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    State Space Modeling

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    18 views41 pages

    CS-State Space Modeling (Nagrath & Gopal)

    Uploaded by

    Asma Khan
    State Space Modeling

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
    Flag for inappropriate content
    of 41
    12, State Variable Analysis and Design Sa 121 tantaton adi pia nr wt ev) seth of mt ag SST le outa pa ue a ES i sn poral anand gee ine fron mos aia th freasing daca vee te hed ofa moe peel mate ESL retain fa en wy seg sie esr he hn var oe an sn aes ma sys, The rE aUOn ete ie agp a at Pearman ra oa Nonna tect a Spo hn ent SOE aipencaetce ec ret oti Se a eae iiss rt anny meme vibe nominee ene eh ‘te ye Senge ene is pe Spc Se a Soret ten penn sata erm ae ea ‘nace namaste eras ee be fy arom fe rade pon yrs oranda Sige Oat ‘nnn bole appt I) oi pe sabe 12 Concepts af State, Sate Varies ad State ad ‘Armahemstalabsiacoe epee esa the sai system es the types ar led ee he ua ane er the mechanic sem owning. 121 hain mae A ‘ee pon bythe force FC), The ste raced yf tne wo far-w wa Adee o ait Stn ie rom th ln et eevee Fane aaa [row ae won f ode foae fLaoe anose-wed fe [roe tay £2 marty pone) te tal tty Sse ea Bytes Ct Sime i ahaa mi my cramer acme mat Sar A eee care cea ahaa: See ein! bod Lao Pi 122, od ons er ae Ne ‘Se aA ad decgreSibetcne et os bral eats (2d (on eM ian Ber geet eqn a For a stele of Py 12. he ae a Fn, ean eae Be y= Fi ht as a) seco ens (208 Man 0 + Bo td fade snr dhe i tat oh ene te ene iy Se enka am sta ee ape ei i 50 = 10, 0D an erent tp eh ind a £40) =| an Ua | "PEumeoing sem te fon eke Sn at el soon os Sha Cana ura Soc, cert Daan we ce Sinvimcisabanmeparklrsaee=n ema sions ommpeceaie Sante tances ee a Ee nam Cree wane amet nears eae Ste taytestiiente et tint Seema eT ree ion SER ct aan SS cesitoes ees Te sean Freedict Seo aes Seon ba = Tin reine nt ag men split SE any nt a= maa et ren domed taney hae ott ha Fem a ate ot eu sere he cote an (213) mb nee i) ~ avin ma A ete ec, mp eco, Ba + et ha Ses spt a ‘ae of pt ate WO~eninent #4 + ta + dd +o and rise ova coo at da ata ca acon Ps ofc x10 = e309 + Dap st ati ant an pec ns x ogee, CPX ot ma ey aa is pr ronmdsin mats dad by wa nh dee peo] a dod tte doe viernes yn 6 he ges by he te sate model of i) = Ax) +H ste egtion 3H = Ca + Du expat epson tepreettn ofthe tte mad! sown oP, 23. (29 can) Wea cfs] » Santos (12.14 a oft foe etoposide te me ststsn sw oe “ ons te Eig smtp beta te Ey etd ee noha Spe se ae Sasa tomo ‘pane a) =f) — 210. rata S28 S Nor | = 0+ sho oH m0 rein tun + hr = n+ 28004 no CIS IE) ‘The curate by ke ge : rn af] oo steiner at 60 si Saisie Sees tnd en ance see 213) ct fer ha conte hie caper, ww Be many conse i a newest Sere = Moos ro Ste sre Moot Son aids wh sepa “ae a aia en nba wT ecu epch ih eS A ae ae noe mn egos ara «ais paca (a) sce ow recy (8) a (De ma, Cee tne oe ad te ai aowotse seach Powe 4 Scion Eaton) =e suns he dente ofa ee aera ae ue St aa hee ee pot a OEE Sure gion cnt nr tout the opeaig pl 8) area Sette me nt eng em oe Satter sae eno fa fiow) : +8 Me] we RM ee faa a he oping plat.) = 0 "sion aoa te open Pm == tei th ste ution canbe ween tie we noe ‘re hrc oe Fe Wa ry teat sto tS plan aa asin ese ss one egien aaa uae pro te cara | ‘abl ie terms of whic he et bone ee er | 0 rigy ita To demons this ft, coer ay tt egy 218) when x an mein tee. mantis mien eo oh se any wn sige ent ma RESP tlw hat ssitaing x 260% om above ay (1218) me eng by we oti aie care Frome. (1219, wee - hime cum Emons (12170) and (1219) ve ante sate se fr agen Ke Ge acd hens mir ee ins ae FT = Wik nt ee ‘pelecchls of ut yaaa my prove to besser ve efi teal voon Senecomson ed as ee emor we ine fs pg ted it Hy ote wk coil ce be ‘ves knowing