
dt
dvc
 i1  i2
dt
29, 2012
Solution
• where,
• L1 is the inductor in the loop with i1
• L2 is the inductor in the loop with i2
• iL1 = i1 –i3
• iL2 = i2 – i3
• Now,
• i1 – i2 = ic = iL1 – iL2 -----------------(1)
29, 2012
Solution
• Also writing the node equation at vo,
• i2 = i3 + iL2 ----------------------(2)
• Writing KVL around the outer loop yields
• i2 + i3 = vi -----------------------(3)
• Solving (2) and (3) for i2 and i3 yields
1 1
i2  iL 2  vi            (4)
2 2
1 1
i3   iL 2  vi          (5)
2 2
29, 2012
Solution
• Substituting (1) and (4) into the state
equations.
• To find the output equation,
• vo = -i3 + vi
• Using equation (5),
1 1
vo  iL 2  vi
2 2
29, 2012
Solution
• Summarizing the results in vector matrix
form  diL1 

    0 0  1 i
 x  dt    1 
 di  
1 L 1
    1
  1 .iL 2     vi
1
x  x2   L 2   0 
    dt  2 2
 
 x3   dvC  1  1 0   vC   0  
  
 dt 
 iL1 
 1    1
y  vo  0 0.iL 2     vi
 2  2
 vC 

29, 2012
• An RLC network is shown in figure. Define
the state variable as :-
• X1 = i1
• X2 = i2
• X3 = Vc
• Let voltage across capacitor, Vc is the
output from the network. Input of the
system is Va and Vb
29, 2012
• Determine the state space representation
of the RLC network in matrix form
• Determine the range of resistor R in order
to maintain the system’s stability, if C = 0.1
F and L1=L2=0.1 H. The characteristic
equation of the system is,
s  10Rs  200s  1000R  0

3 2

29, 2012
RLC network with 2 input
R L1 L2
i1 + i2
Va iC C -
VC Vb
DC
DC
29, 2012
Solution
• State variables and their derivatives
 di1
x1  i1  x1 
dt
 di2
x2  i2  x2 
dt
 dvc
x3  vc  x3 
dt
u1  va
u 2  vb
y  vc
29, 2012
Solution
• The derivatives equations for energy
storage elements
di1
L1  vL1      (1)
dt
di2
L2  vL 2      (2)
dt
dvC
C  iC      (3)
dt
29, 2012
Solution L1 L2
R
i1 + i2
• For loop (1) ; Va iC VC Vb
va  i1R  vL1  vC
C -
DC
DC
vL1  va  i1 R  vC      (4)
• For loop (2) ;
vb  vL 2  vC
vL 2  vb  vC      (5)
29, 2012
Solution
• For current iC ;
iC  i1  i2      (6)
• Substituting equation (4), (5) and (6) into
equation (1), (2) and (3) yields
L1 L2
di1 R
L1  va  i1 R  vC i1 + i2
dt Va iC C -
VC Vb
DC
DC
di1 R 1 1
  i1  vC  va
dt L1 L1 L1
 di1 R 1 1
x1    x1  x3  va      (7)
dt L1 L1 L1
29, 2012
Solution
di2
L2  vb  vC
dt
di2 1 1
  vC  vb
dt L2 L2
 di2 1 1
x2    x3  vb      (8)
dt L2 L2
29, 2012
Solution
dvC
C  i1  i2
dt
dvC 1 1
 i1  i2
dt C C
 dvC 1 1
x3   x1  x2      (9)
dt C C
29, 2012
Solution
• Rewrite equation (7), (8) and (9) in state
space representation matrix form
 R 1 1 
   L
 0  
L1  x   L1
0
 x1 
 1
 1   v
  1    1   a
x   x2    0 0  . x2   0 . 
  L2   L2  vb 
 x3   1 1   x3   0 0
   0   
 C C   
 x1 
y  0 0 1. x2 
 x3 
29, 2012
Solution
• Characteristic equation
s  10Rs  200s  1000R  0
3 2
• Routh Hurwitz table

s3 1 200 0
s2 10R 1000R 0
s1 (2000 R  1000 R)
0
10 R
s0 200

29, 2012
Solution
• For stability, all coefficients in first column
of Routh Hurwitz table must be positive ;
(2000 R  1000 R)
0
10 R
1000 R 0
R 0
29, 2012
Modeling of Mechanical
• Mass
Networks
f (t )  M .a (t )
f (t )  M .
d 2 y (t ) y(t)
dt 2
dv(t )
f (t )  M .
dt
a (t )  accelerati on
v(t )  velocity
M f(t)
y (t )  displaceme nt
f (t )  force
M  mass
29, 2012
• Linear Spring
Networks
f (t )  K . y (t )
K y(t)
f (t )  force
y (t )  displaceme nt f(t)
K  spring _ cons tan t

