1 Chapter 3: Modeling in the Time Domain

Chapter 3

Modeling in the Time Domain

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2 Chapter 3: Modeling in the Time Domain

CHAPTER OBJECTIVES
In this chapter, you will be able to:

• determine a mathematical model, called state-space

representation, for a linear, time-invariant system.

• convert between transfer function and state-space models

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3 Chapter 3: Modeling in the Time Domain

State-Space Model
Set of state equations relating the input, state
variables and output that completely describe the
system behaviour

STEPS
• select state variables
• determine state equations
• write in matrix form
• determine output equation

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4 Chapter 3: Modeling in the Time Domain

State-Space Model

x  Ax  Bu
General form
y  Cx  Du

 a11  a1n  b11  b1m 

A       B      
an1  ann  bn1  bnm 
 d11  d1m 
c11  c1n 
D      
C      
d r1  d rm 
cr1  crn 
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5 Chapter 3: Modeling in the Time Domain

State-Space Model
A system is represented in state space by the following equations:
x  Ax  Bu State Equation
y  Cx  Du Output Equation
where:
x = state vector
x· = derivative of the state vector with relative to time
y = output vector
u = input vector
A = system matrix
B = input matrix
C = output matrix
D = feedforward matrix

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6 Chapter 3: Modeling in the Time Domain
x  Ax  Bu
State-Space Model y  Cx  Du
state variables input output

 u1   y1 
 x1 
u     y    
x    
um   yr 
 xn 

state equations

 x 1   a11  a1n   x1  b11  b1m   u1 

x                      
 x n  an1  ann   xn  bn1  bnm  u m 

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7 Chapter 3: Modeling in the Time Domain

x  Ax  Bu
Example: RL network
y  Cx  Du
DE:

State variable i (t )
Input variable v(t )

State equations
di (t ) 1
 [v(t )  Ri (t )]
dt L
Output equation

vL (t )  v(t )  Ri (t )
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 8 Chapter 3: Modeling in the Time Domain

Example: RLC network State variables

di (t ) 1
L  Ri(t )   idt  v(t ) Input variable
dt C
d 2 q(t ) dq(t ) 1
L 2
 R  q(t )  v(t )
dt dt C
State equations
dq
i
dt
di 1 R 1
 q i v
dt LC L L

Output equation
1
vL (t )   q  Ri  v
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9 Chapter 3: Modeling in the Time Domain

State-Space Model
Define state variables and input/output

 dq 
q   dt  u  v(t )
x    x   
i  di y  vL (t )
 
 dt 

 0 1   0 
x    x  u
 1 / LC  R / L  1 / L 

y   1/ C  Rx  u
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10 Chapter 3: Modeling in the Time Domain

Applying the State-Space Representation

Find the state space representation of the RLC network if the output
is the current through the resistor.

Step 1: Determine the input and output variables, u and y respectively

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11 Chapter 3: Modeling in the Time Domain

Applying the State-Space Representation

Step 2: Select state variables (for RLC circuit – through inductor and capacitor)
dv
C c  ic
dt
di
L L  vL
dt vC 
State variables: Quantities that are differentiated : Vc, iL x 
 iL 
Step 3: Find out equation for ic, VL
dv diL
ic  C c  iL  iR vL  L  v(t )  vc
dt dt
1 di 1 1
 iL  Vc  L  v (t )  vc (eqtn. 2)
R dt L L
dv 1 1
 c  iL  Vc (eqtn. 1)
dt C RC
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12 Chapter 3: Modeling in the Time Domain

Applying the State-Space Representation

Step 4: Determine output equation 1
y  iR  vc
R

Step 5: State space representation

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13 Chapter 3: Modeling in the Time Domain

Example: Translational System

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14 Chapter 3: Modeling in the Time Domain

Step 1: Find equations for the system

1) fbd for M1

Forces due to M1 only Forces due to M2 only

M1 M1

 M1s2x1(s) + DsX1(s)+KX1(s)-KX2(s) = 0
Transform to time domain:

(Eqtn. 1)

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15 Chapter 3: Modeling in the Time Domain

2) fbd for M2
Forces due to M2 only Forces due to M1 only
s2M2X2(s)
M2 F(s) KX1(s) M2
KX2(s)

M2s2X2(s) + KX2(s) – KX1(s) = F(s)

d 2 x2
 KX 1  M 2 2  Kx2  f (t ) (Eqtn. 2)
dt

Step 2: Determine input variable: u(t) =

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16 Chapter 3: Modeling in the Time Domain

d 2 x1 dx1
M1 2
 D  Kx1 Kx2  0 (Eqtn. 1)
dt dt

d 2 x2
 KX 1  M 2 2  Kx2  f (t ) (Eqtn. 2)
dt

Step 3: Determine state variable (from the derived eqtns):

d 2
x dv dx  State variables: x1, v1, x2, v2
Let 1
 1 , then 1  v1
dt 2
dt dt  x1 
v 
2
d x2 dv2 dx2 x  1 
2
 , then  v2  x2 
dt dt dt  
v 2 

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17 Chapter 3: Modeling in the Time Domain

Step 4: Develop state equations:

 dx1
x1   v1 (Eqtn. 3)
dt

From Eqtn. 1, d 2 x1 dx
M 1 2  D 1  Kx1  Kx2  0
dt dt
dv1
M1  Dv1  Kx1  Kx2  0
dt
Thus:

 K D K
v1  
M1
x1 
M1
v1 
M1
x2 (Eqtn. 4)

