Outline Concept of state, state variable and model What are state-space models? Why should we use them ? How are they related to the TFs? System response from State space model
eigenvalues & eigenvectors State feedback controller design Concept of controllability & Obserivability State estimator design
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. :
: .
Output variables
x(t) is called state of the system at t because: Future output depends only on current state and future input Future output depends on past input only through current state State summarizes effect of past inputs on future output-like the memory of the system
space model: a representation of the dynamics of an Nth order system as a first order differential equation in an N-vector, which is called the state. Convert the Nth order differential equation that governs the dynamics into N first-order differential equations.
Example 5.1: For the mechanical system shown below find the differential equation relating u & y. For the same find SS representation
Let
, then
, and
( ) If the measured output of the system ( Example 5.1) is the position, then we have that
Where
is the state ( vector) is the input or control is the output is the dynamics matrix is the input matrix is the output or sensor matrix is the feedthrought matrix
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We will typically deal with the time-invariant case Linear Time-Invariant (LTI) stat dynamics So that now A,B,C,D are constant and dont depend on t.
y
B
+ +
A D
+ +
Figure 6.3 Block diagram representation of the state model of a linear time invariant MIMO system
State variable form convenient way to work with complex dynamics. Matrix format easy to use on computers. Transfer function only deal with input/output behavior, but state-space form provides easy access to the internal features/response of the system. Allow us to explore new analysis and synthesis tools. Great for multiple-input multiple-output systems(MIMO), which are very hard to work with using transfer functions. Easy to study/design optimal control systems.
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Where
: .
: .
, we find that
[6.4 ]
Chain rule
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Laplace transformation Cayley-Hamilton Theorem Infinite sum series Similarity transformation method And other methods ( 15 more) and an matrix with
Cayley-Hamilton Theorem
Assume we are given characteristics polynomial
Where Define
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for Where
and
and
Then we have
and is said to be equal on the Spectrum of
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characteristics polynomial of
equation
or
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Thus
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Answer: Same as to that of Example 6.2. Q. What is your conclusion? Remark: If two system matrix have same characteristics polynomial then their state transition matrix is the same. The two system matrix are called similar.
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Repeat the process to find all of the Eigenvectors, i.e., ; Example 6.3 Compute the eigenvalues & eigenvectors for the system given by
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Eigenvectors:
Note , Either or
Similarly,
, choose
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they determine the stability and /or performance & transient behavior of the system It is their locations that we want to modify when we start controller design work. for stability, For steady-state to exist one of must be equal to Zero and the other
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State feedback control law design to satisfy specified closed loop performance in terms of both transient and steady-state response characteristics.
Preliminaries concepts: State Controllability:
inputs ( in particular , by steering the state vector ) from one vector value to any other vector value in finite time.
State Observability:
the knowledge of the input and the corresponding output over some finite time interval.
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The system in (6.9) is controllable if the Controllability Matrix, U has full rank (i.e., det U 0) Where U is given by (6.10) Similarly, the system in (6.9) is state observable if the Observability Matrix, V has full rank ( i.e., det(V) 0)
Where V is given by
(6.11)
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Recall that the system poles are given by the eigenvalues of A - want to use the input u(t) to modify the eigenvalues of A to change the system dynamics r
+-
A, b, C x(t)
and
Objective
Pick K so that have the desired properties, e.g., making unstable (A) into stable , putting 2 poles @ say
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So that
Thus , the FB control law can modify the pole @ s = 1, but it cant move the pole @ s =2 This system cant be Stabilized with full-state feedback control law
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Reference Input
so far we have looked at how to pick K to get the dynamic to have some nice properties(i.e., Stabilize A) The question remains as to how well this controller allows us to track a reference command ? - performance issue rather than just stability
Start with
Reference Input
Consider this performance issue in the frequency domain. From the final value theorem: Thus, for good performance , we want
So , for good performance , the transfer function from R(s) to Y(s) should be approximately 1 at DC (i.e., @ s=0)
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Reference Input
Design a control law such that the poles of the closed loop system are placed in and the stationary gain becomes 1
Solution:
Which gives
With
;
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Assume that
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Reference Input Example 6.5 One solution is to scale the reference input so that
Now we have
So that
- If we made
, then
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y
to be implemented via software
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State estimator
Let define state estimation error as Then its governed by (6.14) And its solution is
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State estimator
Note: Even if all eigenvalues of A has negative real parts, we have no control over the rate at which approaches zero. Hence rarely used in practice. Although the output is available , it is not utilized in the openloop estimator in Figure 6.4. Alternative Approach/ Strategy Feedback the difference ( i.e., estimate of the state. Closed-loop State Estimator/Observer
) to improve our
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State Estimator/Observer
+ +
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State Estimator/Observer
The output
Or (6.16) Remark: If (A, C) is observable , the (6.16) can be designed so that the estimated state will approach the actual state as quickly as desired. Subtracting (6.16) from (6.9a) gives ( noting )
Or equivalently,
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State Estimator/Observer
Bottom line:
Can select the gain L to attempt to improve the convergence of the estimation error ( and/or speed it up) Estimator problem such the closed-loop poles becomes choosing/designing
are in the desired locations. Example 6.6 For the system given below
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State Estimator/Observer
Example 6.6 Design a full-order state observer/estimator, assuming the desired eigenvalues of the observer matrix are -10. Solution: the characteristics equation for the observer is given by
Define
then
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State Estimator/Observer
Example 6.6
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