29, 2012
Networks
• Damper
dy (t ) B y(t)
f (t )  B.
dt
f (t )  force f(t)
y (t )  displaceme nt
B  viscous _ frictional

29, 2012
Networks
• Inertia
d (t )
T (t )  J .
dt
T(t)
d 2 (t )  (t )
T (t )  J .
dt 2
T (t )  Torque J
 (t )  angular _ velocity
 (t )  angular _ displaceme nt
J  Inertia

29, 2012
Force-velocity, force-displacement, and
impedance translational relationships
for springs, viscous dampers, and mass

29, 2012
Torque-angular velocity, torque-angular
displacement, and impedance rotational
relationships for springs, viscous dampers,
and inertia

29, 2012
Example 5
• Determine the state space
representation of the mechanical
system below if the state variables are
y(t) and dy(t)/dt. Input system is force
f(t) and output system is y(t)
K
y(t)
B M
f(t)

29, 2012
Example 5
• a. Mass, spring, and damper system;
b. block diagram

29, 2012
State variables, input and output
x1 (t )  y (t )
dy (t ) dx1 (t )
x2 (t )  
dt dt
input  u  f (t )
output  y  y (t )
29, 2012
Mass, spring and damper
system
• Draw the free body diagram
y(t)
d 2 y (t )
M
dt 2
Ky (t ) M f(t)
dy (t )
B
dt
29, 2012
Mass, spring and damper system
• a. Free-body diagram of mass, spring, and
damper system;
b. transformed free-body diagram

29, 2012
system
• The force equation of the system is
2
d y(t ) dy(t )
f (t )  M . 2
 B.  K . y(t )
dt dt
• Rearranged the equation yields
2
d y (t ) B dy (t ) K 1
2
 .  . y (t )  . f (t )
dt M dt M M
29, 2012
system
• State equations and output equation

x1 (t )  x2 (t )
 K B 1
x 2 (t )   .x1 (t )  .x2 (t )  . f (t )
M M M
y (t )  x1 (t )
29, 2012
system
matrix form are
 
  0 1   x (t )   0 
x1 (t )
   K B . 1    1 . f (t )
 x (t )  M    x2 (t )  
M M 
 2 
K
 x1 (t ) 
y (t )  1 0.
y(t)
 B M
 x2 (t ) f(t)

29, 2012
Example: The mechanical
system
• Consider the mechanical system shown in
Figure below by assuming that the system
is linear. The external force u(t) is the
input to the system and the displacement
y(t) of the mass is the output. The
displacement y(t) is measured from the
equilibrium position in the absence of the
external force. This system is a single
input and single output system.
29, 2012
Mechanical system diagram

29, 2012
Mechanical system diagram
• From the diagram, the system equation is
 
m y  b y  ky  u
• The system is of second order. This
means that the system involves two
integrators. Define the state variables x1(t)
and x2(t) as x1 (t )  y (t )

x2 ( t )  y ( t )
29, 2012
• Then we obtain,

x 1  x2
 1 
 1
x 2    ky  b y   u
m  m
 k b 1
x 2   x1  x2  u
m m m
y  x1
29, 2012
• a. Two-degrees-of-freedom translational
mechanical system
• b. block diagram

29, 2012
• a. Forces on M1 due only to motion of M1
b. forces on M1 due only to motion of M2
c. all forces on M1

29, 2012
• a. Forces on M2 due only to motion of M2;
b. forces on M2 due only to motion of M1;
c. all forces on M2

29, 2012
Exercise 1
• Figure below shows a diagram for a quarter car
model (one of the four wheels) of an automatic
suspension system for a long distance express
bus. A good bus suspension system should
have satisfactory road handling capability, while
still providing comfort when riding over bumps
and holes in the road. When the coach is
experiencing any road disturbance, such as
potholes, cracks, and uneven pavement, the bus
body should not have large oscillations, and the
oscillations should be dissipate quickly.
29, 2012
Exercise 1
(i). Draw the free-body diagrams of the system
(ii). Determine the state space representation
of the quarter car system by considering the
state vector
T
  

z(t)  x1 (t ) x2 (t ) x1 (t ) x 2 (t )
 
And the displacement of bus body mass M1 as
the output of the system.

