EEET2197 TUTORIAL FIVE

EEET2197 CONTROL SYSTEMS

TUTORIAL 5 - SOLUTION.
Question 1.
Build a state space equation for the system with input u(t) and output y(t) and having the model
given by the differential equation:
d 2 y (t ) dy (t )
2
+3 + y (t ) = 2u (t )
dt dt
Build a state space equation for the system with input u(t) and output y(t) and having the model
given by the differential equation:
d 2 y (t ) dy (t ) du (t )
2
+3 + y (t ) = 2
dt dt dt
[Answer]
For the first system, define the system states to be:
dy (t )
x1 (t ) = y (t ), x2 (t ) =
dt
Differentiating gives:
dx1 (t ) dy (t )
= = x2 (t )
dt dt
dx2 (t ) d 2 y (t ) dy (t )
= 2
= 2u (t ) − 3 − y (t ) = 2u (t ) − 3 x2 (t ) − x1 (t )
dt dt dt
Re-arranging in state space matrix form:

d  x1 (t )  0 1   x1 (t ) 0
 =   +  u (t )
dt  x2 (t ) − 1 − 3  x2 (t ) 2
 x1 (t )
y (t ) = [1 0]  
 x2 (t )

For the second system we can use the same state definition:
dx2 (t )
x1 (t ) = y (t ), = x1 (t )
dt
The second system of equations can therefore be expressed as:
d 2 x1 (t ) dx (t ) dx (t ) du (t )
2
+3 1 + 2 = 2
dt dt dt dt
Integrating gives:
dx1 (t )
+ 3 x1 (t ) + x2 (t ) = 2u (t )
dt

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EEET2197 TUTORIAL FIVE

dx1 (t )
= 2u (t ) − 3 x1 (t ) − x2 (t )
dt
Re-arranging in state space matrix form:

d  x1 (t ) − 3 − 1  x1 (t ) 2
 =   +  u (t )
dt  x2 (t )  1 0   x2 (t ) 0
 x1 (t )
y (t ) = [1 0]  
 x2 (t )

Question 2.
Derive the differential equations for the mechanical system shown below. Choose an appropriate
set of state space variables, and define the state space equation for the system. You should regard
the deflection y(t) as the system input, and the position x2(t) as the system output.

[Answer]
Writing the equations of motion for the system gives:
d 2 x1 (t ) dx (t )  dx (t ) dx (t ) 
m1 = −k1 x1 (t ) − b1 1 + k 2 [x2 (t ) − x1 (t )] + b2  2 − 1 
 dt dt 
2
dt dt

d 2 x2 (t )  dx (t ) dx (t ) 
m2 = k3 [ y (t ) − x2 (t )] − k 2 [x2 (t ) − x1 (t )] − b2  2 − 1 
 dt dt 
2
dt
Define the state variables:
dx1 (t ) dx2 (t )
z1 (t ) = x1 (t ), z 2 (t ) = , z3 (t ) = x2 (t ), z 4 (t ) =
dt dt
This gives:
dz 2 (t ) k +k b +b
= − 1 2 z1 (t ) − 1 2 z 2 (t ) + 2 z3 (t ) + 2 z 4 (t )
k b
dt m1 m1 m1 m1
dz 4 (t ) k3 k +k
y (t ) + 2 z1 (t ) − 2 3 z3 (t ) + 2 z 2 (t ) − 2 z 4 (t )
k b b
=
dt m2 m2 m2 m2 m2
Arranging in state space form:

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EEET2197 TUTORIAL FIVE

 z1 (t )  0 1 0 0   z (t )  0 
   k +k b +b k2 b2  
1
  
 z (t ) − 1 2 − 1 2   z (t )  0 
=
m1  2
 +   y (t )
d 2 m1 m1 m1
 
dt  z3 (t )  0 0 0 
1  z (t )  0 
   k2 b2 k +k
 3   
b2   k3
 z 4 (t )  − 2 3 −  z 4 (t )  
 m2 m2 m2 m2   m2 
 z1 (t )
 
 z 2 (t )
w(t ) = [0 0 1 0]   + [0]y (t )
 z3 (t )
 
 z 4 (t )

Question 3.
Derive the differential equations for the electrical circuit below. Choose and appropriate set of state
space variables, and define the state space equation for the electrical circuit.

