Lecture 3: State-Space Representation: Modern Control Systems

Lecture 3 : State-Space Representation
Modern Control systems
It Chivorn
Institute of Technology of Cambodia
I4GEE-EA, 2023
It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 1 / 26
Table of Contents
1. Introduction
2. Block diagram of LIT system
3. State Space Representation of Differential Equations
4. State Space Variables from Transfer Functions
5. Type of models for purposes
6. Transfer Functions and State-Space Equations
Introduction
Table of Contents
1. Introduction
Introduction
Introduction
As systems become more complex, representing them with differential equations or

transfer functions becomes cumbersome. This is even more true if the system has
multiple inputs and outputs (MIMO). This lecture introduces the state space method
which largely alleviates this problem.
Figure 1: Systems inputs and output
The state space model can be represented as,


 d x = f (x, u, t), State equation
dt
y = h(x, u, t), Observation equation

x(t) ∈ Rn , u(t) ∈ Rm , y(t) ∈ Rp

x = [x1 , x2 , · · · , xn ]T , y = [y1 , y2 , · · · , yp ]T , u = [u1 , u2 , · · · , um ]T
Introduction
Introduction
We will typically deal with the time-invariant case Linear Time-Invariant (LTI) state
dynamics (
ẋ = Ax + Bu, State equation
y = Cx + Du, Observation equation
▶ t ∈ R denotes time
▶ x(t) ∈ Rn is the state (vector)
▶ u(t) ∈ Rm is the input or control
▶ y(t) ∈ Rp is the output
▶ f (·, ·) is a nonlinear vector function that describes the dynamics.
▶ A ∈ Rn×n is the dynamics matrix
▶ B ∈ Rn×m is the input or control matrix
▶ C ∈ Rp×n is the output or sensor matrix
▶ D ∈ Rp×m is the feedthrough matrix (most D = 0)
So that now, A, B, C, D are constant and not depend on t.
Introduction
Introduction
Definition
State Vector: A n-dimensional vector whose components are n state variables that
describe the system completely.
State Space: are models that use state variables to describe a system by a set of
first-order differential or difference equations, rather than by one or more nth-order
differential or difference equations
Note: For any dynamical system, the state space remains unique, but the state
variable are not unique.
State Space Representation

▶ Nonlinear System (
ẋ = f (x, u, t)
y = h(x, u, t)
▶ Linear System (
ẋ = Ax + Bu
y = Cx + Du
n
x(t) ∈ R , u(t) ∈ Rm , y(t) ∈ Rp
Introduction
Introduction
Why State space representation is used?

▶ Wide class of systems can be represented.
(Linear time varying system, Nonlinear systems)
Behavior of system can be interpreted geometrically
▶ Rich design methods are developed.
(Numerical algorithm can be implemented easily)
▶ System model can easily used or realization
(Anti-causal systems cannot be represented)
System simulation
Controller realization
▶ Some information may be lacked by transfer function
(Controllability, Observability)
Block diagram of LIT system
Table of Contents
1. Introduction
Figure 2: System block diagram

(
ẋ = Ax + Bu
y = Cx + Du
Example : 1
Example
Consider an 3th order system represented by a single 3th order deferential equation
with input f and output q.
...
q + a1 q̈ + a2 q̇ + a3 q = b0 f
Express the state space model represented of the system.
Solution
We can define 3 new variables, x = [x1 , x2 , x3 ]T → ẋ = [ẋ1 , ẋ2 , ẋ3 ]T where,
x1 = q ẋ1 = q̇ = x2
x2 = q̇ → ẋ2 = q̈ = x3 (1)
...
x3 = q̈ ẋ3 = q
but
...
ẋ3 = q = −a1 q̈ − a2 q̇ − a3 q + b0 f
(2)
= −a1 x3 − a2 x2 − a3 x1 + b0 u
Example : 1
Solution
from (1) and (1) we can now rewrite
ẋ1 = 0x1 + x2 + 0x3

ẋ2 = 0x1 + 0x2 + x3 (3)
ẋ3 = −a3 x1 − a2 x2 − a1 x3 + b0 u
This is compactly written in state space format as