29, 2012
29, 2012
Constant value
• Bus body mass, M1 = 2500 kg
• Suspension mass, M2 = 320 kg
• Spring constant of suspension system, K1 =
80,000 N/m
• Spring constant of wheel and tire, K2 =
500,000 N/m
• Damping constant of suspension system, B1
= 350 Ns/m
• Damping constant of wheel and tire, B2 =
15,020 Ns/m
29, 2012
Solution
• Free body diagram for M1
– Forces on M1 due to motion of M1
K1X1
M1s2X1 u
M1
B1sX1

K1X2
M1
B1sX2
– All forces on M1
K1X1 K1X2
M1s2X1 M1 u
B1sX1 B1sX2

29, 2012
Solution
• Free body diagram for M2
K2X2
M2s2X2 K1X2
M2
B2sX2 B1sX2

K1X1
M2
B1sX1
– All forces on M2
(K1+K2)X2
M2s2X2 M2 K1X1
(B1+B2)sX2
B1sX1
29, 2012
Solution
• State variables
 
z1  x1; z2  x2 ; z3  x1; z4  x 2
• Derivative state variables
       
z1  x1  z3 ; z 2  x 2  z4 ; z 3  x1; z 4  x 2
29, 2012
Solution
• Total force for M1
dx2 d 2 x1 dx1
u  K1 x2  B1  K1 x1  M 1 2  B1
dt dt dt
2
d x1 dx1 dx2
2
 32 x1  32 x2  0.14  0.14  0.0004u
dt dt dt

z 3  32 z1  32 z2  0.14 z3  0.14 z4  0.0004u

29, 2012
Solution
• Total force for M2
2
dx1 d x2 dx2
K1 x1  B1  ( K1  K 2 ) x2  M 2  ( B1  B2 )
dt dt dt
d 2 x2 dx1 dx2
2
 250 x1  1812.5 x2  1.094  48.031
dt dt dt

z 4  250 z1  1812.5 z 2  1.094 z3  48.031z 4

29, 2012
Solution
• State space representation
 0 0 1 0   z1   0 
  0 0 0 1   z   0 
z  2    u
 32 32  0.14 0.14   z3  0.0004
    
 250 1812.5 1.094 48.031  z 4   0 
 z1 
z 
y  1 0 0 0  2
 z3 
 
 z4 
29, 2012
• Figure shows a mechanical system
consisting of mass M1 and M2, damper
constant B, spring stiffness K1 and K2.
When force f(t) acts on mass M1, it
moves to position x1(t) while mass M2
moves to position x2(t). Find the state
space representation of the system
using x1(t), x2(t) and their first
derivatives as state variables. Let x2(t)
be the output.
29, 2012
Mechanical system consist of 2
mass, 2 spring and 1 damper
f(t) X1 X2
K1 B K2
M1 M2

29, 2012
• State variables and their derivatives :-
 
z1 (t )  x1 (t )  z1 (t )  x1 (t )  z 2 (t )
  
z 2 (t )  x1 (t )  z 2 (t )  x1 (t )
 
z3 (t )  x2 (t )  z3 (t )  x 2 (t )  z 4 (t )
  
z 4 (t )  x 2 (t )  z 4 (t )  x2 (t )
input  u (t )  f (t )
output  y (t )  x2 (t )
29, 2012
K1 x1

f (t )
M 1 x1 
M1

B x1
B x2
K 2 x2


M 2 x2
M2 B x1

B x2

29, 2012
• Differential equation in mass M1
  
f (t )  M 1 x1  B x1  K1 x1  B x2
  
f (t )  M 1 x1  B( x1  x2 )  K1 x1      (1)
• Differential equation in mass M2
  
0  M 2 x2  B x2  K 2 x2  B x1
  
0  M 2 x2  B( x2  x1 )  K 2 x2      (2)
29, 2012
• Substitute all state variables and their first
derivatives in equation (1) and (2) yields
 B  B  K1 f (t )
x1   x1  x2  x1 
M1 M1 M1 M1
 B B K 1
z2   z2  z 4  1 z1  u      (3)
M1 M1 M1 M1
 B  B  K2
x2   x2  x1  x2
M2 M2 M2
 B B K
z4   z4  z 2  2 z3      (4)
M2 M2 M2

z1  z 2      (5)

z 3  z 4      ( 6)
29, 2012
• Rearrange equation 3, 4, 5 and 6 in matrix
form   0 1 0 0 
 0 
z  1   K1 z B B   1
 1 
  z   M 
M1
0  
M 1   z2   M 
z   2    1
.   1 u
 z3   0 0 0 1   z3  0
  0 B K2 B    
   z4   0 
 z 4   M2 M2 M 2   
 z1 
z 
y  0 0 1 0. 2 
 z3 
 
 z4 
29, 2012
• Represent the translational mechanical
system shown in figure in state space
where x3(t) is the output and f(t) is the
input.
X1 X2 X3
K1 B1 K2 B2
M1 M2 M3
f(t)

29, 2012
Example : 3M, 2K and 2B
• Represent the translational mechanical
system shown in figure in state space
where x3(t) is the output and f(t) is the
input.

