Control Engineering-II Lab 11

Simulation of State Space Models in SIMULINK

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By: Engr. Imtiaz Hussain Kalwar

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Contents
State Diagram State Feedback control State Feedback control with observer approach State feedback with Optimal approach

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State Diagram

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State-Diagram
Consider following system

 x1 ! x2  x2 ! x3  x3 ! 6 x1  11x2  6 x3  u (t ) y (t ) ! x1

 1 0 x1 0 x1 0 x ! 0  0 1 x2  0u (t ) 2 x3  6  11  6 x3 1  x1 y (t ) ! ? 0 0A x2 1 x3

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State-Diagram
 x1 ! x2 y (t ) ! x1
-6 u(t) 1

 x2 ! x3

 x3 ! 6 x1  11x2  6 x3  u (t )

 x3

S-1

S-1

S-1

y(t)

x3
-6 -11

x2

x1

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State-Diagram (SIMULINK Model)

x3 x2 x1

S ta te s x3 1 s u (t) In te g ra to r
x3

x2 1 s
x2

1 s

x1
x1

In te g ra to r1

In te g ra to r2

y (t)

Gain1 -6

Gain2 -1 1

Gain -6

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Simulation Results

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State Diagram with State Feedback

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State-Feedback Control
dx ! Ax  Bu dt

y ! Cx  Du

where u !  Kx

D
u

 x
++

A -K

+ +

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State feedback control

Lets apply the state feedback to place the poles at -1+j, -1-j and -5. 1+j,
 0 x1 x ! 0  2  6 x3  1 0  11 0 x1 0 1 x2  0 u (t )  6 x3 1

1 y (t ) ! ?

x1 0 A x2 x3

State feedback gain matrix that fulfils above 1]. condition is [k1 k2 k3]=[4 1 1].

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State-Diagram with state feedback

-6 1

u(t)

 x3

S-1

-4 S-1

S-1

y(t)

x3
-7 -1 -11 -1

x2

x1

 x1 ! x2 y (t ) ! x1

 x2 ! x3

 x3 ! 6 x1  4 x1  11x2  x2  6 x3  x3  u (t )

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Reduced State-Diagram
-10 u(t) 1

 x3

S-1

S-1

S-1

y(t)

x3
-7 -12

x2

x1

 x1 ! x2 y (t ) ! x1

 x2 ! x3

 x3 ! 10 x1  12 x2  7 x3  u (t )

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State-Diagram with state feedback

x3 x2 x1

S ta te s x3 1 s u (t) In te g ra to r
x3

x2 1 s
x2

1 s

x1
x1

In te g ra to r1

In te g ra to r2

y(t)

G ain 1 -7

G ain 2 -1 2

G ain -1 0

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Simulation Results

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State Feedback with Observer approach

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State Feedback with Observer approach x y

++

A -K B
++ ++

~ x

A Ke

~ y

+ +

Design Task
Consider the system.

1 0 0 0 A! 0 0 1 , B ! 0 , C ! ? 0 0 A 1  6  11  6 1
Design a regulator system by pole-placement with poleobserver approach. Assume that the desired closed loop poles for pole-placement are located at poles=-1+j, s=s=-1+j, s=-1-j and s=-5 s=The desired observer poles are located at s=s=-6, s=-6 and s=-6 s=s=-

Solution
For the desired closed loop poles for pole-placement poles=-1+j, s=s=located at s=-1+j, s=-1-j and s=-5 state feedback gain matrix is K=[4 1 1]

And for the desired closed loop poles for observer s=s=s=located at s=-6, s=-6 and s=-6 state feedback gain matrix is Ke=[12;25;-72] Ke=[12;25;-

Exercise#1
 Construct Simulink model.  Obtain
the simulation results.

 Submit the hard copy of results.

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State Feedback with Optimal approach

Design Task
Consider the system.

1 0 0 0 A! 0 0 1 , B ! 0 , C ! ? 0 0 A 1  6  11  6 1
Design a regulator system by pole-placement with poleQuadratic optimal approach. Assume that the desired closed loop poles for pole-placement are located at poles=-1+j, s=s=-1+j, s=-1-j and s=-5 s=-

Solution
For the desired closed loop poles for pole-placement poles=-1+j, s=s=located at s=-1+j, s=-1-j and s=-5 optimal state feedback gain matrix is

K=[0.0828

0.1489

0.1072]

Exercise#2
 Construct Simulink model.  Obtain the simulation results.  Submit the hard copy of results.

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Submission

Solve the exercises given in tutorial and 2007. submit the hard copy before 10th March 2007.