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18 Chapter 3: Modeling in the Time Domain

 dx2
x2   v2 (Eqtn. 5)
dt

From Eqtn. 2, d 2 x2
M 2 2  Kx1  Kx2  f (t )
dt

 dv2 K K 1
v2   x1  x2  f (t ) (Eqtn. 6)
dt M 2 M2 M2

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19 Chapter 3: Modeling in the Time Domain

Step 5: Develop state space representation using equations 3-6:

 dx1
x1   v1 (Eqtn. 3)
dt
 K D K
v1  
M1
x1 
M1
v1 
M1
x2 (Eqtn. 4)
 dx2
x2   v2 (Eqtn. 5)
dt
 dv2 K K 1
v2   x1  x2  f (t ) (Eqtn. 6)
dt M 2 M2 M2

 x 1   0 1 0 0  x1   0 
 v   K / M  D / M K / M1 0  v1   0 
 1   1 1
 f (t )
 x 2   0 0 0 1   x2   0 
      
 v 2   K / M 2 0  K / M2 0  v2  1 / M 2 
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20 Chapter 3: Modeling in the Time Domain

Question: What is the output equation if the output is x2(t)?

Answer:
y(t) =

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21 Chapter 3: Modeling in the Time Domain

Converting Transfer Function to State Space

Consider the differential equation:
d n y (t ) d n 1 y (t )
n
 an 1 n 1
   a0 y (t )  b0u (t )
dt dt
Choosing state variable, xi:
dy
x1  y x 1 
dt
dy
x2  d2y
dt x 2  2
dt
d2y
x3  2 d3y
dt x 3  3
dt


d n 1 y
xn  n 1 dny
dt x n  n
dt
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22 Chapter 3: Modeling in the Time Domain
Transfer Function to State Space
Substitution of definitions:
x 1  x2
x 2  x3

x n 1  xn
x n  a0 x1  a1 x2   an 1 xn  b0u

 x 1   0 1 0 0  0   x1   0 
 x   0 0 1 0  0  x   0 
 2    2   
 x   0 0 0 1  0   x3   0 
x   3        u
        0      
 x n 1   0 0 0 0  1   xn 1   0 
      
 x n   a0  a1  a2  a3   an 1   xn  b0 
 x1 
y  1 0  0   
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23 Chapter 3: Modeling in the Time Domain

Converting a transfer function with constant term in

numerator
Convert the following transfer function to state space representation:
R(s) 24 C(s)
T ( s) 
s 3  9s 2  26s  24

Step 1: Change transfer function to DE

C ( s) 24
T ( s)   3
R( s ) s  9s 2  26s  24
[ s 3  9s 2  26s  24]C ( s )  24 R( s )
Inverse Laplace :
   
c  9 c  26 c  24c  24r
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24 Chapter 3: Modeling in the Time Domain

Converting a transfer function with constant term in

numerator
Step 2: Determine input and output variable
Input, u = r(t)
Output, y = c(t)
Inverse Laplace :
   
Step 3: Select state variables c  9 c  26 c  24c  24r
 
Let x1  c  x1  c  x2
  
x2  c x2  c  x3
   
x3  c x3  c
 
 24r  9 c  26 c  24c
 24r  9 x3  26 x2  24 x1
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25 Chapter 3: Modeling in the Time Domain

Converting a transfer function with constant term in

numerator

Step 4: Put into state-space equation

 x 1   0 1 0   x1   0 
 x    0 0 1   x    0  f (t )
 2   2   
 x 3   24  26  9  x3  24
 x1 
y  1 0 0  x2 
 x3 

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26 Chapter 3: Modeling in the Time Domain

Transfer Function to State Space

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27 Chapter 3: Modeling in the Time Domain

Converting a transfer function with polynomial in

numerator
Convert the following transfer function to state space representation:

R(s) s 2  7s  2 C(s)
T (s)  3
s  9 s 2  26s  24

Step 1: Segregate denominator and numerator

R(s) 1 X1(s) C(s)
s 3  9s 2  26s  24 s  7s  2
2

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28 Chapter 3: Modeling in the Time Domain

Converting a transfer function with polynomial in

numerator

Step 2: Find the state equations containing the denominator

x1 ( s ) 1
 3
r ( s) s  9 s 2  26 s  24
[s3+9s2+26s+24]x1(s) = r(s)
Solving the equation, we get the state space equation:

 x 1   0 1 0   x1  0
 x    0 0 1   x   0 r (t )
   2  2   
 x 3   24  26  9  x3  1

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29 Chapter 3: Modeling in the Time Domain

Converting a transfer function with polynomial in

numerator

Step 3: Solve for the numerator block

c( s )
 s 2  7s  2
x1 ( s )
 
c(s) = [s +7s+3]x1(s)
2
c  x1  7 x1  2 x1
where  
x1  x1 , x2  x1 , x3  x1
 y = c(t) = x3 + 7x2 +2x1
 x1 
y   2 7 1  x2 
 x3 
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30 Chapter 3: Modeling in the Time Domain

State-Space to Transfer Function

x  Ax  Bu
General form
y  Cx  Du

Y ( s)
T ( s)   C( sI  A) 1 B  D
U (s)

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31 Chapter 3: Modeling in the Time Domain

State-Space to Transfer Function

0 1 0  10
x   0 0 1  x   0 u
 1  2  3  0 
y  1 0 0 x

s 1 0 
 sI  A  0 s  1 
1 2 s  3
 s 2  3s  2 s3 1
 
  1 s ( s  3) s 
adj sI  A    s  (2s  1) s 
2

 sI  A  
1

det sI  A  s 3  3s 2  2 s  1
Y (s) 1 10( s 2  3s  2)
T ( s)   C( sI  A) B  D  3
U (s) s  3s 2  2 s  1
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