29, 2012
• K1 = K2 = 1 N/m
• M1 = M2 = M3 = 1 kg
• B1 = B2 = 1 N-s/m
system using x1, x2, x3 and their first
derivatives as state

variables.
z1  x1 ; z2  x1 ; z3  x2 ;
 
z4  x2 ; z5  x3 ; z6  x3
29, 2012
 
M 1 x1 B1 x2
B1 x1

M1 f (t )
K1 x1


M 2 x2

B1 x1
B1 x2 M2 K 2 x3
K 2 x2

M 3 x3
B2 x3

M3 K 2 x2
K 2 x3
29, 2012
• Writing the equations of motion
  
M 1 x1  B1 x1  K1 x1  B1 x2  f (t )    (1)
  
M 2 x2  B1 x2  K 2 x2  B1 x1  K 2 x3    (2)
 
M 3 x3  B2 x3  K 2 x3  K 2 x2    (3)
29, 2012
• Substitute the value of K, M and B.
• Rearrange equation (1), (2) and (3)
  
x1   x1  x1  x2  f
  
x2  x1  x2  x2  x3
 
x3   x3  x3  x2
29, 2012
• From the state variables
 
z1  x1  z1  x1  z 2
  
z 2  x1  z 2  x1   z 2  z1  z 4  f
 
z 3  x 2  z 3  x2  z 4
  
z 4  x2  z 4  x2  z 2  z 4  z 3  z 5
 
z5  x3  z5  x3  z6
  
z6  x3  z6  x3   z6  z5  z3
y  x3  z5
29, 2012
• In vector matrix form
 0 1 0 0 0 0  0 
 1  1 0 1 0 0  1
   
  0 0 0 1 0 0  0 
z  z    f (t )
 0 1  1  1 1 0  0 
 0 0 0 0 0 1  0 
   
 0 0 1 0  1  1 0
y  0 0 0 0 1 0z
29, 2012
Modeling of Electro-Mechanical System
• NASA flight simulator robot arm with
electromechanical control system components

29, 2012
Modeling of Electro-Mechanical System
• Armature Controlled DC Motor

29, 2012
Armature Controlled DC Motor

29, 2012
DC motor armature control
• The back electromotive force(back emf),
VB
d m (t )
VB (t ) 
dt
d m (t )
VB (t )  K B .    (1)
dt
K B  Back _ emf _ cons tan t
29, 2012
• Kirchoff’s voltage equation around the
armature circuit
ea (t )  ia (t ) Ra  Vb (t )
d m (t )
ea (t )  ia (t ) Ra  K b    (2)
dt
ia  armature _ current
 m  angular _ displaceme nt _ of _ the _ armature
Ra  armature _ resis tan ce
ignore _ La
29, 2012
• The torque, Tm(t) produced by the motor
Tm (t )  ia (t )
Tm (t )  K t ia (t )
d 2 m d m
Tm (t )  J m 2
 Dm    (3)
dt dt
K t  Torque _ cons tan t
J m  equivalent _ inertia _ by _ the _ motor
Dm  equivalent _ viscous _ density _ by _ the _ motor
29, 2012
• Solving equation (3) for ia(t)
J m d  m Dm d m
2
ia (t )  2
    ( 4)
K t dt K t dt

29, 2012
• Substituting equation (4) into equation (2)
yields
 J m d 2 m Dm d m  d m
ea (t )  Ra  2
   Kb
 K t dt K t dt  dt
 Ra J m  d 2 m  Ra Dm  d m
ea (t )   . 2    K b .    (5)
 K t  dt  Kt  dt
29, 2012
• Define the state variables, input and ouput
x1   m    (6a )
d m
x2     (6b)
dt
u  ea (t )
y  0.1 m
yields  Ra J m  dx2  Ra Dm 
ea (t )   .    K b .x2    (7)
 K t  dt  K t 
29, 2012
• Solving for x2 dot yields,
 Ra Dm 
ea (t )    K b .x2
dx2
  Kt 
dt  Ra J m 
 
 Kt 
dx2  K t   Dm K b K t 
  .ea (t )    .x2
dt  Ra J m   J m Ra J m 
dx2 1  Kb Kt   Kt 
  Dm  .x2   .ea (t )    (8)
dt Jm  Ra   Ra J m 
29, 2012
• Using equation (6) and (8), the state
equations are written as
dx1 d m
  x2
dt dt
dx2 1  Kt Kb   Kt 
  Dm  .x2   .ea (t )
dt Jm  Ra   Ra J m 
29, 2012
• Assuming that the output o(t) is 0.1 the
displacement of the armature m(t) as x1.
Hence the output equation is
y  0.1x1
matrix form are
   0 1 
 x   0 
 1   
x 1  K t K b .    K t .ea (t )
1
 x  0  J  Dm  R   x2   R J 
 2  m  a   a m
 x1 
y  0.1 0. 
 x2 
29, 2012
• The representation of the positioning system
using an armature-controlled dc motor is shown
in figure.
• The input is the applied reference voltage, r(t)
and the output is the shaft’s angular position,
o(t).
• The dynamic of the system can be described
through the Kirchoff equation for the armature
circuit, the Newtonian equation for the
mechanical load and the torque field current
relationship.
29, 2012
Figure : DC motor armature control

29, 2012
Example : ex-exam question
• The Newtonian equation for the
mechanical load is
 
J  o (t )    o (t )   (t )
• The back e.m.f voltage induced in the
armature circuit, eb(t) is proportional to
the motor shaft speed,

eb  K b  o
29, 2012
• A potentiometer was installed to measure
the motor output position. Its output
voltage, v(t) is then compared with the
system reference input voltage, r(t)
through an op-amp.
• Determine the complete state-space
representation of the system by
considering the following state variables.

