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CS Module 7
CS Module 7
− 5 − 1 2
X (t ) = X (t ) + U (t )
3 − 1 5
Y (t ) = 1 2X (t )
UNIT - V
There are two types of system representation in control systems
U2(t) y2(t)
MIMO system
Inputs (x1(t), x2(t)….xn(t)) Outputs
State Variables
Um(t) yp(t)
The state model of the system is
State equation
Output equation
State Variables can be
Displacement
(spring) and
velocity (mass)
fv are state
variables
d 2 y1
m1 2
+ k1 y1 − k 2 [ y2 − y1 ] = f ( t )
dt
d 2 y2 dy2
m2 2
+ fv + k 2 [ y2 − y1 ] = 0
dt dt
State equation is
fv
KVL equations of the circuit are
State Space Representation using Phase Variables
Method 1: the differential equation relating output and input of a system
n• ( n −1)• ( n − 2 )• •• •
y + a1 y + a2 y + ............. + a n− 2 y + a n−1 y + a n y = bu
•
x1 = x 2
•
x2 = x3
.
.
•
x n −1 = x n
State equation
⎡ • ⎤
⎢ x1 ⎥ ⎡ 0 1 0 0 0 ⎤ ⎡ x1 ⎤ ⎡0⎤
⎢ • ⎥ ⎢ 0 0 1 0 0 ⎥⎥ ⎢⎢ x 2 ⎥⎥ ⎢⎢0⎥⎥
⎢ x2 ⎥ ⎢
⎢ . ⎥=⎢ . . . . . ⎥ ⎢ . ⎥ + ⎢ . ⎥ [u]
⎢ ⎥ ⎢ . . . .
⎥⎢ ⎥ ⎢ ⎥
. ⎥⎢ . ⎥ ⎢ . ⎥
⎢ •. ⎥ ⎢
⎢ x ⎥ ⎢⎣ − a n − a n −1 . . − a1 ⎥⎦ ⎢⎣ x n ⎥⎦ ⎢⎣1⎥⎦
⎣ n⎦
Output equation
⎡ x1 ⎤
⎢x ⎥
⎢ 2⎥
y = [1 0 . . 0]⎢ . ⎥
⎢ ⎥
⎢ . ⎥
⎢⎣ x n ⎥⎦
Method 2 and 3
n• ( n −1)• ( n − 2 )• •• •
y + a1 y + a 2 y + ............. + a n− 2 y + a n−1 y + a n y =
m• ( m −1)• ( m − 2 )• •• •
b0 u + b1 u + b2 u + ............. + a m − 2 u + a m −1 u+ bm u
Consider n=m
Method 2
State equation
⎡ • ⎤
⎢ x1 ⎥ ⎡ − a1 1 0 0 0⎤ ⎡ x1 ⎤ ⎡ b1 − a1b0 ⎤
⎢ • ⎥ ⎢ − a2 0 1 0 0⎥⎥ ⎢⎢ x 2 ⎥⎥ ⎢⎢ b2 − a 2 b0 ⎥⎥
⎢ x2 ⎥ ⎢
⎢ . ⎥=⎢ . . . . . ⎥⎢ . ⎥ + ⎢ . ⎥ [u]
⎢ ⎥ ⎢− a ⎥⎢ ⎥ ⎢
. . . 1⎥ ⎢ . ⎥ ⎢bn−1 − a n−1b0 ⎥
⎥
⎢ •. ⎥ ⎢ n−1
⎢ x ⎥ ⎢⎣ − a n . . 0⎥⎦ ⎢⎣ x n ⎥⎦ ⎢⎣ bn − a n b0 ⎥⎦
⎣ n⎦
Output equation
⎡ x1 ⎤
⎢x ⎥
⎢ 2⎥
y = [1 0 . . 0]⎢ . ⎥ + b0 u
⎢ ⎥
⎢ . ⎥
⎢⎣ x n ⎥⎦
Method 3
State equation
⎡ • ⎤
⎢ x1 ⎥ ⎡ 0 1 0 0 0 ⎤ ⎡ x1 ⎤ ⎡0⎤
⎢ • ⎥ ⎢ 0 0 1 0 0 ⎥⎥ ⎢⎢ x 2 ⎥⎥ ⎢⎢0⎥⎥
⎢ x2 ⎥ ⎢
⎢ . ⎥=⎢ . . . . . ⎥ ⎢ . ⎥ + ⎢ . ⎥[u]
⎢ ⎥ ⎢ 0 0 . .
