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Lect 12 Dynamic Solution
Lect 12 Dynamic Solution
Lect 12 Dynamic Solution
Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization
Dr Chao Chen
Monash University
2010
Conclusion
Motivating Problems
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
Laplace transform. Model a system in frequency domain, by means of Laplace transform. Model a system in time domain (state space).
Objectives
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations
Solving homogeneous state space equations. Solving nonhomogeneous state space equations. Introduction of pole-placement method.
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization
State variables: x1 = y, x2 = , x3 = y, x4 = These four equations can be put in state-space form (u = f ): x = Ax + Bu, or
x1 0 x2 0 x3 = 0 x4 0 0 0 mg/M (M + m)g/Ml 1 0 0 0 0 0 x1 1 x2 0 + u 0 x3 1/M 0 x4 1/Ml
Conclusion
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations
Assume M = 1kg, m = 1kg, g = 10m2 /s, and l = 1m. The state-space equations become into
0 x1 x2 0 x3 = 0 0 x4 0 0 10 20 1 0 0 0 0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
Stabilization Conclusion
We are interested in the behaviour of this inverted pendulum with certain inputs and initial conditions.
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations
Stabilization Conclusion
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
Ak t k k=0 k!
Cayley-Hamilton Theorem: Consider n n matrix A and its characteristic equation given by | I A| = n + a1 n1 + . . . + an1 + an = 0 Then, An + a1 An1 + . . . + an1 A + an I = 0 Theorem eAt = 0 I + 1 A + . . . + n1 An1 ei t = 0 + 1 i + . . . + n1 in1 where i are the eigenvalues of the matrix A.
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At
Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
= = = =
n1 0 + 1 1 + . . . + n1 1 n1 0 + 1 2 + . . . + n1 2
. . . e n t
. . .
n1 0 + 1 n + . . . + n1 n
Step 3: solve these equations for i . Step 4: compute the state transition matrix by eAt = 0 I + 1 A + . . . + n1 An1
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Example
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
x1 0 x2 0 x3 = 0 x4 0
0 0 10 20
1 0 0 0
0 x1 1 x2 , 0 x3 0 x4
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Example
Step 2: write down a set of equations with eigenvalues,
e1 t e2 t e3 t e4 t with 1 = 0, 2 = 0, = = = =
3 0 + 1 1 + . . . + 3 1 3 0 + 1 2 + . . . + 3 2 3 0 + 1 3 + . . . + 3 3 3 0 + 1 4 + . . . + 3 4
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
3 = 4.47,
4 = 4.47.
Here we encounter a special case with two identical eigenvalues. In order to deal with it, we need to build another equation, which can be done by
de t d0 + 1 + . . . + n1 n1 = d d te t = 1 + 22 + . . . + (n 1)n1 n2
This is a general rule for identical eigenvalues. Times of differentiation is equal to the repeat number.
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Example
Therefore, we setup a set of equations as follows,
e 1 t te2 t e e with 1 = 0,
3 t 4 t
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
= = = =
3 0 + 1 1 + . . . + 3 1
1 + 22 2 + 33 2
3 0 + 1 3 + . . . + 3 3 3 0 + 1 4 + . . . + 3 4
2 = 0,
3 = 4.47,
4 = 4.47.
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Example
Step 5: write down the solutions as x(t) = (t)x(0) where x(0) = 0 0.01 0 0 . The solutions are
x1 x2 x3 x4 = = = = 0.005 0.0025e4.47t 0.0025e4.47t 0.005e4.47t + 0.005e4.47t 0.011e4.47t 0.011e4.47t 0.022e4.47t + 0.022e4.47t
T
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Example
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Example
l
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
Question: how can we stabilize this system? Using input force f . How? Lets choose some inputs for test.
x1 0 x2 0 x3 = 0 x4 0 with x(0) = 0 0.01 0 0 0 10 20 0 .
T
1 0 0 0
0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
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Rewrite the state equations as x Ax = Bu Multiply both sides by eAt : eAt ( Ax) = eAt Bu(t) x Considering a function of eAt x d At e x = eAt Bu(t) dt Time integration from t0 to t: eAt x(t) eAt0 x(t0 ) =
t t0
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
eA Bu()d
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Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations
eA(t) Bu()d
eA(t) Bu()d
x(t) = (t)x(0) +
0
eA(t) Bu()d
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Example
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations
0 0 10 20 0 .
T
1 0 0 0
0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
Stabilization Conclusion
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Example
The solution is
t
Motivating Examples
x(t) = (t)x(0) +
0
eA(t) Bu()d
where
0 0 A= 0 0 0 0 10 20 1 0 0 0 0 1 , 0 0 0 0 B = , 1 1 0 0.01 x(0) = 0 , 0 u=2
Stabilization Conclusion
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Example
The solutions are given by
x1 (t) = 0.005 0.0025e4.47t 0.0025e4.47t +0.025 x2 (t) = 20t2 e2(2.23t) 2e2(2.23t) + 1 + e4(2.23t) e2(2.23t) 2e2(2.23t) + 1 + e4(2.23t) 0.005e4.47t + 0.005e4.47t 0.05 e2(2.23t)
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Example
How about another input f = u = 0.95 sin(t)N. The solution is
t
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples
x(t) = (t)x(0) +
0
eA(t) Bu()d
Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Example
l
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
0 0 10 20 0 .
T
1 0 0 0
0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
Given an input of u = f = 2N, the balance is maintained for about 0.3s Given an input of u = f = 0.95 sin(t)N, the balance is maintained for about 1.2s. Is there an input to stabilize the system constantly?
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State Feedback
x = Ax + Bu
We can choose the control signal to be u = Kx The original system is now converted to a homogeneous system (a CL system): x = (A BK)x = A2 x The characteristic equation of the CL system is given by |sI A2 | = 0 If all the CL poles are in the left-half s plane, the system is stable. We can choose K properly to enforce the CL poles in the left. How?
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Example
l
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations
0 x1 x2 0 x3 = 0 0 x4
0 0 10 20
1 0 0 0
0 x1 0 1 x2 0 + u, 0 x3 1 0 x4 1
0 0.01 x(0) = 0 0
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Example
The CL characteristic equation is then given by
|sI A2 | = s4 + (K3 K4 )s3 + (K1 K2 20)s2 10K3 s 10K1 = 0
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
We can create a CL characteristic equation with all poles on the left-half s plane, i.e.,
(s + 3)(s + 4)(s + 5)(s + 6) = s + 18s + 119s + 342s + 360 = 0
4 3 2
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Example
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization
Solving it yields
x1 (t) = 1.38e4t t 0.415e3t 0.13e5t + 0.55e6t x2 (t) = 3.68e4t t + 1.63e3t 1.15e5t 0.46e6t
Conclusion
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Example
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Motivating Problems
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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Summary
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations
Solving homogeneous state space equations. Solving nonhomogeneous state space equations. Introduction of pole-placement method.
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What is Next?
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples
We will not discuss the state-space technology further in this unit. More advanced topics and systematic studies in state space will be in MEC4418, Control Systems. We will study the technologies in classical control engineering in the rest of this unit.
Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
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