29, 2012
x1(t)  ia (t)
• State variables :- x 2 (t)   o (t)

x 3 (t)   o (t)
• State variables derivative
 dia (t) 
x 1 (t)   ia
dt
 do (t)

x 2 (t)    o (t)
dt
 d 2 o (t) 
x 3 (t)  2
  o (t)
dt
29, 2012
• Mechanical load
 
J o (t)    o (t)   (t)  K t ia

J x 3  x 3  K t x1
 Kt 
x3  x1  x 3          (1)
J J
29, 2012
• Electrical (armature) circuit
• Using Kirchoff Voltage Law
dia
uL  Ria  eb
dt
but

eb  K b  o ( given)
dia 
u  L   Ria  K b  o
dt

u  L x1  Rx1  K b x3
 R Kb 1
x1   x1  x3  u        (2)
L L L
29, 2012
• From the state variable defination
x2   o
 
x 2   o  x3      (3)
For _ the _ input _ part
u  r v
u  r  K s o
u  r  K s x2        (4)
29, 2012
• Substituting (4) into (2)
 R Kb 1
x1   x1  x3  (r  K s x2 )
L L L
 R Ks Kb 1
x1   x1  x2  x3  r      (5)
L L L L

29, 2012
• Writing equations (1), (3) and (5) in the
vector matrix form gives :-
   R


Ks

Kb  1
   L
x1   x1   
L L   L
x2    0 0 1 . x2    0  r
    KT 
    
 x3   0    x3   0 
   J J   
29, 2012
• The output
 x1 

y   o  0 1 0 x2  
 x3 
29, 2012
Modelling of Electro-Mechanical
System
• Field Controlled DC
+
Rf
ef (t)
Motor if (t)
-
Lf Gelung Medan
Ra La
+
ea
Ba
Ja
ia
- TL(t)
Tm(t)
Gelung Angker  m (t )
Tetap
RAJAH 7.11 : MOTOR SERVO A.T. TERUJA BERASINGAN

DALAM KAWALAN MEDAN
29, 2012
DC motor field control
• For field circuit
di f
e(t )  i f R f  L f    (1)
dt
• For mechanical load, torque
d o d o
2
T (t )  J B    (2)
dt dt
29, 2012
• For torque and field current relationship
T (t )  i f (t )
T (t )  K t i f (t )    (3)
• Define the state variables, input and
output x   (t )    (4)
1 o
d o (t )
x2     (5)
dt
x3  i f (t )    (6)
u  e(t )
y   o (t )
29, 2012
• From equation (4) and (5), we can
determine the first state equation as :
 d o
x1 (t )  x2 (t )     ( 7)
dt
• Another two state equations are :
 d 2 o
x2  2    (8)
dt
 di f
x3     (9)
dt
29, 2012
• Substituting x3 and x3 dot into equation (1)
yields 
e(t )  x3 R f  L f x3
d o d o
yields 2
J 2 B  Kt i f
dt dt
29, 2012
• Substituting x2 dot, x2 and x3, hence

J x2  Bx2  Kt x3
• Rewrite equations
 Rf 1
x3   x3  e(t )
Lf Lf
 B Kt
x2   x2  x3
J J
29, 2012
• Matrix form
 
   

 0 1 0  0 

x 0 
B Kt x   0 u
 J J  1 
 Rf   
0 0    L f 
 Lf 
y  1 0 0x
29, 2012
Block diagrams
• The block diagram is a useful tool for
simplifying the representation of a
system.
• Simple block diagrams only have one
feedback loop.
• Complex block diagram consist of more
than one feedback loop, more than 1 input
and more than 1 output i.e. inter-coupling
exists between feedback loops
29, 2012
Block diagrams
• Integrator
 x2   x1dt
x1
• Amplifier or gain x1 x2 = Kx1
K
x1
+ x4 = x1-x2+x3
• Summer x2 -
x3
+
29, 2012
Signal flow graphs
• Having the block diagram simplifies the
analysis of a complex system.
• Such an analysis can be further simplified
by using a signal flow graphs (SFG) which
looks like a simplified block diagram
• An SFG is a diagram which represents a
set of simultaneous equation.
• It consist of a graph in which nodes are
connected by directed branches.
29, 2012
Signal flow graphs
• The nodes represent each of the system
variables.
• A branch connected between two nodes
acts as a one way signal multiplier: the
direction of signal flow is indicated by an
arrow placed on the branch, and the
multiplication factor(transmittance or
transfer function) is indicated by a letter
placed near the arrow.
29, 2012
Signal flow graphs
• A node performs two functions:
1. Addition of the signals on all incoming
branches
2. Transmission of the total node signal(the
sum of all incoming signals) to all outgoing
branches

