Chapter 3.

State Variable Models

3.1 Introduction
# p.131

Comparison of analysis and design methods for control systems s-domain method system representation system that can be handled transfer function linear time-invariant system t-domain method differential equation nonlinear, time-varying, multivariable system

3.2 The State Variables of a Dynamic System

* What is state? # state variable . - a set of variables that best describes dynamic behavior inside system (not unique) - for a dynamic system, we can think about three different variables: input, output, state
Figure 3.2

Ex. state in mass-spring-damper system

Figure 3.3

# skip . .

, y

. u , y .

M y( t) + b y( t) + ky( t) = u ( t) state variables: y , y redefine state variables: x 1 (= y ) , x 2 (= y )

dynamic equation: redefine dynamic equation with state variables: output equation:

(input:

u , output: y )

y= x 1

k b 1 x1 = x 2 , x2 = - M x 1 - M x 2 + M u

Ex. RLC circuit

Figure 3.4

# . .

input:

u , output: v o

x 1 (= v c ) , x 2 (= i L ) 1 1 1 R dynamic eq with state A: x1 = - C x 2 + C u , x2 = L x 1 - L x 2

choice A of state :

p 1 (= v c ) , p 2 (= v L ) 1 1 dynamic eq with state B: p 1 = - CR p 1 + CR p 2 + 1 1 p2 = - CR p 1 + CR - R L

choice B of state:

C 1 p 2+ C u

1u

3.3 The State Differential Equation

* State differetial equation (SDE or SE) - a set of 1st order differential equations in terms of state variables (only one 1st derivative term in each DE) - N-th order DE becomes N 1-st order DE's
3

* State equation in matrix form

x = Ax + B u state eq.(SE) # 2002 bold y = C x + D u output eq.(OE) # SE .

where

x x 21 x= x n

u u 21 , u= u m

y y 21 y= y r

# y size .

Ex. Find SE and OE in matrix form for the previous mass-spring-damper system

sol)

k b 1 x1 = x 2 , x2 = - M x 1 - M x 2 + M u OE: y = x 1 x1 = x x ) x 21 + ( ) u x 21 + u , y = ( x2
SE:

()

( )( ) ( )

()

# .

* Solution of

x = ax + bu , x(0)= x 0

# SE + IC

sX ( s)- x(0)= aX ( s)+ bU( s) x b X ( s) = s-0a + s- a U( s) x( t)= e atx 0 + 0te a ( t - )bu ()d

* Solution of

x = Ax + B u ,

x(0)= x 0

s X ( s)- x(0)= A X ( s)+ B U( s) s X ( s)- A X ( s) = x(0)+ B U( s) X ( s) = ( s I - A ) -1 x(0)+( s I - A ) - 1 B U ( s) X ( s) = ( s) x(0)+ ( s) B U ( s) where ( s)=( s I - A ) - 1

x(

t) = ( t) x(0)+ 0t ( t- ) B u ( ) d
( t) I + A + A + s s2 s3
2 2

* State transition matrix

( s)=( s I - A ) - 1 = ( t) = - 1 ( ( s)) A t 2 + ( t) = e A t = I + A t + 2!
when

x1( t) = xn ( t)
ij

u(

t)= 0
11 n1

( t) ( t)

( t) x1 (0) nn ( t) xn (0)
1n

( t) = response of xi( t)

due to

xj(0)

u(

t)= 0

and all other IC's are zero)

Ex. Find

( t) for 0 1 A = -2 -3 s sI - A = 0 0 s
I A -1 =

s+3 = ( s+1)( s+2) -2 ( s+1)( s+2)

( ) -1 ( ) ( -20 -31) = ( -2s s+3 ) 1 -1 +3 ( s - ) ( 2 s s+3 ) = s + 3s + 2 ( s-2 1 ) s

-1

()

x1 = 0 1 x1 x2 -2 -3 x2

)( )

. skip

1 ( s+1)( s+2) s ( s+1)( s+2)

( t) = e At = -1{ ( s I - A ) -1} s+3 1 = -1 ( s+1)( s+2) ( s+1)( s+2) -2 s ( s+1)( s+2) ( s+1)( s+2) 2e t t -2 = -2--- ee-2t t -ee- tt- e -2t 2t - +2e e +

( (

( t) = e - At = (- t) 2e t = -2te- ee2t2t -eett- e 2et 2t + +2

-1

)
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3.4 Signal-Flow Graph and Block Diagram Models

