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Elg4152l305 PDF
Elg4152l305 PDF
1
Introduction
In the previous chapter, we used Laplace transform to obtain the
transfer function models representing linear, time-invariant, physical
systems utilizing block diagrams to interconnect systems.
2
Time-Varying Control System
With the ready availability of digital computers, it is convenient to
consider the time-domain formulation of the equations representing
control systems.
3
Terms
State: The state of a dynamic system is the smallest set of variables
(called state variables) so that the knowledge of these variables at t
= t0, together with the knowledge of the input for t t0, determines
the behavior of the system for any time t t0.
State Variables: The state variables of a dynamic system are the
variables making up the smallest set of variables that determine the
state of the dynamic system.
State Vector: If n state variables are needed to describe the
behavior of a given system, then the n state variables can be
considered the n components of a vector x. Such vector is called a
state vector.
State Space: The n-dimensional space whose coordinates axes
consist of the x1 axis, x2 axis, .., xn axis, where x1, x2, .., xn are state
variables, is called a state space.
State-Space Equations: In state-space analysis, we are concerned
with three types of variables that are involved in the modeling of
dynamic system: input variables, output variables, and state
variables.
4
The State Variables of a Dynamic System
The state of a system is a set of variables such that the knowledge
of these variables and the input functions will, with the equations
describing the dynamics, provide the future state and output of the
system.
For a dynamic system, the state of a system is described in terms of
a set of state variables.
y1(t)
u1(t)
System
u2(t) y2(t)
5
State Variables of a Dynamic System
x(0) initial condition
6
The State Differential Equation
The state of a system is described by the set of first-order differential
equations written in terms of the state variables (x1, x2, .., xn)
.
x1 = a11 x1 + a12 x2 + ... + a1n xn + b11u1 + ... + b1m u m
.
x 2 = a 21 x1 + a 22 x2 + ... + a 2 n xn + b21u1 + ... + b2 m u m
.
x n = a n1 x1 + a n 2 x2 + ... + a nn xn + bn1u1 + ... + bnm u m
dx
x& = x1 a11 a12 a1n x1
dt b11....b1m u1
d x2 a 21 a 22 a 2 n x2 + ............ .
=
dt . . . . .
bn1....bnm u m
xn a n1 a n 2 a nn xn
A x B u
.
A : State matrix; B : input matrix x = Ax + Bu (State differential equation)
C : Output matrix; D : direct transmission matrix y = Cx + Du (Output equation - output signals)
7
Block Diagram of the Linear, Continuous Time Control System
D(t)
+
.
u(t) x (t ) x(t) y(t)
B(t) dt C(t)
+ +
+
A(t)
.
x (t ) = A(t )x(t) + B(t ) u (t )
y (t ) = C(t ) x (t ) + D(t ) u (t )
8
Mass Grounded, M (kg)
Mechanical system described by the first-order differential equation
Appied torque Ta (t ) (N - m)
Linear velocity v(t ) (m/sec)
x (t) v (t)
Linear position x(t ) (m)
Fa(t)
dv d 2 x(t ) M
Fa (t ) = M =M
dt dt 2
1 t
v(t ) = Fa (t )dt
M t0
9
Mechanical Example: Mass-Spring Damper
A set of state variables sufficient to describe this system includes the
position and the velocity of the mass, therefore, we will define a set of
state variables as (x1, x2)
x1 (t ) = y (t )
u(t)
dy (t )
x2 (t ) = K
dt b
Wall friction
d2y dy
M 2 + b + ky = u (t )
dt dt
M
dx2
M + bx2 + kx1 = u (t )
dt
dx1
= x2 ; y(t)
dt
dx2 b k 1
= x2 x1 + u k : Spring constant
dt m M M
10
.. .
m y + b y + ky = u
This is a second order system. It means it involves two integrators.
Example 1: Consider the
Let us define two variables : x1 (t ) and x2 (t )
previous mechanical
. .