29, 2012
Signal flow graphs
• There are three types of nodes:
1. Source nodes (independent nodes) – these
represent independent variables and have
only outgoing branches. u and v are source
nodes
2. Sink nodes (dependent nodes) - these
represent dependent variables and have
only incoming branches. x and y are source
nodes
3. Mixed nodes (general nodes) – these have
both incoming and outgoing branch. W is a
mixed node.
29, 2012
Signal flow graphs
• x2 = ax1
x1 a x2 = ax1

29, 2012
Signal flow graphs
• w = au + bv
• x = cw
• y = dw
a w c x
u
v b d y

29, 2012
Signal flow graphs
• x = au + bv +cw
u
a x
c 1 x
w
v b Mixed Sink
node node
29, 2012
Signal flow graphs
• A path is any connected sequence of
branches whose arrows are in the same
direction
• A forward path between two nodes is one
which follows the arrows of successive
branches and in which a node appears
only once.
• The path uwx is a forward path between
the nodes u and x

29, 2012
Signal flow graphs
• Series path (cascade nodes) – series path
can be combined into a single path by
multiplying the transmittances
• Path gain – the product of the
transmittance in a series path
• Parallel paths – parallel paths can be
combined by adding the transmittances
• Node absorption – a node representing a
variable other than a source or sink can be
eliminated
29, 2012
Signal flow graphs
• Feedback loop – a closed path which
starts at a node and ends at the same
node.
• Loop gain – the product of the
transmittances of a feedback loop

29, 2012
Signal flow graphs
simplification
Original graph Equivalent graph
a b ab
x y z x z

29, 2012
Signal flow graphs
simplification
(a+b)
x y
x y
b
29, 2012
Signal flow graphs
simplification
w ac
a z w
c z
x y x bc
b
29, 2012
Block diagram of feedback
system
R E C
G
B
H

29, 2012
Block diagram of feedback system
• R=reference input
• E=actuating signal
• G=control elements and controlled system
• C=controlled variable
• B=primary feedback
• H=feedback elements
• C = GE
• B = HC
• E = R-B
29, 2012
Successive reduction of SFG
first second
• 4 nodes • Node B eliminated
R 1 E G C R 1 E G C
-1
H
B -H
29, 2012
Successive reduction of SFG
third fourth
• Node E eliminated, self • Self loop eliminated
loop of value -GH
R G C R C
G/(1+GH)
-GH
29, 2012
SIGNAL FLOW GRAPHS OF
STATE EQUATIONS
• demonstrate how to draw signal flow
graphs from state equations.
• Consider the following state and output
equations:

x1  2 x1  5x2  3x3  2r          (1a)

x2  6 x1  2 x2  2 x3  5r          (1b)

x3  x1  3x2  4 x3  7r          (1c)
y  4x1  6x2  9x3          (1d)
29, 2012
STATE EQUATIONS
• Step 1 : Identify three nodes to be the
three state variables, , and three nodes,
placed to the left of each respective
state variables. Also identify a node as
the input, r, and another node as the
output, y.
R(s) Y(s)
sX3 (s) X3 (s) sX (s) X2 (s) sX (s) X (s)
2 1 1

29, 2012
STATE EQUATIONS
• Step 2 : Interconnect the state variables
and their derivatives with the defining
integration, 1/s.
1 1 1
s s s
R(s) Y(s)
sX (s) X (s) sX (s) X (s) sX (s) X (s)
3 3 2 2 1 1

29, 2012
STATE EQUATIONS
• Step 3 : Using Eqn (1a), feed to each node
the indicated signals.
2
1 1 1
s s -5 s
R(s) Y(s)
X (s) X2 (s) sX (s) X (s)
sX3 (s) 3 sX2 (s) 1 1
3
29, 2012
STATE EQUATIONS
• Step 4 : Using Eqn (1b), feed to each node
2
1 1 1
s 2 s -5 s
R(s) Y(s)
X (s) sX (s) X (s) sX (s) X (s)
sX3 (s) 3 2 2 1 1
-2 2
3 -6
29, 2012
STATE EQUATIONS
• Step 5 : Using Eqn (1c), feed to each node
2
1 1 1
7 s 2 s -5 s
R(s) Y(s)
sX (s) X (s) sX (s) X2 (s) sX (s) X1 (s)
3 3 2 1
-4 -2 2
-3 3 -6
1
29, 2012
STATE EQUATIONS
• Step 6 : Finally, use Eqn (1d) to complete
the signal flow2 graph. 9
5 6
1 1 1
7 s 2 s -5 s -4
R(s) Y(s)
sX (s) X (s) sX (s) X2 (s) sX (s) X1 (s)
3 3 2 1
-4 -2 2
-3 3 -6
1
29, 2012
Example 7
• Draw a signal-flow graph for each of the
following state equations :
0 1 0   x1  0


