B2 - State Space Modelling

• Creating a state space model

• Analogue diagrams of State Space Models
• Finding a state space model from an
analogue diagram
 State Space Model Of Aircraft Lateral
Motion
• Consider the lateral motion of an aircraft by
just movement of the rudder


 − N r 
 + N = Nr r

Where  is the change in heading angle

r is the change in rudder angle.
 
 − N r 
 + N = Nr r

If we define state and input variables as :

x1 =  , x 2 = 
 , and u = r

then the state equations become:

x 1 =  x 2 = 

= x2 = N r  − N  + N r  r
= N r x 2 − N x1 + N r u
 x 1 =  x 2 = 

= x2 = N r  − N  + N r  r
= N r x 2 − N x1 + N r u

In a matrix form:

 x 1  a11 1   x1   b01 
0 a12
 x  = − N N   x  +  N  u 
 2  a 21 a 22r   2   b 2r 
 x 1 = 
 x 2 = 

= x2 = N r 
 − N  + N r  r
= N r x 2 − N x1 + N r u
x1 = 0x1 + 1x 2 + 0u
In a matrix form:

 x 1   00 11   x1   0 
 x  = − N N   x  +  N u 
 2  a 21 a 22r   2   b 2r 
 x 1 =  x 2 = 

= x2 = N r 
 − N  + N r  r
= N r x 2 − N x1 + N r u

In a matrix form:

 x 1   0 1   x1   0 
 x  = − N N   x  +  N u 
 2   r   2   r 

State Matrix A Input Matrix B

A state space model is not complete without the output
matrix equation

y = Cx + Du

If we define the output as the change in heading angle, ,

and heading angle was the first state variable, the output
matrix equation becomes:

 x1 
y = 1 0 
x 2 
State Space Model Of Aircraft Lateral
Motion

 − N r 
 + N = Nr r

Becomes:

 x 1   0 1   x1   0 
 x  = − N N   x  +  N u 
 2   r   2   r 

 x1 
y = 1 0 
x 2 
 State Space Models to Analogue Diagrams
1. Identify the number of integrators
– Draw n integrators. Output of each integrator is a state variable. Input
is the first derivative of the state variable.
2. Implement the State Matrix, A
– Draw summer on the input to each integrator and feedback each
state variable via a scalar as given by state matrix.
3. Implement the Input Matrix, B
– Draw constant source blocks on left to represent the inputs and feed
forward to the summers via scalars the contribution of each input.
4. Implement the Output Matrix Equation
– Draw a summer for each output on the right and feed forward the
contribution of each state variable via scalars to each output, add in
D matrix if necessary
 x 1  a 11 a 12   x 1   b 1   x1 
 x  = a    +   u  y =  c 1 c 2   + d  u
 2   21 a 22   x 2   b 2  x 2 

x1 1
x1
s

x2 x2
1
s
 x 1  a 11 a 12   x 1   b 1   x1 
 x  = a    +   u  y =  c 1 c 2   + d  u
 2   21 a 22   x 2   b 2  x 2 

a11
+ x1 1
x1
s

x2 x2
1
s
 x 1  a 11 a 12   x 1   b 1   x1 
 x  = a    +   u  y =  c 1 c 2   + d  u
 2   21 a 22   x 2   b 2  x 2 

a11
+ x1 1
x1
s
+

a12

x2 x2
1
s
 x 1  a 11 a 12   x 1   b 1   x1 
 x  = a    +   u  y =  c 1 c 2   + d  u
 2   21 a 22   x 2   b 2  x 2 

a11
+ x1 1
x1
s
+ Pause the video now and
? when you have answered
these questions resume the
video to check your answers
a12
+ x2 x2
1
s
+
?
 x 1  a 11 a 12   x 1   b 1   x1 
 x  = a    +   u  y =  c 1 c 2   + d  u
 2   21 a 22   x 2   b 2  x 2 

a11

+ + x1 1
x1
? s
+
u a?21

a12

+ + x2 x2
? 1
s
+
a22
?
 x 1  a 11 a 12   x 1   b 1   x1 
 x  = a    +   u  y =  c 1 c 2   + d  u
 2   21 a 22   x 2   b 2  x 2 

a11

+ ++ x1 1
x1
b?1 s c1
+
a?21 + y
u

a12 +

+ + x2 x2
b?2 1 c2
s
+
a?22
 x 1  a 11 a 12   x 1   b 1   x1 
 x  = a    +   u  y =  c 1 c 2   + d  u
 2   21 a 22   x 2   b 2  x 2 

a11

+ + x1 1
x1
b?1 s c1
+
a21
? + y
u

a12 + +

+ + x2 x2
b?2 1 c2
s
+
a22
?