system. Assume that the x1 (t ) = y (t ); x2 (t ) = y (t ); then x1 = x2
system is linear. The . k b 1
x2 = x1 x2 + u
external force u(t) is the m m m
input to the system, and The output equation is : y = x1
the displacement y(t) of In a vector matrix form, we have
11
Electrical and Mechanical Counterparts
12
Resistance, R (ohm)
1
i (t ) = v(t )
R
13
Inductance, L (H)
di (t )
v(t ) = L v(t) L
dt
t
1
i (t ) = v(t )dt
L t0
14
Capacitance, C (F)
1 t
v(t ) = i (t )dt v(t) C
C t0
dv(t )
i (t ) = C
dt
15
Electrical Example: An RLC Circuit
x1 = vC (t ); x2 = i L (t )
= (1 / 2)Li L2 + (1 / 2)Cvc2
x1 (t 0 ) and x2 (t 0 ) is the total initial iL L
energy of the network
USE KCL at the junction
iC
dvc
ic = C = +u (t ) i L
dt u(t) vC C R +
L
di L
= RiL + vc
V
dt o
The output of the system is represented by : vo = RiL (t ) -
dx1 1 1
= x2 + u (t )
dt C C
dx2 1 R
+ x1 x2
dt L L
The output signal is then : y1 (t ) = vo (t ) = Rx2
16
Example 2: Use Equations from the RLC circuit
1
. 0 - C 1
x= x + C u (t )
1 - R
L
0
L
The output is
y = [0 R ] x
When R = 3, L = 1, C = 1/2, we have
. 0 - 2 2
x= x+ u
1 - 3 0
y = [0 3] x
17
Signal-Flow Graph Model
A signal-flow graph is a diagram consisting of nodes that are
connected by several directed branches and is a graphical
representation of a set of linear relations. Signal-flow graphs are
important for feedback systems because feedback theory is concerned
with the flow and processing of signals in system.
G(s)
Vf(s) (s)
G11(s)
R1(s) Y1(s)
G12(s)
G21(s)
R2(s) Y2(s)
G22(s)
k = cofactor of the kth forward path determinant of the graph with the loops
touching the kth forward path removed, that is, the cofactor k is obtained from
by removing the loops that touch path Pk .
19
Signal-Flow Graph State Models
-R/L
-1/C
Vo ( s )
G(s) = =
U ( s) s 2 + s +
. 1 1
x1 = x2 + u (t )
C C
. 1 R
x 2 = x1 x2 ; vo = Rx2
L L
Vo( s ) R / LCs 2 R / LC
= =
( )
; 20
U ( s ) 1 + (R / Ls ) + 1 / LCs 2 s 2 + (R / L )s + (1 / LC )
Y ( s ) s m + bm 1s m 1 + .... + b1s + bo
G (s) = = n
U ( s ) s + an 1s n 1 + .... + a1s + ao
Y ( s ) s ( n m ) + bm 1s ( n m +1) + .... + b1s ( n 1) + bo s n
G (s) = =
U ( s) 1 + a n 1s 1 + .... + a1s ( n 1) + ao s n
Y ( s ) k Pk k
G (s) = =
U ( s)
G (s) =
k Pk
=
Some of the forward - path factors
N
1 q =1 Lq 1 - sum of the feedback loop factor
21
Phase Variable Format: Let us initially consider the fourth-order
transfer function. Four state variables (x1, x2, x3, x4); Number of
integrators equal the order of the system.
U(s) Y(s)
1/s 1/s 1/s 1/s
x4 x3 x2 x1
U(s) x4 x3 x2 x1 Y(s)
-a1 -a0
-a3 -a2
Y (s) b0
G ( s) = = 4
U ( s ) s + a3 s 3 + a 2 s 2 + a1s + a0
b0 s 4
= 1 2 3 4
1 + a3 s + a2 s + a1s + a0 s
22
b3
b1
b2
1 1/s 1/s 1/s 1/s bo
U(s) x4 x3 x2 x1 Y(s)
-a3 -a1 -a0
-a2
. . .
b3 s 3 + b2 s 2 + b1s + b0
x1 = x 2 ; x 2 = x3 ; x 3 = x 4
G ( s) = .
s 4 + a3 s 3 + a2 s 2 + a1s + a0
x 4 = a0 x1 a1 x2 a 2 x3 a3 x4 + u
1 2 3 4
b3 s + b2 s + b1s + b0 s
= y (t ) = b0 x1 + b1 x2 + b2 x3 + b3 x4
1 + a3 s 1 + a 2 s 2 + a1s 3 + a0 s 4
x1 0 1 0 0 x1 0
x
d x 2 0 0 1 0 2 + 0 u (t )
=
dt x3 0 0 0 1 x3 0
x4 - a0 - a1 - a2 - a3 x4 1
Read Examplev 3.1 of the textbook
x1
x2
y (t ) = Cx = [b0 b1 b2 b3 ]
x3
23
x4
Alternative Signal-Flow Graph State Models
Motor and Load
R(s) Y(s)
16
Controller
G ( s) =
5( s + 1)
( s + 3)
( s + 2)
c
( s + 1)
U(s) I(s)
5( s + 1) 1 6
Gc ( s ) =
( s + 5) ( s + 2) (s + 3)
5
- 3 6 0 0
.
