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The Lecture Contains:: Lecture 24: State Space Representation of MIMO System
The Lecture Contains:: Lecture 24: State Space Representation of MIMO System
x
2
) are only measurable. The equations could be now expressed in matrix-form resembling Eqn. (24.1)
as
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(24.4)
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Module 5: Principles of Active Vibration Control
Lecture 24: State Space Representation of MIMO System
State-space systems representing a set of ODEs as the state equation could be solved using standard
mathematical techniques. One simple form is discussed here for the sake of brevity. Pre-multiplying the
state space equation 25.1 by the matrix we get:
or
Integrating the above equation from 0 to time t
(24.5)
The matrix is known as the state transition matrix since it transforms any initial state x (0) to states
at any time t, and is denoted as . The state transition matrix is unique for each dynamic system
and could be computed by inverse Laplace transformation of the matrix (s I - A) as
(24.6)
The eigen-values of the plant A could be obtained by finding out the roots of the polynomial equation
(24.7)
Eqn. (24.7) is also known as the characteristic equation of the open-loop system. The roots of the
characteristic equation could be plotted in a real vs. imaginary-plane ( s -plane). For a stable open-loop
system, these roots are always situated in the left side of the imaginary axis in the s -plane.
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Module 6:
Lecture 27: Feedback and Feed-forward AVC for SISO Systems
The Root Locus method
The root locus method is used to study the change in the pole-location of a closed-loop system in the
s-plane with respect to the change in the control -gain. A simple closed loop system is described as
follows:
Figure 24.5
Following the block-diagram, the error E(s) is
E(s) = R(s) H(s) C(s)
(24.9)
Again
C(s) = K G(s) E(s) = K G(s) [R(s) H(s) C(s)]
(24.10)
Hence,
C(s)/R(s) = K G(s) /[1+K G(s) H(s)]
(24.11)
Equation (24.11) is known as the closed-loop transfer function for a negative feed-back system. The
characteristic equation corresponding to a unity feedback (H(s) =1) for the above system could be
written as
1 + K G(s) = 0
(24.12)
The above equation could be expressed in terms of magnitude and phase as follows:
(24.13)
Using the phase relationship of the above equation, one can plot the locus of the roots of the
characteristic equation as K varies from 0 to infinity.
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The following are the basic rules used for plotting the root-locus corresponding to a transfer function
having n open-loop poles and m open-loop zeros.
1. The n branches of root-locus start at the n open-loop poles and out of them m branches end at
the m open-loop zeros, while the n-m branches end at infinity.
2. On the real axis, the root-loci exist on the left side of odd number of poles and zeros.
3. The root locus is symmetric about the real axis.
4. The asymptodes of root-locus at infinity have the following real-axis intercept s and angle :
where, P and Zs are finite poles and zeros already defined by Eqn.24.5.
5. The angle of arrival and departure from the poles and zeros are calculated by choosing a point
very close to such desired poles and zeros. Now, using a simple graphical technique, vectors are
drawn to the desired pole/zero from all the other poles and zeros. Adding the angles of the zeros
and subtracting that of the poles the net angle is obtained at the point as
net
. Subtracting this
angle from 180
0
would yield the angle of departure/arrival of the root-locus.
6. The root-locus crosses the imaginary axis at the points where the angle of G(s)H(s) becomes
equal to (2k+1)180
0
.