x(t )   0 0     
1 . x2   0 r (t )
 2  4  6  x3  1
 x1 
y (t )  1 1 0. x2 
 x3 
29, 2012
Solution
• State and output equations

x1 (t )  x2 (t )

x2 (t )  x3 (t )

x3 (t )  2 x1 (t )  4 x2 (t )  6 x3 (t )  r (t )
y (t )  x1 (t )  x2 (t )
29, 2012
Solution
• Signal flow graph 1
1 1/s 1 1/s 1 1/s 1

r y
x3 x2 x1
-6
-4
-2
29, 2012
Example 8
0 1 0 0 


x(t )   0   
 3 1  x(t )  1 r (t )
 3  4  5 1
y (t )  1 2 0x(t )
29, 2012
Solution

x1 (t )  x2 (t )

x2 (t )  3x2 (t )  x3 (t )  r (t )

x3 (t )  3 x1 (t )  4 x2 (t )  5 x3 (t )  r (t )
y (t )  x1 (t )  2 x2 (t )
29, 2012
Solution
• Signal flow graph
1 2
1 1/s 1 1/s 1 1/s 1
r y
x3 x2 x1
-5
-3
-4
-3
29, 2012
Example 9
7 1 0 1 


x(t )   3   
2  1 x(t )  2 r (t )
  1 0 2  1
y (t )  1 3 2x(t )
29, 2012
Solution

x1 (t )  7 x1 (t )  x2 (t )  r (t )

x2 (t )  3x1 (t )  2 x2 (t )  x1 (t )  2r (t )

x3 (t )   x1 (t )  2 x3 (t )  r (t )
y (t )  x1 (t )  3x2 (t )  2 x3 (t )
29, 2012
Solution
• Signal flow graph
1
2
2 3
1 1/s -1 1/s 1 1/s 1
r y
x3 x2 x1
2 2 7
-3
-1
29, 2012
Q1
• For the circuit shown in figure, identify
a set of state variables
• Answer : one possible set of state
variables is the current iL2 via L2, the
voltage VC2 across C2 and the current
iL1 via L1
• VC1 the voltage across C1 can replace
iL1 via L1 as the third state variable

29, 2012
29, 2012
Q1
• For the circuit shown in figure,
determine the state space
representation if :
• (a). Input are V1 and V2, output is VC2
and state variables are define as x1=iL2,
x2=VC2 and x3=iL1
• (b). Input are V1 and V2, output is VC2
and state variables are define as x1=iL2,
x2=VC2 and x3=VC1

29, 2012
Q2
• Use state variable model to describe
the circuit of the figure.
• Choose x1=VC and x2=i as state
variables.
• Determine the state equation only.

29, 2012
Tips
di
L  Ri  VC  Vin
dt
1
VC   idt
C
 1
x1  x 2
C
 R 1 1
x2   x2  x1  Vin
L L L
 1 
  0  0
x C x   1 V
1 R    in
   L
 L L
  0 1000  0 
x  x   Vin
 10  40  10
29, 2012
Q3
• Determine a state variable differential matrix
equation for the circuit shown in the figure.
Choose x1=v1 and x2=v2 as state variables.
Two inputs are u1=va and u2=vb. The output
is y=v0=v2
V1 V2

29, 2012
Tips
node _ 1
 Va  V1 V2  V1
C1 V 1  
R1 R2
node _ 2
 Vb  V2 V1  V2
C2 V 2  
R3 R2
  1 1  1   1 

   
  0 
 V  R C Va 
x  R1C1 R2 C1  R2 C1 . 1
 1 1 .
 1  1  
1  V2   0 1  Vb 
     

 R2C2  3 2
R C R2 2 
C  R3C2 
29, 2012
Q4
An RLC circuit is shown in figure,
(a). identify a suitable set of state
variables
(b). obtain the set of first order
differential equations in terms of the
state variables x1=i and x2=VC
(c). write the state differential
equation.

