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1. INTRODUCTORY CONCEPTS Theory Contents:

1.1. The Concept of State 1.2. Definitions: State Vector, State Space, Input Vector, Output Vector, State Space Equation, Linear, time-invariant (LTI) System 1.3. State Space Equations for Physical Systems Examples: Electrical, Mechanical and Electromechanical Systems Objectives: - Learn the concepts of State Space and State Space representation of dynamic systems. - Be able to obtain a State Space representation of a physical system.

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1.1 The Concept of State

Transfer Functions are (relatively) difficult to deal with.

V (s) s+2 = 3 U ( s) s + 2s 2 + 2s + 1
Ordinary Differential Equations of a high degree are also difficult to deal with (specially for computers)

&&&( t ) + 2v (t ) + 2v ( t ) + v = u( t ) + 2u( t ) && & & v

The question is: Are there any alternatives for the representation of the dynamic behaviour of a system? The answer is: YES

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1.1 The Concept of State

ANY TRANSFER FUNCTION CAN BE EXPRESSED AS A SET OF FIRST ORDER LINEAR DIFFERENTIAL EQUATIONS

V (s) s+2 && & & = 3 &&& + 2v + 2v + v = u + 2u v 2 U ( s) s + 2s + 2s + 1

& x1 (t ) = a11 x1 (t ) + a12 x2 (t ) + a13 x3 (t ) + b1u(t ) & x2 (t ) = a21 x1 (t ) + a22 x2 (t ) + a23 x3 (t ) + b2u (t ) & x3 (t ) = a31 x1 (t ) + a32 x2 (t ) + a33 x3 (t ) + b3u (t )

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1.1 The Concept of State

COMPUTERS ARE VERY HAPPY WITH THESE EQUATIONS. For example: Assume we know the value of x1(t0), x2(t0), x3(t0), then anyone can write a simple program to obtain x1(t0+T), x2(t0+T), x3(t0+T). How? If T is very small, we can approximate the time derivative of x1, x2, x3.

& x1 (t ) = a11 x1 (t ) + a12 x2 (t ) + a13 x3 (t ) + b1u(t ) & x2 (t ) = a21 x1 (t ) + a22 x2 (t ) + a23 x3 (t ) + b2u (t ) & x3 (t ) = a31 x1 (t ) + a32 x2 (t ) + a33 x3 (t ) + b3u (t )

x1 (t0 + T ) x1 (t0 ) = a11 x1 (t0 ) + a12 x2 (t0 ) + a13 x3 (t0 ) + b1u(t0 ) T x 2 ( t 0 + T ) x 2 ( t 0 ) = a21 x1 (t0 ) + a22 x2 (t0 ) + a23 x3 (t0 ) + b2u(t0 ) T x 3 ( t 0 + T ) x 3 ( t 0 ) = a31 x1 (t0 ) + a32 x2 (t0 ) + a33 x3 (t0 ) + b3u(t0 ) T

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1.1 The Concept of State

COMPUTERS ARE VERY HAPPY WITH THESE EQUATIONS. Then, solving for x1(t0+T), x2(t0+T), x3(t0+T), we have:

x1 (t0 + T ) x1 (t0 ) = a11 x1 (t0 ) + a12 x2 (t0 ) + a13 x3 (t0 ) + b1u(t0 ) T x 2 ( t 0 + T ) x 2 ( t 0 ) = a21 x1 (t0 ) + a22 x2 (t0 ) + a23 x3 (t0 ) + b2u(t0 ) T x 3 ( t 0 + T ) x 3 ( t 0 ) = a31 x1 (t0 ) + a32 x2 (t0 ) + a33 x3 (t0 ) + b3u(t0 ) T
x1 (t0 + T ) = x1 (t0 ) + T [a11 x1 (t0 ) + a12 x2 (t0 ) + a13 x3 (t0 ) + b1u (t0 )]

x3 (t0 + T ) = x3 (t0 ) + T [a31 x1 (t0 ) + a32 x2 (t0 ) + a33 x3 (t0 ) + b3u (t0 )]

x2 (t0 + T ) = x2 (t0 ) + T [a21 x1 (t0 ) + a22 x2 (t0 ) + a23 x3 (t0 ) + b2 u(t0 )]

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1.1 The Concept of State

LET US TAKE A CLOSER LOOK AT THESE EQUATIONS:

x3 (t0 + T ) = x3 (t0 ) + T [a31 x1 (t0 ) + a32 x2 (t0 ) + a33 x3 (t0 ) + b3u (t0 )]

x2 (t0 + T ) = x2 (t0 ) + T [a21 x1 (t0 ) + a22 x2 (t0 ) + a23 x3 (t0 ) + b2 u(t0 )]

x1 (t0 + T ) = x1 (t0 ) + T [a11 x1 (t0 ) + a12 x2 (t0 ) + a13 x3 (t0 ) + b1u (t0 )]

x3 (t0 + T ) = x3 (t0 ) + T [m3 (t0 )]

x2 (t0 + T ) = x2 (t0 ) + T [m2 (t0 )]

x1 (t0 + T ) = x1 (t0 ) + T [m1 (t0 )]

We can repeat the process again and again, and therefore obtain the signals x1(t), x2(t), x3(t). This is very easy to do with a simple computer program.
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1.1 The Concept of State

CONDITION: We have to make sure that T is small enough.