⎥⎢ ⎥ ⎢ ⎥
1 ⎥ ⎢ . ⎥ ⎢ 0⎥
⎢ •. ⎥ ⎢
⎢ x ⎥ ⎢⎣ − a n − a n −1 . . − a1 ⎥⎦ ⎢⎣ x n ⎥⎦ ⎢⎣1⎥⎦
⎣ n⎦
Output equation
⎡ x1 ⎤
⎢x ⎥
⎢ 2⎥
y = [b1 − a1b0 b2 − a 2 b0 . . bn−1 − a n−1b0 bn − a n b0 ]⎢ . ⎥ + b0 u
⎢ ⎥
⎢ . ⎥
⎢⎣ x n ⎥⎦
Method 2
n• ( n −1)• ( n − 2 )• •• •
y + a1 y + a 2 y + ............. + a n− 2 y + a n−1 y + a n y =
m• ( m −1)• ( m − 2 )• •• •
b0 u + b1 u + b2 u + ............. + a m − 2 u + a m −1 u+ bm u
Consider n=m
b0 s 3 + b1 s 2 + b2 s + b3
T ( s) = 3
s + a1 s + a 2 s + a 3
2
b1 b2 b3
b0 + + 2 + 3
T ( s) = s s s
⎛ a1 a 2 a 3 ⎞
1− ⎜− − 2 − 3 ⎟
⎝ s s s ⎠
Method 3
Y ( s ) b0 s 3 + b1 s 2 + b2 s + b3
T ( s) = = 3
U ( s) s + a1 s 2 + a 2 s + a 3
Y ( s) X1 ( s) Y ( s)
= •
U ( s) U ( s) X1 ( s)
State Space Representation using Canonical Variables
b0 s 3 + b1 s 2 + b2 s + b3
T ( s) = 3
s + a1 s + a 2 s + a 3
2
If n=m,
c1 c2 cn
T ( s ) = b0 + + + .... +
s + λ1 s + λ2 s + λn
⎡ • ⎤
⎢ x1 ⎥ ⎡ − λ1 0 0 0 0 ⎤ ⎡ x1 ⎤ ⎡1⎤
⎢ • ⎥ ⎢ 0 − λ2 0 0 0 ⎥⎥ ⎢⎢ x2 ⎥⎥ ⎢⎢1⎥⎥
⎢ x2 ⎥ ⎢
⎢ . ⎥=⎢ . . . . . ⎥ ⎢ . ⎥ + ⎢ . ⎥ [u]
⎢ ⎥ ⎢ 0 0 . − λ n −1
⎥⎢ ⎥ ⎢ ⎥
0 ⎥ ⎢ . ⎥ ⎢1⎥
⎢ •. ⎥ ⎢
⎢ x ⎥ ⎢⎣ 0 0 . . − λn ⎥⎦ ⎢⎣ x n ⎥⎦ ⎢⎣1⎥⎦
⎣ n⎦
Output equation
⎡ x1 ⎤
⎢x ⎥
⎢ 2⎥
y = [c1 c2 . . c n −1 cn ]⎢ . ⎥ + b0 u
⎢ ⎥
⎢ . ⎥
⎢⎣ x n ⎥⎦
1. A feedback system has a closed-loop transfer function
2s + 6s + 5
2
T ( s) = 3
s + 4s 2 + 5s + 2
Write three different state space representation.
Method 2: using phase variables
2s + 6s + 5
2
T ( s) = 3
s + 4s 2 + 5s + 2
2 6 5
+ 2+ 3
T ( s) = s s s
⎛ 4 5 2⎞
1− ⎜− − 2 − 3 ⎟
⎝ s s s ⎠
Method 2
State equation
⎡• ⎤
⎢ x1 ⎥ ⎡ − 4 1 0⎤ ⎡ x1 ⎤ ⎡ 2⎤
⎢• ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ x 2 ⎥ = ⎢ − 5 0 0⎥ ⎢ x 2 ⎥ + ⎢ 6⎥ [u]
⎢ • ⎥ ⎢⎣ − 2 0 0⎥⎦ ⎢⎣ x 3 ⎥⎦ ⎢⎣ 5⎥⎦
x
⎢ 3⎥
⎣ ⎦
Output equation
⎡ x1 ⎤
⎢
y = [1 0 0]⎢ x 2 ⎥ ⎥
⎢⎣ x 3 ⎥⎦
Method 3: using phase variables
Y ( s) 2s + 6s + 5
2
= 3
U ( s) s + 4s 2 + 5s + 2
Y ( s) X1 ( s) Y ( s)
= •
U ( s) U ( s) X1 ( s)
X 1 ( s) 1
= 3
U ( s) s + 4s 2 + 5s + 2
Taking inverse laplace transform
... .. .