      
ẋ1 0 1 0 x1 0
ẋ = Ax + Bu = ẋ2  =  0 0 1  x2  +  0  u (4)
ẋ3 −a3 −a2 −a3 x3 b0
 
x1
output: y = q = x1 = 1 0 0 x2  + 0 u
x3
   
0 1 0 0
A= 0 0 1 , B = 0, C = 1 0 0 , D = 0
−a3 −a2 −a3 b0
Example : 1 (Alternate state space representations)
Solution
We can define 3 new variables, x = [x1 , x2 , x3 ]T → ẋ = [ẋ1 , ẋ2 , ẋ3 ]T
x1 = q + q̇ ẋ1 = q̇ + q̈ = x1 + x3
x2 = q̇ → ẋ2 = q̈ = x3 + q = x3 + x1 − x2 (5)
...
x3 = q̈ − q ẋ3 = q − q̇
but ...
ẋ3 = q − q̇ = −a1 q̈ − a2 q̇ − a3 q + b0 f − q̇
(6)
= −a1 x3 − (1 + a2 )x2 − a3 x1 + b0 u
Written in state space model: ẋ = Ax + Bu

      
ẋ1 1 0 1 x1 0
ẋ2  =  1 −1 1  x2  +  0  u (7)
ẋ3 −a3 −(1 + a2 ) −a3 x3 b0
 
x
1 0 0  1

x1
output: y = = x2 + 0 u
x3 0 0 1
x3
State Space Representation of Differential Equations
Table of Contents
1. Introduction
nth order of differential equation
y (n) + an1 y (n−1) + · · · + a1 ẏ + ao y = b0 u
Choose output y(t) and its (n − 1) derivatives as state variable
x1 = y ẋ1 = ẏ = x2
   
 x2 = ẏ   ẋ2 = ÿ = x3 
 ..  → differentiating →  ..
   

 .   . 
(n−1) (n)
xn = y ẋn = y
ẋn = y (n) = −an−1 y (n−1) − · · · − a1 ẏ − ao y + b0 u
Controllable Canonical Form

    x1   
ẋ1 
0 1 0 ··· 0 0 0
 ẋ2   0 0 1 ··· 0 0  x2  0
      
 ẋ3   .. .. .. .. ..   x3
  0
= . . . . 0 .  +  . u
     
 .  .
 ..   ..
 .
 .   .. 
     
ẋn−1  0 0 0 . 0 1 
xn−1  0
ẋn −a0 −a1 −a2 ··· −an−2 −an−1 xn b0
 
x1
 x2 


y= 1 0 ··· 0  . + 0 u
 .. 
xn
State Space Variables from Transfer Functions
Table of Contents
1. Introduction
Consider the n th order differential transfer function

Y (s) bn sn + bn−1 sn−1 + · · · + b1 s + b0
H(s) = = n
U (s) s + an−1 sn−1 + · · · + a1 s + a0
Let V (s) be an auxiliary variable where

Input U (s) = (sn + an−1 sn−1 + · · · + a1 s + a0 )Z(s) = D(s)Z(s)
Output Y (s) = (bn sn + bn−1 sn−1 + · · · + b1 s + b0 )Z(s) = N (s)Z(s)
Figure 3: System block diagram
Convert into differential equation

Input equ : u = z (n) + an−1 z (n−1) + · · · + a1 ż + a0 z
Output equ : y = bn z (n) + bn−1 z (n−1) + · · · + b1 ż + b0 z
Let
x1 = z ẋ1 = ż = x2
   
 x2 = ż   ẋ2 = z̈ = x3 
 ..  → differentiating →  ..
   

 .   . 
(n−1)
xn = z ẋn = z (n)
ẋn = z (n) = −an−1 z (n−1) − · · · − a1 ż − ao z + u

= −an−1 xn − · · · − a1 ẋ2 − ao x1 + u
Controllable Canonical Form

     x1   
ẋ1 0 1 0 ··· 0 0 0
 ẋ2   0 0 1 ··· 0 0  x2   0
      
 ẋ3   . .. .. .. .. x3   0
  .
= . . . . 0 .  + . u
    
 . ..
 ..    .. 
..  .
  
     
ẋn−1  0 0 0 . 0 1  xn−1   0
ẋn −a0 −a1 −a2 ··· −an−2 −an−1 xn 1
y = bn z (n) + bn−1 z (n−1) + · · · + b1 ż + b0 z
Relate to input : z (n) = −an−1 z (n−1) − · · · − a1 ż − ao z + u
y = (bn−1 − bn an−1 )z (n−1) + · · · + (b1 − bn a1 )ż + (b0 − bn a0 )z + bn u

 
x1
 x2 


y = (b0 − bn a0 ) (b1 − bn a1 ) · · · (bn−1 − bn an−1)  .  + bn u
 .. 
xn
Type of models for purposes
Table of Contents
1. Introduction
1. Ideal Physical Model