SE-version of SFG We will learn: TF SE-version of SFG ( SE )

* Main idea - make all feedback loops touch each other - make all forward path touch feedback loops - then in Mason's gain formula:

Y ( s) = P k k = ( forward path factors) k U( s) 1- ( feedback loop factors)

-1 polynomial of s-1 polynomial of s

# 2.7

* Method (phase variable format) 1) make TF = 2) make n

s- 1 paths in cascade, including unit gain path from U(s)

3) make denominator part of Mason's formula 4) make numerator part of Mason's formula

Ex. Make SFG state model from sol) 1)

b 3s3 + b2s2 + b 1s1 + b0 G ( s)= s4 + a 3s3 + a 2s2 + a 1s1 + a 0

# n

b - 1 + b -2 b s- 3 b - 4 G ( s)= 1+3as3s-1 +2as2s-++1a 1s-++0as 0 s- 4 2 3

2)

3)

4)
Figure 3.11(a)

Ex. Find SE and OE from above SFG sol) 1) define state variable at every right node of 2) derive equation at every left node of

s
# .

* Notes about the method above - no factorization needed - # of integrators in SFG = order of system -

s exists only as 1 s

(not like

s+1 , ...)

# . 1/(s+1) 1/s .

- SE can be easily obtained from SE-version of SFG Q: What if we want DE (not SE) from TF? A: Conversion b/w DE and TF is very easy.

3.6 The Transfer Function from the State Equation

We will learn: SE no TF

assumption: SISO system (

and

are scalar)

term in output eq.

x = Ax + B =Cx

... ...

{} : s X = A X + B U {} : Y =
C X

note: IC is not included in TF

( sI - A ) X = B U X = ( sI - A ) - 1 B U Y = C ( sI - A ) -1 B U

G ( S ) = Y (( s)) = C ( sI - A ) -1 B Us
10

3.7 The Time Response and the State Transition Matrix

We will learn: how to find STM then time response Review:

x = Ax + B u with x (0) given X ( )= ( ) x(0) + ( ) B U ( ) t x( ) = ( ) x(0)+ ( - ) B u ( ) 0

s t

s t

( t)

or

( s) : STM)

( t) = exp( A t ) = k0 Akk!t k =

or

( t)= - 1 { ( s) }
u(

where

( s)=( s I - A ) - 1
# STM

If we assume

t)=0, X ( s)= ( s) x(0)

for a 2nd order system,

X 1 ( s)= 11( s) x1 (0) + 12 ( s) x2 (0) X 2 ( s)= 21( s) x1 (0) + 22 ( s) x2 (0)

Now, we will learn how to find ij 's using signal flow graph

11

Ex, known: RLC network unknown: STM

Figure 3.4

From Section 3.2, SE:

OE:

1 1 1 x1 = - C x2 + C u ( t) , x2 = L x1 - R x2 L where x1 = vC , x2 = i L vo = R x2

From Section 3.3, we saw: when

R =3 , L =1 , C =1/2 , -->

= 0 -2 1 -3

( )
12

1) method by using

s sI - A = 0 0 s 1 ( s I - A ) -1 =
X(

s 2 ( ) ( 01 -2) ( -1 s+3) -3 =( s+1)( s+2) ( s+3 -2) 1 s

= , where
#

-1

2) method by using SFG We saw:

ij

s)= ( s) x(0) is gain(TF) from xj (0) to X i ( s)

13

Q: how do we add IC in SFG? A: without IC with IC

SFG of RLC system (without IC)138

SFG of RLC system (with IC)156

Figure 3.23

14

Now, use Mason's gain formula to find ij

ij = gain(TF) from

xj(0) to X i ( s)

In above SFG (with IC), where

11 =

X 1 ( s) = 1((ss)) x1s(0) 1 ( s) = 1+3s-1 , ( s) = 1+3s- 1 +2s-2 (1+3s -1 )(1/-2) = 2 s+3 s - 1 +2s 1+3s s +3s+2 u ( t)=0, x(0) = 1 1

12 , 21 , 22 can be computed in similar way

3) time response when

()

( ) (

t) = ( t) x(0) x1 ( t ) = 11 12 1 x2 ( t ) 1 21 22
x(

)( ) ( )
=

e - 22tt e-

Figure 3.25

15