29, 2012
Tips
di 1 R 1
 V  i  VC
dt L L L
1
VC   idt
C
 R 1
 
 L    i  1 
x L
.    L V

1
0  V   
C
0
 C 
29, 2012
Q5
• Determine the state equation of the
figure. State variables are define as
x1=iL and x2=Vc. Input V1 and V2. Draw
the corresponding block diagram and
signal flow graph of the system

29, 2012
Q6
• Determine the state space differential
equation of the figure. Define the state
variables as x1=iL and x2=Vc. System
input v1 and v2. The output system is
iR. Use KVL around the outer loop and
KCL at the node.
iR

29, 2012
Tips
diL
L  VC  V2  V1  0
dt
dVC
C  iL  iR
dt
VC V2
iR   
R R
 1  1 1
   0

  iL   L   V 
x
   
1 L .    L . 1
 1  V2 
 x 2   1  1  VC   0 
 C RC   RC 
29, 2012
Q7
• Determine the state variable matrix
equation for the circuit shown in the
figure. Defined state variables as x1=v1,
x2=v2 and x3=iL=i
• System input are Vi and iS

29, 2012
Tips
Node _ equation
dv1 vi  v1
0.00025  iL  0
dt 4000
dv2 v2
00005  iL   i3  0
dt 1000
diL
0.002  v2  v1  0
dt
 1 0  4000  v1  1 0 

      vi 
x 0 2 2000 .v2   0 2000  
500  500 0   iL  0 0   is 

29, 2012
Q8
• Determine the state variable matrix
differential equation for the circuit
shown in the figure. The state
variables are x1=i, x2=v1 and x3=v2. The
output variable is vo(t) and input is V.

29, 2012
Tips
di
L  V2
dt
 (V1  V )  V1  V2   0
dV1 1 1
C1
dt R1 R2
 V2  V1   i 
dV2 1 V2
C2 0
dt R2 R3
 1 
 0 0 
 L  i   0 
  1 1  1    1 
x 0    
 .V1    V
  R1 R2  C1 R2  V   R1C1 
 1  1 1     0 
2
1
    
 C2 R2C2  R2C2 R3C2 
29, 2012
Q9
• Determine the state equation for the
two input and one output circuit shown
in the figure where state variables are
define as x1=iL and x2=Vc the output is
y=i2 i1 i3
iC

29, 2012
Tips
dVC
C  i2  i3
dt
diL
L  V1  i1 R1
dt
R1i1  R2i2  VC  V1
i2  i1  iL
R1  R2 i1  V1  VC  R2iL
V2  VC
i3 
R3
29, 2012

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Chapter 1

Saturday, September PMDRMFRCIED 1

Saturday, September PMDRMFRCIED 2

Saturday, September PMDRMFRCIED 3

Saturday, September PMDRMFRCIED 4

Saturday, September PMDRMFRCIED 5

Saturday, September PMDRMFRCIED 7

y(t )  Cx(t )  Du(t )

Saturday, September PMDRMFRCIED 10

Saturday, September PMDRMFRCIED 11

Saturday, September PMDRMFRCIED 12

• Figure below shows an RL serial

Saturday, September PMDRMFRCIED 17

Saturday, September PMDRMFRCIED 18

Saturday, September PMDRMFRCIED 22

Saturday, September PMDRMFRCIED 27

Saturday, September PMDRMFRCIED 28

Saturday, September PMDRMFRCIED 42

Saturday, September PMDRMFRCIED 44

Saturday, September PMDRMFRCIED 45

Saturday, September PMDRMFRCIED 46

Saturday, September PMDRMFRCIED 50

Saturday, September PMDRMFRCIED 51

Saturday, September PMDRMFRCIED 52

Saturday, September PMDRMFRCIED 53

Saturday, September PMDRMFRCIED 54

• Represent the electrical network shown in

Saturday, September PMDRMFRCIED 59

Saturday, September PMDRMFRCIED 60

Saturday, September PMDRMFRCIED 66

Saturday, September PMDRMFRCIED 67

Saturday, September PMDRMFRCIED 74

Saturday, September PMDRMFRCIED 75

Saturday, September PMDRMFRCIED 80

s  10Rs  200s  1000R  0

Saturday, September PMDRMFRCIED 82

• Routh Hurwitz table

Saturday, September PMDRMFRCIED 91

Saturday, September PMDRMFRCIED 94

Saturday, September PMDRMFRCIED 95

Saturday, September PMDRMFRCIED 96

Saturday, September PMDRMFRCIED 97

Saturday, September PMDRMFRCIED 98

Saturday, September PMDRMFRCIED 99

Saturday, September PMDRMFRCIED 100

Saturday, September PMDRMFRCIED 103

Saturday, September PMDRMFRCIED 106

Saturday, September PMDRMFRCIED 108

Saturday, September PMDRMFRCIED 111

Saturday, September PMDRMFRCIED 112

Saturday, September PMDRMFRCIED 113

Saturday, September PMDRMFRCIED 115

– Forces on M1 due to motion of M2

Saturday, September PMDRMFRCIED 118

– Forces on M2 due to motion of M1

Saturday, September PMDRMFRCIED 121

Saturday, September PMDRMFRCIED 122

Saturday, September PMDRMFRCIED 125

Saturday, September PMDRMFRCIED 127

Saturday, September PMDRMFRCIED 131

Saturday, September PMDRMFRCIED 132

Saturday, September PMDRMFRCIED 139

• Armature Controlled DC Motor