x 1 + 4 x 1 + 5 x 1 + 2 x1 = u
Order = 3, ∴ taking three state variables x1, x2 and x3
.
x 1 = x2
.
x 2 = x3
•
x 3 + 4 x 3 + 5 x 2 + 2 x1 = u
Y ( s)
= 2s 2 + 6s + 5
X1 ( s)
Taking inverse laplace transform
.. .
y = 2 x1 + 6 x 1 + 5 x1
y = 2 x 3 + 6 x 2 + 5 x1
State equation
⎡• ⎤
⎢ x1 ⎥ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡0⎤
⎢• ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
x
⎢ ⎥ ⎢
2 = 0 0 1 ⎥ ⎢ x 2 ⎥ + ⎢ 0 ⎥ [u ]
⎢ • ⎥ ⎢⎣ − 2 − 5 − 4⎥⎦ ⎢⎣ x 3 ⎥⎦ ⎢⎣1⎥⎦
x
⎢ 3⎥
⎣ ⎦
Output equation
⎡ x1 ⎤
y = [5 6 2]⎢⎢ x 2 ⎥⎥
⎢⎣ x 3 ⎥⎦
Using canonical variables
2s 2 + 6s + 5
T ( s) =
( s + 1) ( s + 2)
2
c1 c2 c3
T ( s) = + +
( s + 1) 2
s+1 s+ 2
c1 = 1, c2 = 1, c3 = 1
State equation
⎡• ⎤
⎢ x1 ⎥ ⎡ − 1 0 0 ⎤ ⎡ x1 ⎤ ⎡1⎤
⎢• ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
x
⎢ ⎥ ⎢
2 = 0 − 1 0 ⎥ ⎢ x 2 ⎥ + ⎢1⎥ [u ]
⎢ • ⎥ ⎢⎣ 0 0 − 2 ⎥
⎦ ⎢
⎣ x ⎥
⎦ ⎢
⎣1⎥
⎦
x
⎢ ⎥ 3
3
⎣ ⎦
Output equation
⎡ x1 ⎤
y = [1 1 1]⎢⎢ x 2 ⎥⎥
⎢⎣ x 3 ⎥⎦
1. A feedback system has a closed-loop transfer function
Y ( s) 5
T ( s) = = 3
X ( s) s + 4s 2 + 7 s + 2
Write three different state space representation.
x1 = y
•
x2 = y •
•• x3 + 4 x3 + 7 x 2 + 2 x1 = 5u
x3 = y
Differential equations are
•
x1 = x 2
•
x2 = x3
•
x 3 = −4 x 3 − 7 x2 − 2 x1 + 5u
State equation
⎡• ⎤
⎢ x1 ⎥ ⎡ 0 1 0 ⎤ ⎡ x1 ⎤ ⎡0⎤
⎢• ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ x2 ⎥ = ⎢ 0 0 1 ⎥ ⎢ x 2 ⎥ + ⎢0⎥ [u]
•
⎢ ⎥ ⎢⎣ − 2 − 7 − 4⎥⎦ ⎢⎣ x 3 ⎥⎦ ⎢⎣5⎥⎦
x
⎢ 3⎥
⎣ ⎦
Output equation
⎡ x1 ⎤
y = [1 0 0]⎢⎢ x 2 ⎥⎥
⎢⎣ x 3 ⎥⎦
Method 2
5
T ( s) = 3
s + 4s 2 + 7s + 2
5
T ( s) = s3
⎛ 4 7 2⎞
1− ⎜− − 2 − 3 ⎟
⎝ s s s ⎠
Method 2
State equation
⎡• ⎤
⎢ x1 ⎥ ⎡ − 4 1 0⎤ ⎡ x1 ⎤ ⎡0⎤
⎢• ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ x 2 ⎥ = ⎢ − 7 0 1⎥ ⎢ x 2 ⎥ + ⎢0⎥ [u]
⎢ • ⎥ ⎢⎣ − 2 0 0⎥⎦ ⎢⎣ x 3 ⎥⎦ ⎢⎣5⎥⎦
x
⎢ 3⎥
⎣ ⎦
Output equation
⎡ x1 ⎤
⎢
y = [1 0 0]⎢ x 2 ⎥ ⎥
⎢⎣ x 3 ⎥⎦
Solution of state equations
State equation
Output equation
X (t ) = e X 0 At
where
e At
= φ (t ) Is called state transition matrix
X0 Initial state
−1 −1
e At
= φ ( t ) = L [( sI − A) ]
Properties of state transition matrrix
− At −1 −1
2. φ (t ) = e At
= (e ) = [φ ( − t )]
A( t 1 + t 2 )
3. φ ( t1 + t 2 ) = e =e At1 At 2
e = φ ( t1 ).φ ( t 2 )