[Answer]
Writing the circuit equations for the above system:
dvo (t ) dvC1 (t ) diL (t )
iC 2 (t ) = C2 iC1 (t ) = C1 vL (t ) = L
dt dt dt
vi (t ) − vC1 (t ) vL (t ) − vC1 (t )
iC1 (t ) = +
R1 R2
vC1 (t ) − vL (t ) vo (t ) − vL (t )
iL (t ) = +
R2 R3
vL (t ) − vo (t )
iC 2 (t ) =
R3
The derivative operations imply that the system states should be the output voltage vo(t), the
capacitor voltage vC1(t) and the inductor current iL(t).
Re-arranging these expressions to eliminate the inductor voltage terms gives:

vL (t ) = vC1 (t ) + vo (t ) − 2 3 iL (t )
R3 R2 RR
R2 + R3 R2 + R3 R2 + R3

iC 2 (t ) = vC1 (t ) − iL (t ) − vo (t )
1 R2 1
R2 + R3 R2 + R3 R2 + R3

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EEET2197 TUTORIAL FIVE

R + R2 + R3
iC1 (t ) = vi (t ) + vo (t ) − iL (t ) − 1 vC1 (t )
1 1 R3
R1 R2 + R3 R2 + R3 R1 R2 + R1 R3
Substituting in the derivative expressions:
diL (t )
vC1 (t ) + vo (t ) − iL (t )
R3 R2 R2 R3
=
dt L(R2 + R3 ) L(R2 + R3 ) L(R2 + R3 )
dvo (t )
vC1 (t ) − iL (t ) − vo (t )
1 R2 1
=
dt C2 (R2 + R3 ) C2 (R2 + R3 ) C2 (R2 + R3 )
dvC1 (t ) R1 + R2 + R3
vi (t ) + vo (t ) − iL (t ) − vC1 (t )
1 1 R3
=
dt C1 R1 C1 (R2 + R3 ) C1 (R2 + R3 ) C1 (R1 R2 + R1 R3 )
Putting these equations into matrix form gives:
 R2 R3 R3 R2 
−
 iL (t )   L(R2 + R3 ) L(R2 + R3 ) L(R2 + R3 )   iL (t )   0 
     
d  R1 + R2 + R3  v (t ) +  1  v (t )
vC1 (t ) =  −
R3 1
−
  C1 (R2 + R3 ) C1 (R1 R2 + R1 R3 ) C1 (R2 + R3 )  
C1 i
dt    C1 R1 
 vo (t )     v (t )   0 
−
R2 1
−
1
 o   
 C2 (R2 + R3 ) C2 (R2 + R3 ) C2 (R2 + R3 ) 

 iL (t ) 
 
y (t ) = [0 0 1]vC1 (t ) + [0]vi (t )
 
 vo (t ) 

Question 4.
Consider the DC motor shown below. The motor armature winding includes an inductance La and a
resistance Ra. The motor is characterised by an emf-constant Ke, a torque constant Kt, an inertia J1
and a viscous damping B. The mechanical load is coupled to the motor using a shaft that has a
damping factor b and a stiffness coefficient k. The load itself has an inertia J2.
The armature voltage va(t) is input to the system, while the system output is the load position θ2(t).
The system states can be identified as the armature current ia(t), the motor position and speed θ1(t)
and ω1(t), and the load position and speed θ2(t) and ω2(t).
Derive the state space equation for this system.

[Answer]
The electro-mechanical equations can be written as:

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EEET2197 TUTORIAL FIVE

dia (t )
va (t ) − ε a (t ) = L + Ria (t )
dt
dθ1 (t )
ε a (t ) = K eω1 (t ) = K e
dt
τ e (t ) = K t ia (t )

d 2θ1 (t ) dθ (t )  dθ (t ) dθ (t ) 
J1 = τ e (t ) − B 1 − b  1 − 2  − k [θ1 (t ) − θ 2 (t )]
 dt dt 
2
dt dt
d 2θ 2 (t )  dθ (t ) dθ (t ) 
J2 = b  1 − 2  + k [θ1 (t ) − θ 2 (t )]
 dt dt 
2
dt
Define the states:
ia (t ), θ1 (t ), θ 2 (t ), ω1 (t ), ω2 (t )
We can therefore re-arrange these equations into the form:
dia (t ) 1
= va (t ) − e ω1 (t ) − ia (t )
K R
dt L L L
dθ1 (t )
= ω1 (t )
dt
dθ 2 (t )
= ω2 (t )
dt
dω1 (t ) K t (B + b ) ω (t ) + b ω (t ) − k θ (t ) + k θ (t )
= ia (t ) − 1 2 1 2
dt J1 J1 J1 J1 J2
dω2 (t ) b
= ω1 (t ) − ω2 (t ) + θ1 (t ) − θ 2 (t )
b k k
dt J2 J2 J2 J2
Putting these expressions into matrix form:

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EEET2197 TUTORIAL FIVE

 R Ke 
 ia (t )  − L 0 0 − 0   i (t )   1 
 L
L a
   
 θ1 (t )   0 0 0 1 0   θ (t )   
  
1 0
d    
θ 2 (t ) =  0 0 0 0 1  θ (t ) +   v (t )
  
0 a
  Kt (B + b ) b 
2
dt  k k
ω1 (t )  − −   
J1  ω1 (t )  0 

   J1 J1 J2 J1
ω (t )  0  
−  ω2 (t )  0 
k k b b
 2   −
 J2 J2 J2 J2 

 ia (t ) 
 
 θ1 (t ) 
 
θ 2 (t ) = [0 0 1 0 0]θ 2 (t ) + [0]va (t )
 
ω1 (t )
 
ω (t )
 2 

B. P. McGrath August 2016