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Transition Representation
Transition Representation
Transition Representation
Zero input and zero state solutions of a system can be found if a state space representation of the system is known. Before solving an example, we first develop a generalized technique for finding the zero input and zero state solutions of a problem. This is followed by several examples. Recall that a state space system is defined by the equations
where q is the state vector, A is the state matrix, B is the input matrix, u is the input, C is the output matrix, D is the direct transition (or feedthrough) matrix, and y is the output. In general we will have a single input and single output so u(t), y(t) and D defined as scalars. The techniques generalize in obvious ways to systems with multiple inputs and multiple outputs.
where I is the identity matrix. The time domain state transition matrix, (t), is simply the inverse Laplace Transform of (s). Example: Find State Transition Matrix of a 2nd Order System
Find (s) and (t) if
Solution:
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To find (t) we must take the inverse Laplace Transform of every term in the matrix
We now must perform a partial fraction expansion of each term, and solve
Solution via MatLab MatLab can be used to find the zero input response of a state space system:
Zero Input
Let us now develop a method for finding the zero input solution to a system defined in state space. The system is defined as
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with a known set of initial conditions, q(0-). We solve for q(t) by first taking the Laplace Transform and solving for Q(s)
The solution for y(t) is found in a straightforward way from the output equation
with
and
For the given A matrix, (s) and (t) were calculated previously (above)
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So
and
Solution via Matlab This problem can also be solve with MatLab
A = [ 01 ;23 ] ; % D e f i n eM a t r i c e s B = [ 0 ;1 ; ] ; C = [ 11 ] ; D = 0 ; m y S y s = s s ( A , B , C , D ) ; % D e f i n eS t a t eS p a c es y s t e m q 0 = [ 1 ;2 ; ] ; % D e f i n ei n i t i a lc o n d i t i o n s i n i t i a l ( m y S y s , q 0 ) ; % P l o tz e r oi n p u ts o l u t i o n
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Examining the third row of the table we see that we have introduced a matrix exponential that is exactly analogous to the scalar exponential, and we have used this matrix exponential in the solution of our first order matrix differential equation:
we see that
Solution: Since
and we know (from above) that for the A matrix specified that
then
yields such a compact closed form solution, but this makes it possible to evaluate eAt (and (t)) precisely and efficiently.
Zero State
Finding the zero state response of a system given a state space representation is a bit more complicated. In the Laplace Domain the response is found by first finding the transfer function of the system. (A description of the transformation from state space representation to transfer function is given
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elsewhere).
In the time domain, this last equation (multiplication in the Laplace domain), is just a convolution (the asterisk (*) denotes convolution):
Note: this last equation assumes a single input system. For multi-input systems the u(t) term must stay to the right of B.
with
and
Solution: First we need to find the transfer function from the state space representation
so
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> >m y S y s = s s ( [ 01 ;23 ] ,[ 0 ;1 ] ,[ 11 ] ,0 ) ; %D e f i n es y s t e mi ns t a t es p a c e > >[ n , d ] = t f d a t a ( m y S y s , ' v ' ) %G e tn u m e r a t o ra n dd e n o m i n a t o r n= 0 1 . 0 0 0 0 1 . 0 0 0 0 d= 1 3 2 We also know that
so
The partial fraction expansion can be done by hand or with Matlab. The Matlab solution is shown. > >[ r , p , k ] = r e s i d u e ( [ 11 ] , [ 13200 ] ) %P e r f o r mp a r t i a lf r a c t i o ne x p a n s i o n r= 0 . 7 5 0 0 2 . 0 0 0 0 1 . 2 5 0 0 0 . 5 0 0 0 p= 2 1 0 0 k= [ ]
Complete Response
Example: Complete Response from State Space (2x2)
Find the response for the system defined by:
with
and
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Solution via Matlab A numerical solution can be found with Matlab t = l i n s p a c e ( 0 , 1 0 ) ; % D e f i n et i m ev e c t o r A = [ 01 ;23 ] ; % D e f i n eM a t r i c e s B = [ 0 ;1 ; ] ; C = [ 11 ] ; D = 0 ; m y S y s = s s ( A , B , C , D ) ; % D e f i n eS t a t eS p a c es y s t e m u = t ; q 0 = [ 1 ;2 ; ] ; y z i = i n i t i a l ( m y S y s , q 0 , t ) ; y z s = l s i m ( m y S y s , u , t ) ; y c = y z i + y z s ; % D e f i n ei n p u t % D e f i n ei n i t i a lc o n d i t i o n s % F i n dz e r oi n p u tr e s p o n s e % F i n dz e r os t a t er e s p o n s e % F i n dc o m p l e t er e s p o n s e
Note that the complete response converges to the zero state response at long times as the zero input response decays to zero.
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Find the output if the system starts at rest (the velocity is zero) but xout(0-)=0.05 and xin (t)=0.1(t). Solution: We must first develop a state space model. Techniques for doing so are discussed elsewhere. We will start from the system transfer function (derived on the previous page):
From the top row of the state variable equation we see that:
or
Zero State Solution: We start by finding the state transition matrix. This could be done by hand, we'll use Matlab's symbolic toolbox: > >s y m ss > >A = [ 51 ;60 ] ; > >P h i = i n v ( s * e y e ( 2 ) A ) P h i= [ s / ( s ^ 2+5 * s+6 ) , 1 / ( s ^ 2+5 * s+6 ) ] [6 / ( s ^ 2+5 * s+6 ) ,( s+5 ) / ( s ^ 2+5 * s+6 ) ]
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with
We again turn to Matlab to find Yzi (s) > >C = [ 10 ] ; > >q 0 = [ 0 . 0 5 ;0 . 2 5 ] ; > >Y z i = C * P h i * q 0 Y z i= s / ( 2 0 * ( s ^ 2+5 * s+6 ) )+1 / ( 4 * ( s ^ 2+5 * s+6 ) ) > >p r e t t y ( s i m p l e ( Y z i ) ) s+5 2 2 0( s +5s+6 ) At this point we could perform a partial fraction expansion, but we will let Matlab do the work > >[ r , p , k ] = r e s i d u e ( [ 15 ] , 2 0 * [ 156 ] ) r= 0 . 1 0 0 0 0 . 1 5 0 0 p= 3 . 0 0 0 0 2 . 0 0 0 0 k= [ ] So we get
As expected this agrees with the solution obtained using the transfer function (done on previous page).
Zero State Solution: We start by finding the transfer function, which was derived at the start of the problem.
(Note, if we didn't already know the transfer function we could always use the relationship H(s)=C(s)B+D.)
Rather than solving this again, we refer to the solution on the previous page.
Complete Solution: The complete response is simply the sum of the zero input and zero stat response.
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References
Copy right 2005-2013 Erik Cheev er This page may be f reely used f or educational purposes. Comments? Questions? Suggestions? Corrections? Erik Cheev er Department of Engineering Swarthmore College
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