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1
Introduction
• Most classical control techniques were developed for linear
constant coefficient systems with one input and one output
(perhaps a few inputs and outputs).
• When nonlinearities and time variations are present, the very basis
for these classical techniques is removed.
dx
x2 dt
Velocity State (t=t1)
State (t=t1)
State
Vector
x1 Position
x
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State Space Representation
• An electrical network is given in following figure,
find a state-space representation if the output is
the current through the resistor.
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State Space Representation
• Step-1: Select the state variables.
v c
iL
di L
v(t ) = L + vR
dt
di L
L = −vC + v(t ) (2)
dt
Step-3: Write equation (1) & (2) in standard form.
dvC 1 1
=− vC + i L
dt RC C
State Equations
di L 1 1
= − vC + v(t )
dt L L 9
State Space Representation
dvC 1 1 di L 1 1
=− vC + i L = − vC + v(t )
dt RC C dt L L
1 1
d vc RC v 0
C c + 1 v(t )
= 1
dt i L − 0 i L L
L
1 1
vc RC v 0
C c + 1 v(t )
= 1
iL − 0 i L L
L
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State Space Representation
Step-4: The output is current through the resistor therefore, the
output equation is
1
i R = vC
R
1 v c
iR = 0
R iL
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State Space Representation
1 1
vc RC v 0
C c + 1 v(t )
= 1
iL − 0 i L L
L
Where,
x(t) --------------- State Vector
x(t ) = Ax(t ) + Bu(t ) A (nxn) ------------ State (System) Matrix
B (nxp) ----------------- Input Matrix
u(t) --------------- Input Vector
1 v c
iR = 0 Where,
R iL y(t) -------------- Output Vector
C (qxn) ---------------- Output Matrix
D ----------------- Feed forward (Direct
y(t ) = Cx(t ) + Du(t ) transmission) Matrix
12
Example-2
• Consider the following system
K
x(t)
M
f(t)
B
Differential equation of the system is:
d 2 x(t ) dx(t )
M +B + Kx(t ) = f (t )
dt 2 dt
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Example-2
• As we know
dx d 2x dv
=v =
dt dt 2 dt
• Choosing x and v as state variables
dx d 2 x(t ) dx(t )
=v M +B + Kx(t ) = f (t )
dt dt 2 dt
dv B K 1
=− v− x+ f (t )
dt M M M
x 0 1 x 0
= − K B + 1 f (t )
v M − v
M M
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Example-2
x 0 1 x 0
= − K B + 1 f (t )
v M − v
M M
• If velocity v is the out of the system then output equation is given as
x
y (t ) = [0 1]
v
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Example-3
• Find the state equations of following mechanical translational
system.
d 2 x1 dx1 d 2 x2
M1 2
+D + Kx1 − Kx 2 = 0 f (t ) = M 2 2
+ Kx 2 − Kx1
dt dt dt
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Example-3
• Now dx1 d 2 x1 dv1
= v1 =
dt dt 2 dt
dx2 d 2
x2 dv2
= v2 =
dt dt 2 dt
• Choosing x1, v1, x2, v2 as state variables
dx1
= v1
dt
dv1
M1 + Dv1 + Kx1 − Kx 2 = 0
dt
dx2
= v2
dt
dv2
f (t ) = M 2 + Kx 2 − Kx1
dt 17
Example-3
• In Standard form
dx1
= v1
dt
dv1 D K K
=− v1 − x1 + x2
dt M1 M1 M1
dx2
= v2
dt
dv2 K K 1
=− x2 + x1 + f (t )
dt M2 M2 M2
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Example-3
dx1 dv1 D K K dx2
= v1 =− v1 − x1 + x2 = v2
dt dt M1 M1 M1 dt
dv2 K K 1
=− x2 + x1 + f (t )
dt M2 M2 M2
• In Vector-Matrix form
0 1 0 0 0
x1 K D K 1 x
− − 0 0
v1 = M 1 M1 M1
v1
+ 0 f (t )
x 2 0 0 0 1 x2
K K 1
v2 M 0 − 0 v2
2 M2 M2
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Example-3
0 1 0 0 0
x1 K D K 1 x
− − 0 0
v1 = M 1 M1 M1
v1
+ 0 f (t )
x 2 0 0 0 1 x2
K K 1
v2 M 0 − 0 v2
M2 M
2
2
x1
1 0 0 0 v
1
y (t ) =
0 0 0 1
x2
v2
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