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State Space Description of A Dynamic System: 1. Linear Case
State Space Description of A Dynamic System: 1. Linear Case
State Space Description of A Dynamic System: 1. Linear Case
1. Linear case
x& (t )
u(t) x(t) y(t)
B ∫
x (t ) = x& (t ) dt C
y(t) = C x(t) (in some cases y(t) = C x(t) + D u(t) → improper system)
y(t) = c’ x(t)
u(t) x& (t )
x(t) y(t)
f(x,u) ∫
x (t ) = x& (t ) dt g(x)
⋅
u x x
f (x; u)
∫
dx/dt x(t)
Time domain representation : ∫ dx/dt dt
dx/dt x(t)
Laplace transform representation : 1/s
analogue integrator :
(core of analogue computer)
Z transform representation :
dx/dt(k ∆t) ∼x((k+1)∆t) ∼x(k ∆t)
z-1
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Digital simulation :
(e.g.: accumulator register)
u(t-τ)
u(t)
U(s)
U(s)
- -
Since x(0 ) = 0 , y(0 ) = 0:
- TIME DOMAIN: yforced(t) to an input u(t) is given by the convolution
with the impulse response
- S-TRANSFORMED DOMAIN: Y(s) is given by the product of input
Laplace transform and transfer function = Laplace transform of
impulse response
- one and only one particular solution exists for a sinusoidal input:
sinusoidal regime solution;
it is obtained by applying to the input an amplification |H(jω)| and a phase
shift arg(H(jω)); therefore H(jω) is the frequency response =
Fourier transform of impulse response
Transfer function on the imaginary axis, s = jω
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EXAMPLES