(Assumptions for analytically models)
2. Ideal Mathematical Model
(Model for numerical simulation)
3. Approximated Mathematical Model
(Model for controller design)
Example : 2
1. Ideal physical mode

▶ Rigidity
▶ Linear viscosity
▶ No change of mass
2. Ideal mathematical model
(ml2 + I)θ̈ = −αθ̇ − mgl sin(θ) + τ
3. Approximated mathematical model

Figure 4: Pendulum System
(ml2 + I)θ̈ = −αθ̇ − mglθ + τ
State Equation
" 0 1
# " #
θ̇ θ 0
= −mgl −α + 1 τ
θ̈ θ̇
ml2 + I ml2 + I ml2 + I
Output Equation
θ
y= θ = 1 0 + 0 τ
θ̇
Transfer Functions and State-Space Equations
Table of Contents
1. Introduction
In what follows we shall show how to derive the transfer function of a single-input,
single-output system from the state-space equations.
Let us consider the system whose transfer function is given by
Y (s)
H(s) = (8)
U (s)
This system may be represented in state space by the following equation:
(
ẋ = Ax + Bu
(9)
y = Cx + Du
The Laplace transform of (9)
sX(s) − x(0) = AX(s) + BU (s)

(10)
Y (s) = CX(s) + DU (s)
Set the initial x(0) to be zero. The we have
X(s) = (sI − A)−1 BU (s)

(11)
Y (s) = [C(sI − A)−1 B + D]U (s)
∴ H(s) =C(sI − A)−1 B + D

Q(s) (12)
H(s) =
|sI − A|
Where Q(s) is a polynomial in s.Notice that|sI − A| is equal to the characteristic
polynomial of G(s). In other words, the eigenvalues of A are identical to the poles of
G(s).
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Lecture 3 : State-Space Representation

Modern Control systems

Institute of Technology of Cambodia

2. Block diagram of LIT system

3. State Space Representation of Differential Equations

4. State Space Variables from Transfer Functions

5. Type of models for purposes

6. Transfer Functions and State-Space Equations

2. Block diagram of LIT system

3. State Space Representation of Differential Equations

4. State Space Variables from Transfer Functions

5. Type of models for purposes

6. Transfer Functions and State-Space Equations

As systems become more complex, representing them with differential equations or

Figure 1: Systems inputs and output

The state space model can be represented as,

x(t) ∈ Rn , u(t) ∈ Rm , y(t) ∈ Rp

State Space Representation

Why State space representation is used?

2. Block diagram of LIT system

3. State Space Representation of Differential Equations

4. State Space Variables from Transfer Functions

5. Type of models for purposes

6. Transfer Functions and State-Space Equations

Block diagram of LIT system

Figure 2: System block diagram

Express the state space model represented of the system.

ẋ1 = 0x1 + x2 + 0x3

This is compactly written in state space format as

Example : 1 (Alternate state space representations)

Written in state space model: ẋ = Ax + Bu

2. Block diagram of LIT system

3. State Space Representation of Differential Equations

4. State Space Variables from Transfer Functions

5. Type of models for purposes

6. Transfer Functions and State-Space Equations

State Space Representation of Differential Equations

nth order of differential equation

y (n) + an1 y (n−1) + · · · + a1 ẏ + ao y = b0 u

Choose output y(t) and its (n − 1) derivatives as state variable

ẋn = y (n) = −an−1 y (n−1) − · · · − a1 ẏ − ao y + b0 u

State Space Representation of Differential Equations

Controllable Canonical Form

2. Block diagram of LIT system

3. State Space Representation of Differential Equations

4. State Space Variables from Transfer Functions

5. Type of models for purposes

6. Transfer Functions and State-Space Equations

State Space Variables from Transfer Functions

Consider the n th order differential transfer function

Let V (s) be an auxiliary variable where

Figure 3: System block diagram

Convert into differential equation

State Space Variables from Transfer Functions

ẋn = z (n) = −an−1 z (n−1) − · · · − a1 ż − ao z + u

Controllable Canonical Form

State Space Variables from Transfer Functions

y = bn z (n) + bn−1 z (n−1) + · · · + b1 ż + b0 z

Relate to input : z (n) = −an−1 z (n−1) − · · · − a1 ż − ao z + u

y = (bn−1 − bn an−1 )z (n−1) + · · · + (b1 − bn a1 )ż + (b0 − bn a0 )z + bn u

2. Block diagram of LIT system

3. State Space Representation of Differential Equations