tal cosine {0,0 28 he oat at ‘(rt 0, thon tor bev oh nee comp ed {ors 36 Home seo mr) ofthe const Er ‘SE ao eerie bg ps etwas eh "Sp Tere ail conn), 0), HO oer ab he oe ee on Stee api urea anergy ns Soma ayes = i0= 409) a i= ba be Rntenone am tle nenena (ln Fert perp, ge my bec allow tn sr i sat vine en 128 ad st inp) 4 “we have the following equations: eet = ee jo at tae nse yand caret hoagh a the tat aca apy Te teeta ee bet: a) : san en can sae eHEmit mec ants errata eatsie vecan an ite don theo mt fe ore ie Nae and oi fhe Ar t+ ts te tore ea non tem, te a oni pose sear Som Ets SIGH ra canst Satine ascag Ie motor ange is regarded he ou, can be wen a eel] a ‘Both ne examples cada hae on amon ft: th elec sutevatabiec are the phones! quate ofthe aueen wie at . satan ut eran trea ied ee, stick terete eth se are ela sina Ihe se hes ae sae ree ‘Thechoce of pica varia often tae vars hero Inigpiemeston of sg tina! ti have det raeoee othe phy scr ote, aie ‘hole psa va te slit o's earn ay ame Sia tak As we onl Se Ie that, cir of anal ura ny ai alm bn soe fr evr cine pewter ales. Te pee eS es “The ra form fn mre ee feral suo ag he YE OI ot ead + 0 DY at bl sehr for tinea or) neers item < nad yng ‘The inal contiions ae epee oem of 0, $0 MOL ace an aa te Mere este gion alm (22) oe et oa amiss Do MeEnettthesth G22) m= T= Meet Oe Wetmore hath 1 = SGPT a om th tater fenton ith onal eal i te el soditon fo ry al connie and ten rae te Eons eure dined a hse prc inte vain ich Ths a ef the sem aes aod seria, Often the sr ace ory ost and he emigrate he pecs, where the anor esti dos nt nt ane ein has th fe 10 ert eeree | D ro~ Wor waa Tae sorts teasferfantioncovespond feet gage te ted tage be (28) 233 (nan eatin 12.26 ec toast mito erat eae nyt anc Met peer a em ein te ace ht ne mai A ry spec om Ia aightoe tated a em ecosperct a the neste of he a ee ea ral eaten ad I te domed oe ‘Seca eta Seti cir fm eee tnt ana thetfoe the she onion cm be en RAG cpenon af the se teeta etn "Saco beng) te opt enon en by ya (am) wie = 10.0) Tcl como on» ae itt then omttion 40 40, ‘i'n ie tates pore ein cf the te arable i, Ie (228 Rp 7 wet ake eon ies seo os epn dn bt eet ato of ioe when sister fonson ht ara he ae ean contests cha vais fe ‘Sere foes an th etd io roger be ged SHES tie eon wie sre cape pe apis ee sce by Mason's en form, produced bow. ister tte eo Gyan spseteoeah am So oon eee yb ge a ee ror re r= conning ey (123) wth (229 98 dee a + at flow ih Pat ay exe ts eoae op osc ech athe wth ai fe oi and 0 ich sek te ops ad ae sos ible 208 oe wich sis th above seems ‘gol ow wag conse ASETIn gta Fo foe yon be earn tt be reer ery fan bt Ook Beet ate asp rors sen tor enh af {yo (assy en condos x) 40a 0) cn be one in tema } uss le ioe (12.380) Pept see |=) no Iz bdo) Lok bbe | errs ot “el Ko i 0235) Lb team “hI Leen, sto nt hi capt x nm es in comin ‘Sm Vat ven Ont 5 Je phase rable frmlten for he tame fon ot ai may ettnes lon a nt oto GO) PB 129 ey id to pte a ro tn ro i. 9 0 ~ oH Bho ; «as we tn ~ Ea Parr Senet arth aN) le {ics end tgs (239 wit tae an “The srmsefaton = iy be ro 8 ‘wee PH ph Sea sso fs sn hein mye emt sane oa pqs ote yt sen am Poin of ew abo. ae “in approach sean hood saa armament {eae fenton (122 ered bln TO ery = Mette ton the the Ty TO ete ~ we an yah . unt non red dt hp ate ae all distinct. The ser fonction a fron we esac Bomo-neBste am nl tt an toni 2 nh op each gear oben ate aril, weet Wee Peay Aa tm FEN Root (aaa) ie ope en prem tent acbow the et) ns 124 eri nia tit me fs tn semegseit ane mot os be pene cone GE SEM — = oes eee ra #y apeeetinta te mal lg ag re ce a a, yoke “ity ray mac Ate ea affords yl Tee Aen IS ese fs “The uu oop tue af cass o oon repent i Simon) dad we esa heat ma {Soh oe" copay etre, ane sa a ap ety hth aly the om "The dindanage athe came