1. A linear time-invariant system is characterized by homogeneous equation
⎡ . ⎤ ⎡1 0⎤ ⎡ x ⎤
⎢ x. 1 ⎥ = ⎢ ⎥ ⎢
1
⎥
⎢ x ⎥ ⎣1 1⎦ ⎣ x 2 ⎦
⎣ 2⎦
Compute the solution, assuming initial state
⎡1 ⎤
X0 = ⎢ ⎥
⎣ 0⎦
Solution of the state equation is
X (t ) = e X 0At
−1 −1
e At
= φ ( t ) = L [( sI − A) ]
⎡1 0⎤ ⎡1 0⎤ ⎡ s − 1 0 ⎤
sI − A = s ⎢ ⎥ −⎢ ⎥ =⎢ ⎥
⎣0 1⎦ ⎣1 1⎦ ⎣ − 1 s − 1⎦
−1 1 ⎡s − 1 0 ⎤
( sI − A) = φ ( s) = 2 ⎢ ⎥
( s − 1) ⎣ 1 s − 1⎦
⎡ 1 ⎤
⎢ s −1 0 ⎥
φ ( s) = ⎢ 1 1 ⎥
⎢ ⎥
⎢⎣ ( s − 1) 2 s − 1 ⎥⎦
⎡ et 0⎤
e At
= φ (t ) = ⎢ t t⎥
⎣ te e ⎦
The solution of the given state equation
⎡ e t ⎤
0 ⎡1 ⎤ ⎡ e t ⎤
X (t ) = e X 0 = ⎢ t
At
t ⎥⎢ ⎥
= ⎢ t⎥
⎣ te e ⎦ ⎣0⎦ ⎣ te ⎦
State space to transfer function
Y ( s) −1
= C ( sI − A) B + D
U ( s)
2. Compute state transition matrix At
e
⎡ 0 1 ⎤
A= ⎢ ⎥
⎣ − 2 − 3⎦
⎡1 0⎤ ⎡ 0 1 ⎤ ⎡s − 1 ⎤
sI − A = s ⎢ ⎥ −⎢ ⎥ =⎢ ⎥
⎣ 0 1 ⎦ ⎣ − 2 − 3⎦ ⎣ 2 s + 3⎦
−1 1 ⎡ s + 3 1⎤
( sI − A) = φ ( s) = ⎢ ⎥
( s + 1)( s + 2) ⎣ − 2 s ⎦
Taking partial fraction
⎡ 2 1 1 1 ⎤
−
⎢ ( s + 1) ( s + 2) − ⎥
( s + 1) ( s + 2)
φ ( s) = ⎢ ⎥
⎢ −2 + 2 −1
+
2 ⎥
⎢⎣ ( s + 1) ( s + 2) ( s + 1) ( s + 2) ⎥⎦
⎡ 2e − t − e −2 t e −t
−e ⎤ −2 t
e At
= φ (t ) = ⎢ −t − 2t −t − 2t ⎥
⎣ − 2e + 2e − e + 2e ⎦
CONTROLLABILITY
A system is said to be completely controllable, if every state
variable of the system can be controlled to get the desired output in
finite time.
Gilbert’s method of testing controllability
Solution
2.
Solution
Converting the given state model to canonical form
•
X = AX + BU
Y = CX + DU
Where A matrix is in companion or bush form
⎡ 0 1 0 0 0 ⎤
⎢ 0 0 1 0 0 ⎥ ⎥
⎢
⎢ . . . . . ⎥
⎢ ⎥
⎢ . . . . . ⎥
⎢⎣ − a n − a n −1 . . − a1 ⎥⎦
The state model can be converted to canonical form by a
transformation, X=MZ, where M is modal matrix and Z is the
transformed state variable vector
• ~ where
Z = ΛZ + B U
Grammier matrix Λ = M −1 AM
~
Y = C Z + DU
~
B = M −1 B
~
The characteristic equation C = CM
Case 2: When system matrix has repeated eigenvalues.
• ~
Z = JZ + B U
~
Y = C Z + DU
where
J = M −1 AM
~
B = M −1 B
~ The characteristic equation
C = CM
3. Convert the given state model to cononical form
The transformed state model of a system
• ~
Z = ΛZ + B U where Λ = M −1 AM
~
Y = C Z + DU ~
B = M −1 B
~
C = CM