Therefore, what do we need to know? I We need to know the values of the input u(t), i.e. we need to know the input of the system (obviously). I We need to know the initial values of x1(t), x2(t) and x3(t), i.e. x1(t0), x2(t0) and x3(t0). Note that given x1(t0), x2(t0) and x3(t0) we can calculate all the values of x1(t), x2(t) and x3(t) for all t>t0. Therefore, the values x1(t0), x2(t0) and x3(t0) contain all the information about the past history of the system. In other words, we need to know the INPUT of the system and the STATE of the 7 system.

x1 (t0 + T ) x1 (t0 ) T x ( t + T ) x 2 ( t 0 ) & x2 2 0 T x ( t + T ) x 3 ( t 0 ) & x3 3 0 T & x1

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1.1 The Concept of State

Remember:

V (s) s+2 && & & = 3 &&& + 2v + 2v + v = u + 2u v 2 U ( s) s + 2s + 2s + 1 & x1 (t ) = a11 x1 (t ) + a12 x2 (t ) + a13 x3 (t ) + b1u(t ) & x2 (t ) = a21 x1 (t ) + a22 x2 (t ) + a23 x3 (t ) + b2u (t ) & x3 (t ) = a31 x1 (t ) + a32 x2 (t ) + a33 x3 (t ) + b3u (t )
Initially we had only one output V(s) or v(t). Now we have a set of variables x1(t), x2(t) and x3(t), which (generally) are not outputs. So, what are these new variables? These three variables are called STATE VARIABLES, because knowing the value of these variables for t=t0 completely determines the state of the system. Now we only need to know the input u(t) to obtain all the values of x1(t), x2(t) and x3(t). The above equation is known as the STATE EQUATION of the system.
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1.1 The Concept of State

State variables follow these rules: I An nth order system has n state variables. Another way of saying the same:
An nth order system has n states.

I State variables are mutually independent, e.g. if we know x1 and x2 we cannot calculate x3. I The choice of state variables is not unique (we will see more of this later on). The values aij, bi might be different depending on the technique used to go from the transfer function to the state space representation.

V (s) s+2 && & & = 3 &&& + 2v + 2v + v = u + 2u v 2 U ( s) s + 2s + 2s + 1 & x1 (t ) = a11 x1 (t ) + a12 x2 (t ) + a13 x3 (t ) + b1u(t ) & x2 (t ) = a21 x1 (t ) + a22 x2 (t ) + a23 x3 (t ) + b2u (t ) & x3 (t ) = a31 x1 (t ) + a32 x2 (t ) + a33 x3 (t ) + b3u (t )
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1.1 The Concept of State

Very nice, BUT, where is my output v(t)? If the states are defined correctly v(t) can be expressed as a combination of x1(t), x2(t) and x3(t):

v ( t ) = c1 x1 ( t ) + c2 x2 ( t ) + c3 x3 (t )
Sometimes, v(t) can also depend on u(t). Therefore, we have the more general formula:

v (t ) = c1 x1 (t ) + c2 x2 (t ) + c3 x3 (t ) + d1u (t )
This equation is called the OUTPUT EQUATION, and note it does not have any time derivatives.

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1.1 The Concept of State

Usually, both STATE and OUTPUT equations are expressed as matrix equations:

& x1 (t ) = a11 x1 (t ) + a12 x2 (t ) + a13 x3 (t ) + b1u(t ) & x2 (t ) = a21 x1 (t ) + a22 x2 (t ) + a23 x3 (t ) + b2u (t ) & x3 (t ) = a31 x1 (t ) + a32 x2 (t ) + a33 x3 (t ) + b3u (t )

& x1 (t ) a11 & x2 (t ) = a21 x (t ) a & 3 31

a12 a22 a32

a13 x1 (t ) b1 a23 x2 (t ) + b2 u(t ) a33 x3 (t ) b3

& & x ( t ) = A x ( t ) + B u ( t ); x = A x + B u
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1.1 The Concept of State

STATE EQUATION:

