Modern Control Systems

Dr. Mohammad Al Janaideh

 Analysis of Control in State Space
• Introduction.
• State-space representation of Transfer
function systems.
• Transformation of systems with Matlab.
• Controllability and observeability
• Solving time Invariant state equation.
• Vector matrix analysis.
 State-Space Representation of Transfer
Function Systems.

• Controllable canonical form.

• Observable canonical form.
• Diagonal canonical form.
• Jordan canonical form.
• Diagonalization.
 Controllable Canonical Form
• Consider a system defined by:

y n  a1 y n1  ...  an1 y  an  bou n  b1u n1  ...  bnu

• where

Y ( s) bo s n  b1s n 1  ...  bn 1s  bn

 n
U ( s) s  a1s n 1  ...  an 1s  an
 Controllable Canonical Form
 x1   0 1 0 ... 0   x1  0 
 x   0 0 1 ... 0   x  0 
 a2     2   
 .   . . . ... .   .  .
    x   
x

 n 1   0 0 0 ... 1   n 1  0 
 x n   a n  an 1  an  2 ...  a1   xn  1 
       

 x1 
x 

y  bn  an bo bn 1  an 1bo ... ... b1  a1bo   2
 .   bo u
.
 
 xn 
 
 Example (1)
a Y ( s) s 2  5s  9
 3
U (s) s  6s 2  4s  12

bo  0, b1  1, b2  5, b3  9 a1  6, a2  4, a3  12

 x   0 1 0   x  0  x 
 1 
 x 2    0
 1   
0 1   x 2   0  u  
 1
y   9 5 1  x2 
 x   12  4 6  x  1 x 
 3     3     3 
 Observable Canonical form
 x1  0 0 ... 0 an   x1   bn  a n bo 
 x  1 0 ... 0  a n 1   x  b  a n 1bo 
 a2     2   n 1 
 .   . . ... . .   .   . 
    x   
x

 n 1  . . ... . .   n 1   . 
 x n  0 0 ... 1  a1   xn   b  a1bo 
       1 
 x1 
x 
  2

y  0 0 ... 0 1  .   bo u
.
 
 xn 
 
 Example (2)
a Y ( s) s 2  5s  9
 3
U (s) s  6s 2  4s  12

bo  0, b1  1, b2  5, b3  9 a1  6, a2  4, a3  12

 x  0 0  12  x   9 x 
 1   1   
 x 2   1 0  4   x2    5 u
 x  0 1 6   x   1 
 
 1
y  0 0 1  x2 
x 
 3     3     3 
 Diagonal Canonical Form
n n 1
Y (s) bo s  b1s  ...  bn 1s  bn Y ( s) c1 c2 cn
a  U ( s)
 bo  
s  p1 s  p2
 ... 
s  pn
U ( s) (s  p1 )(s  p2 )...(s  pn )

 x1   p1 0 ... 0 0   x1  1

 x   0
 2   p2 ... 0 0   x2  1
 .      
 . . ... . .  .   . u
   
 
 x n 1 
 . . ... . .   xn 1  . 
 x n  1
   0 0 ... 0  pn   xn     x1 
  x 

y  c1 c2 ... cn   2
 .   bo u
.
 
 x n 
 
 Example (3)
1 Y ( s) 5s 2  49s  134 Y ( s) 2 1 4
 3   
U (s) s  17 s 2  76s  60 U (s) s  1 s  6 s  10

 x   1 0 0   x  1
 1   1   
 x 2    0  6 0   x2   1u
 x   0 0  10   x  1
 3     3   

x 
  1

y  2  1 4  x2 
x 
 3 
 Jordan Canonical Form
When the denominator polynomial involves multiple roots.
Y ( s) bo s n  b1s n 1  ...  bn 1s  bn Y ( s) c1 c2 c3 cn
  bo     ... 
U ( s) (s  p1 ) 3 (s  p2 )...(s  pn ) U ( s) (s  p1 ) 3 s  p2 s  p3 s  pn

 x1   p1 1 0 0 . . .  x1  0
0
 x   0  p 1 . . . .  x  0 
.
 2  1  2     x1 
.  0 0  p1 0 . . .  .  1
0 x
  
.  0 . .  p4 . . .
 .   
0
   1 
y  c1 c2 
 
... cn  .   bo u
.  . . . . . . . .    . 
0
.
 
        xn 
.   .   .   
 x   0 . . 0 . . .  pn   xn  1
 n     
       
     
 Example (4)
Y (s) s 2  16s  62 8s  17
1
U ( s)

(s  6) 3

(s  1)(s  10)
Y ( s) 2 4 1 1 7
    
U (s) (s  6) 3 (s  6) 2 s  6 s  1 (s  10)

 x1  6 1 0 0 0   x1  0  x1 

 x   0  6 1   x  0  x 
0 0
 2 
 x3    0 0 6 0
 2   
0   x3   1u  
 2
y  2 4 1 1 7  x3 
x 
   x   
x
 4  0 0 0  1 0   4  1  4
 x   0 0  10  x5  1  x5 
0 0  
  5   