x = 0 - 2 - 20 x + 5 r (t ) y = [1 0 0]x
0 0 - 5 1
24
The State Variable Differential Equations
1/s
1 -20
-5
1 1/s -20
1
1/s 30
Y(s) 30( s + 1) q( s)
= T ( s) = =
R( s) ( s + 5)( s + 2)( s + 3) ( s s1 )( s s 2 )( s s3 )
Y(s) k1 k2 k3
= T ( s) = + +
R( s) ( s + 5) ( s + 2) ( s + 3)
k1 = 20, k 2 = -10, and k 3 = 30
- 5 0 0 1
.
x = 0 - 2 0 x + 1 r (t ); y (t ) = [- 20 - 10 30]x
0 0 - 3 1 25
The State Variable Differential Equations
- 3 6 0 0
.
x = 0 - 2 - 5 x + 5 r (t )
0 0 - 5 1
Y(s) 30( s + 1) q(s)
= T (s) = =
R( s) ( s + 5)( s + 2)( s + 3) ( s s1 )( s s 2 )( s s3 )
Y(s) k1 k2 k3
= T (s) = + +
R(s) ( s + 5) ( s + 2) ( s + 3)
k1 = 20, k 2 = -10, and k 3 = 30
- 5 0 0 1
.
x = 0 - 2 0 x + 1 r (t )
0 0 - 3 1
y (t ) = [- 20 - 10 30]x 26
The Transfer Function from the State Equation
Given the transfer function G(s), we may obtain the state variable equations
using the signal-flow graph model. Recall the two basic equations
.
x = Ax + Bu y is the single output and
y = Cx u is the single input.
Y ( s ) = CX ( s )
(sI A ) X( s) = BU ( s)
Since [sI - A ]1 = ( s )
X (s) = (s) B U (s)
Y (s) = C (s) B U (s)
Y (s)
G (s) = = C (s) B
U ( s) 27
Exercises: E3.2 (DGD)
A robot-arm drive system for one joint can be represented by the differential equation,
dv(t )
= k1v(t ) k 2 y (t ) + k 3i (t )
dt
where v(t) = velocity, y(t) = position, and i(t) is the control-motor current. Put the equations
in state variable form and set up the matrix form for k1=k2=1
dy
v=
dt
dv
= k1v(t ) k 2 y (t ) + k 3i (t )
dt
d y 0 1 y 0
= + i
dt v k 2 - k1 v k 3
Define u = i, and let k1 = k 2 = 1
. 0 1 0 y
x = Ax + Bu; A = , B = , x =
- 1 - 1 k 3 v
28
E3.3: A system can be represented by the state vector differential
equation of equation (3.16) of the textbook. Find the characteristic
roots of the system (DGD).
. 0 1
x = Ax + Bu A=
1 - 1
-1
Det (I - A) = Det
1 ( + 1)
= ( + 1) + 1 = + + 1 = 0
2
1 3 1 3
1 = + j ; 2 = j
2 2 2 2
29
E3.7: Consider the spring and mass shown in Figure 3.3 where M = 1
kg, k = 100 N/m, and b = 20 N/m/sec. (a) Find the state vector
differential equation. (b) Find the roots of the characteristic equation for
this system (DGD).
.
x1 = x 2
.
x 2 = 100 x1 20 x2 + u
. 0 1 0
x= x + u
- 100 - 20 1
-1 2
Det (I - A) = Det = + 20 + 100
100 + 20
= ( + 10 )2 = 0; 1 = 2 = -10
30
E3.8: The manual, low-altitude hovering task above a moving land deck
of a small ship is very demanding, in particular, in adverse weather and
sea conditions. The hovering condition is represented by the A matrix
(DGD)
0 1 0
A = 0 0 1
0 - 5 - 2
-1 0
Det(I - A) = Det 0
-1 =
0 5 = 2
( 2
+ 2 + 5) = 0 )
1 = 0; 2 = -1 + j 2; 3 = -1 - j 2
31
E3.9: See the textbook (DGD)
. 1
x1 = x2 x1
2
.
x 2 = x1 x2
- 1 1/2
x= x, y = [1 - 3/2]x
1 - 3/2
5 1
s + s + 1 = (s + 2) s + = 0
2
2 2
. 2 0
z= z; y = [- 0.35 - 1.79]z
0 - 1/2
32
P3.1 (DGD-ELG4152):
Apply KVL
di
v(t ) = Ri (t ) + L + +vc
dt
1
vc = idt
C
(a) Select the state variables as x1 = i and x2 = vc
(b) The state equations are :
. 1 R 1
x1 = v x1 x2
L L L
. 1
x 2 = x1
C
. - R/L - 1/L 1/L
(c) x = x+ u
1/C 0 0
33