& x = A x + Bu

& x1 (t ) x1 (t ) a11 & & x = x2 (t ) ; x = x2 (t ) ; u = u(t ); A = a21 x (t ) x (t ) a &3 3 31

a12 a22 a32

a13 b1 a23 ; B = b2 b a33 3

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1.1 The Concept of State

WITH MORE THAN ONE INPUT:

& x1 (t ) = a11 x1 (t ) + a12 x2 (t ) + a13 x3 (t ) + b11u1 (t ) + b12u2 (t ) & x2 (t ) = a21 x1 (t ) + a22 x2 (t ) + a23 x3 (t ) + b21u1 (t ) + b22u2 (t ) & x3 (t ) = a31 x1 (t ) + a32 x2 (t ) + a33 x3 (t ) + b31u1 (t ) + b32u2 (t ) & x = A x + Bu

& x1 (t ) x1 (t ) a11 u1 (t ) & & x = x2 (t ) ; x = x2 (t ) ; u = u (t ) ; A = a21 2 x (t ) x (t ) a 3 &3 31

a12 a22 a32

a13 b11 b12 a23 ; B = b21 b22 b b a33 31 32

If we have n STATES and m INPUTS: x will be a column vector of dimension n x 1. u will be a column vector of dimension m x 1. A will be a square matrix of dimension n x n. B will be a matrix of dimension m x n.

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1.1 The Concept of State

OUTPUT EQUATION:

v (t ) = c1 x1 (t ) + c2 x2 (t ) + c3 x3 (t ) + d1u (t )

v(t ) = (c1 c2

x1 (t ) c3 ) x2 (t ) + (d1 )u(t ) x (t ) 3

v = C x (t ) + Du(t ); v = C x + Du
Usually D=(0)

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1.1 The Concept of State

WITH MORE THAN ONE OUTPUT AND ONE INPUT, WE WILL HAVE:

v1 (t ) = c11 x1 (t ) + c12 x2 (t ) + c13 x3 (t ) + d11u1 (t ) + d12u2 (t ) v2 (t ) = c21 x1 (t ) + c22 x2 (t ) + c23 x3 (t ) + d 21u1 (t ) + d 22u2 (t ) x1 (t ) d11 c13 x2 (t ) + d c23 21 x3 ( t )

v = C x + Du

v1 (t ) c11 c12 v (t ) = c 2 21 c22

d12 u1 (t ) u (t ) d 22 1 d12 d 22

x1 (t ) c11 c12 u1 (t ) v1 (t ) x = x2 (t ) ; v = v (t ) ; u = u (t ) ; C = c 2 2 21 c22 x (t ) 3

c13 d11 ; D = d c23 21

If we have n STATES, m INPUTS and r OUTPUTS: v will be a column vector of dimension r x 1. C will be a matrix of dimension r x n. D will be a matrix of dimension r x m.

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1.1 The Concept of State

THEREFORE, THE FULL SET OF EQUATIONS DEFINING A SYSTEM WILL BE:

& x = A x + Bu v = C x + Du
NICE , ISNT IT?

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1.2 Definitions
State Vector: The state vector x is the set of states x=(x1, x2, x3, ..., xn)T. It is an n x 1 column matrix. State Space: (x1, x2, x3, ..., xn)T can be said to form the basis of an n-dimensional cartesian space. At any point in time, the numeric values of x1, x2, x3, ..., xn thus form a vector in the space. Input Vector: If a system has m inputs, u1, u2, u3, ..., um, then they form the vector u=(u1,u2,u3,...,um)T. This is an m x 1 column matrix. Output Vector: If a system has r outputs of interest, v1, v2, v3, ..., vr, then they form the vector r=(v1, v2, v3, ..., vr)T. This is an r x 1 column matrix. State Space Equation: The set of n first order differential equations which express the system dynamics. The output equation can be also considered as part of the State Space Equations.

& x = A x + Bu

v = C x + Du

Linear, Time-Invariant System. (In short LTI system). If all the plant components are linear and do not change with time. In this case, matrices A,B, C and D consist only of numbers.
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1.3 State Space Equations for Physical Systems

Obtain the State Space Equations of the following system:

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1.3 State Space Equations for Physical Systems

Obtain the State Space Equations of the following system:

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ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

1.3 State Space Equations for Physical Systems

Obtain the State Space Equations of the following system:

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ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

1.3 State Space Equations for Physical Systems

Obtain the State Space Equations of the following system:

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1.3 State Space Equations for Physical Systems

Obtain the State Space Equations of the following system:

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1.3 State Space Equations for Physical Systems

Obtain the State Space Equations of the following system:

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ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

1.3 State Space Equations for Physical Systems

Obtain the State Space Equations of the following system:

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