MATHEMATICAL MODELING OF DYNAMIC SYSTEMS IN THE STATE SPACE

State: the state of a dynamic system is the set of state variables such that the knowledge of these at time t = t 0 , together with the knowledge of the input for t t 0 , completely determines the behaviour of the system for any time t t 0

state vector: these n state variables can be considered the n component of a vector: x1 x= : xn state space: the n-dimensional space (axes = state variables) is a state space; any state can be represented by a point in the state space.

State space equations

New state variables:

Differential equation of the nth order can be expressed in the form of n first-order differential equations:

In a matrix form

x .... state vector, A .... system matrix, B .... input matrix b.input vector C .... output matrix u .... input y .... output

Example:

Eigenvalues of matrix A
The eigenvalues of a matrix A are the roots of the characteristic equation

in which I is unity matrix

Example:

MATLAB:

Or

Solution of state equations

Applying Laplace transformation

Applying MATLAB

A=[0 1;-100 -1]; B=[0;10]; C=[1 0]; D=[0]; eig(A); ans= step(A,B,C,D);

% eigenvalue of matrix A -0.5000 + 9.9875i; -0.5000 - 9.9875i % step response

[Ukzky MATLAB 2]

TRANSFER FUNCTIONS
Linear system of nth order

y(t) ... output,

r(t) ... input

Applying the Laplace transformation

Transfer function is

decomposed using the roots of the polynoms

p1 ,... pn : poles of the transfer function (if pi = 0, then G (s ) ) z1 ,...z m : zeros of the transfer function (if z i = 0, then G (s ) 0 )

Example: The transfer function of a position servodrive is

G (s ) =

1 1 + 0.1s + 0.008s 2 + 0.00017 s 3 + 1.10 6 s 4

[ MATLAB 2]