ENGR3350U - CONTROL SYSTEMS

LECTURE-7

Lecture Schedule
Week-1 [10-Sep]: Lab Introduction Week-2 [14,17 Sep]: Control System, Closed / Open Loops, Modelling of Dynamic Systems Week-3 [21,24 Sep]: Laplace Transform, Block Diagram, Review Week-4 [28-Sep, 1-Oct]: State Variables, Feedback Control, Review Week-5 [5,8 Oct]: Midterm Exam (1), Invited Lecture / Project Discussions Week-6 [12,15 Oct]: Performance of Feedback Control Week-7 [19,22 Oct]: Steady State Error, Stability
Dr. Hossam A.Gabbar 2
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LEARNING OBJECTIVES
Understand State Space Practice Feedback Control Systems Analyze Performance of Feedback Control Systems

STATE SPACE

1. Select a particular subset of all possible system variables and call the variables in this subset state variables. 2. For an nth order system, write n simultaneous, first order differential equations in terms of the state variables, they are state equations. 3. If known the initial condition of all of the state variables at t0 as well as the system input for t larger than t0, we can solve the simultaneous differential equations. 4. We algebraically combine the state variables with the systems input and find all of the other system variables. (output equation) 5. We consider the state equations and the output equations a viable representation of the system. We call this representation of the system a state-space representation. 4

STATE SPACE

STATE SPACE

CONVERT STATE SPACE INTO TRANSFER FUNCTION

FIGURE 3.5 TWO ROLLING CARTS ATTACHED WITH SPRINGS AND DAMPERS.

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FIGURE 3.6 FREE-BODY DIAGRAMS OF THE TWO ROLLING CARTS. (A) CART 2; (B) CART 1.

FIGURE 3.7 INITIAL CONDITION RESPONSE OF THE TWO CART SYSTEM.