d
 x 1   0 1   x1   0   x1 
 x  = − N N   x  +  N u  y = 1 0 
 2   r   2   r 
x 2 
0

+ + x1 1
x1
0 s 1
+
-N + y
u

1 + +

+ + x2 x2
Nr 1 0
s
+
Nr

0
 x 1   0 1   x1   0 
 x1 
 x  = − N N   x  +  N u  y = 1 0 
 2   r   2   r 
x 2 

+ + x1 1
x1
0 s 1
+
-N + y
u

1 + +

+ + x2 x2
Nr 1 0
s
+
Nr

0
 x 1   0 1   x1   0   x1 
 x  = − N N   x  +  N u  y = 1 0 
 2   r   2   r 
x 2 
Not strictly necessary

x1 1
x1
s 1
+
-N + y
u

+ + x2 x2
Nr 1
s Not strictly
+ necessary
Nr
 x 1   0 1   x1   0   x1 
 x  = − N N   x  +  N u  y = 1 0 
 2   r   2   r 
x 2 
Not strictly necessary

x1 1
x1
s 1
+
-N + y
u

+ + x2 x2
Nr 1
s Not strictly
+ necessary
Nr
 x 1   0 1   x1   0   x1 
 x  = − N N   x  +  N u  y = 1 0 
 2   r   2   r 
x 2 

x1 y = 
x1 1
s

N

+ - x2 x2
u =r 1
Nr
s
+
Nr
 Navion lateral motion

Flight Stability & Automatic Control

Robert Nelson – page 191
 Analogue Diagrams to State Space Models
1. Arrange the diagram so that it only contains integrators,
scalars, and summers.
2. Let the output of each integrator be a state variable. (NB the
number of state variables is equal to the number of
integrators.)
3. The input to each integrator will be the first derivative of the
output of the integrator
4. Write down the state space model with blanks in the A, B, C,
and D matrices
5. By inspection of the diagram fill in the blank spaces in the
matrices.
 Longitudinal Motion using only the
elevators

+ a a a
+ 1
e Me 1
s s
+
+ +
Mq a = change in
angle of attack
Ma

Ma
 + + x2 1 x2 x1 x1 y
u Me 1
s s
+
+ +
Mq

Ma

Ma

 x 1   0 1   x1   0 
 x  = M    + 
M q + M a   x 2  M e 
u
 2  a

 x1 
y =  1 0  
x 2 
 + + x2 1 x2 x1 x1 y
u Me 1
s s
+
+ +
Mq

Ma

Ma

 x 1   0 1   x1   0 
 x  = M    + 
M q + M a   x 2  M e 
u
 2  a

 x1 
y =  1 0  
x 2 
 + + x2 1 x2 x1 x1 y
u Me 1
s s
+
+ +
Mq

Ma

Ma

 x 1   0 1   x1   0 
 x  = M    + 
M q + M a   x 2  M e 
u
 2  a

 x1 
y =  1 0  
x 2 
 + + x2 1 x2 x1 x1 y
u Me 1
s s
+
+ +
Mq

Ma

Ma

 x 1   0 1   x1   0 
 x  = M    + 
M q + M a   x 2  M e 
u
 2  a

Pause the video now and try

 x1 
y =  1 0  
to fill in the B and C matrices.
When you think you have the
x 2  answer resume the video to
check your answer
 Summary of Lecture
• A state space model consists of 2 matrix equations

x =A x+Bu y=Cx+Du
• The order of the system is equal to the number of state variables
• Use Simulink to simulate state space models using an analogue
diagram
• A state space model can be determined directly from an analogue
diagram.
• You should now be able to attempt Problems 1 Q1-4 in “An
Introduction To State Space Methods” on StudyNet.