Tarn i «Ql pret sg epee a pa ae FHOL US 6 mad BH EH he We TOM RE eee tees -_ sept ty ow Tee gam ion fan (24) 8 Don nF 2 ap 2a oh i ET TET oe 2m ‘ BPO eye «me Theta wwe tere 2) wane Feat 7) f- [= | | yey = 20 + 00) wa | con ash rot. pp poe toed a 20 ee eta na coin #020 ees nes wie eunreacaanmrcngtet mihire MS neemroce et ISS Seite Tan b+Egatye te 9 veer ne aa 1 ] eas Ati ua nt th cae own In P23 A ll ‘ton finesse siting ne vee eo wee oSrte i park, ber pepo ~ ot cra eon ai, alee onic mais te ong operses “Fhrhoral eit Spoleto Tet he ail Giger (2 A taf wa dent aco neal 1 ne (A aa gown tn opcet emes i ens 09 ft rn ca ri gts ia row a ern ts 8 "ing ete motel fr sien cctag he eee Say as or 280. An cae ae Sense vonale mos ad thn ota be ser “king the apse zor oes (1290, we ave i) — xO) = AX) + BLD Puy cxiy +000 sy (92500) soi or Hw ti, i) = Gat ayn) + Con — AY"DUL) + 400 Asami a oon we the ten tern ot m= 28m con ayia td = HEA casy ‘Mie eon onetime, thre ont (259 M4 Sn ca beg SACU lo om a 124 Digan we court sate cto bat the sae mode oa Src coe te tonne Teen an a a ae Scat ton aa Soc sR ee oe a i he ai mp tm 7 ‘Aste ha ie atch mel ison on Pe |W the matrix M can be selected such that M!AMf, smote Sedona aa Soil te me, Und it bere A = MAM = 9 aa oud cesta hetsacte poate Oh SGT fees roves teow ets leics The ae ‘SomvAts ie Erewcroes onset of homopcce egeatins fot fata Pf 6 Tis fam tao Efe 8 call Fi hate 4 fgg eset tnta eff] Fae ta bed aren AWD se) | 0¢ce, rank a nic then spe (1259) tae nt Perec ea (G35) "ne ten aid 10 be vey independent the detent VF | $222.05 tas x mare en fencer ee Ta i “2g 29) hse sans comet ow ln a] wenwe [8] = Bficn f= 102 case wren im10e2 my ne cr ~ cot af rani, $fuca~ $ fica = oes 24 case ron st 28 wy en Bice = 181A Fd nor Sice=1Plte J hhooeen fet estas Werte Biren Enea orrstwrath C23" onsen eqn om to (259, ua Si fate on fate 0 o cont yt Let 35 = py 0 = frome (1260), nave Wii + fle + Fle) = 0 ‘Thee inet Wake halo 00 frais fm | Law ttn os 123, ete te ht he tn ‘brane son asst an hey eee C2 | roto cma Wt nc a my POs WP 8 neg, fa rb obtain’ by taking the c-icor slog saa cote 1-f ot ‘| Pree ma en Teng | ee on 6) er ea ona Ste ies na iat SESE denon Contant dense reget fe permanent poo snd sndig ota Teton etcetera we Pes aa) TEE es esenaty a cr ton f SMES agen ean eee he ok aa of Pe Ma ei ei ae as eae ferrees aay guts mea hr seman ta BAD 122 en Be ee as fn anor (2100) no conte ase rey 2109. Th bg ps lh frm fgeiie Hitman respi ot [sea Le oe ek fn (111) ott tee koe any Site eens ert ter uamormtion of sae mode, ‘Ate rca of (a Dk) ee same at BA ‘ih ed genau ey ead ee consi cere gutin He ante ttl . en erk ia i ht Jeers ee fy en tare ecan egion api ii an Bega ceeds The mie wr, ha els aea 210 fon ca rasa f nag etme ses us toon cea otal ont cs compe tte. Ty ats by cout etn a ee Nicthanactay cee ten = A mache ne a ‘rope 210 Comer te portion cote ste Fi 1S wg Perea Pasar cote made Tegel fo gph ie ie 6 Bo jute ewe Fp ats Bop 2 tr TESST an ee eds te vai Ly ltd bd ue etka employed wh pton teach, ig fet crane fc fom ace jean apie ron = estan (al i iS ‘eon odd tg Bow gap Pa 1218 te Se mt ca ie coma taser ae OH eT pe masini ve HE Ich ev et tayo i AB) compost mai pera ne) {i24 thee ep (AB) eco The sera BeTB aia ae ws by tbe acne oan banal yey nao cae, Leedan ee " fino a et ek law rt foie ag wt a ar aes came a, ie 2 igs tine ana rec Nie gg meus! = ua-lsiy3 From Fig. Peres semester at tt Samy pg rec nogt arcitne sag srao sa mee i eee wale choice of gains meets the design specifetions. mt aed te tet ee a ty ae tt see pine 4 an tao 0 : cndietiea ty Fate peso tetany EM re me emia eon 7 Se ea er =e eee abu ce eee nat Tam feign cs trees es =e Sta atksnctte coos eae oe tee itera Ee See eto aod ca eaters} sak an pee

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