GLUE

LECTURES
with
Amy LaViers

Purpose:
To connect what is done in the lectures to the quizzes
To give helpful hints about the quizzes
To clarify and repeat key concepts

There will be one Glue Lecture every week.

1
 GLUE LECTURE 3 Systems

(This will be helpful for Quiz 3!)

2
Goals of this lecture:

Show how inputs and outputs dene a system

Get used to matrices via two examples
- Do an example puPng a second order system into state
space form
- Do an example of linearizaQon

3
What is a system?

hUp://www.lockheedmarQn.com/us/products/
gps.html

4
What is a system?

hUp://gramconsulQng.com/2009/05/the-lasQng-value-of-the-
organizaQon-as-system-map/
hUp://www.lockheedmarQn.com/us/products/
gps.html

5
What is a system?

hUp://gramconsulQng.com/2009/05/the-lasQng-value-of-the-
organizaQon-as-system-map/
hUp://www.lockheedmarQn.com/us/products/
gps.html

hUp://news.consumerreports.org/cars/
2012/08/why-the-myford-touch-control- 6
system-sQnks.html
What is a system?

hUp://gramconsulQng.com/2009/05/the-lasQng-value-of-the-
organizaQon-as-system-map/
hUp://www.lockheedmarQn.com/us/products/
gps.html

hUp://en.wikipedia.org/wiki/Solar_System
hUp://news.consumerreports.org/cars/
2012/08/why-the-myford-touch-control- 7
system-sQnks.html
What is a system?

hUp://gramconsulQng.com/2009/05/the-lasQng-value-of-the-
organizaQon-as-system-map/
hUp://www.lockheedmarQn.com/us/products/
gps.html

hUp:// hUp://en.wikipedia.org/wiki/Solar_System
en.wikipedia.org/
hUp://news.consumerreports.org/cars/
wiki/
2012/08/why-the-myford-touch-control- 8
Endocrine_system
system-sQnks.html
Example 1:
How do you turn a general dynamical equaQon into a system in
state space form?

x = Ax + Bu
mf = f + f + cp ) y = Cx

9
Example 1:
How do you turn a general dynamical equaQon into a system in
state space form?

x = Ax + Bu
mf = f + f + cp ) y = Cx

u y
(A, B, C)

10
Example 1:
How do you turn a general dynamical equaQon into a system in
state space form?

x = Ax + Bu
mf = f + f + cp ) y = Cx

u y
(A, B, C)

1) Pick the state variables and dene inputs and outputs.

2) Write the second order dierenQal equaQon as a pair of rst order ones.
3) Put these in terms of state, input, and outputs.

11
Example 1:
How do you turn a general dynamical equaQon into a system in
state space form?

x = Ax + Bu
mf = f + f + cp ) y = Cx

1)
f (These choices dene the SIZES of A, B,
x= u=p y=f and C! And, with the dynamical
f equa?on, dene our system!)

12
Example 1:
How do you turn a general dynamical equaQon into a system in
state space form?

x = Ax + Bu
mf = f + f + cp ) y = Cx

1)
f (These choices dene the SIZES of A, B,
x= u=p y=f and C! And, with the dynamical
f equa?on, dene our system!)

2) f = x1 = x2
f = x2 = m
1
(x2 + x1 + cu)

13
Example 1:
How do you turn a general dynamical equaQon into a system in
state space form?

x = Ax + Bu
mf = f + f + cp ) y = Cx

3)
x1 x2
x = = 1
x2 m (x2 + x1 + cu)

0 1 x1 0
= + c u = Ax + Bu
m m
x2 m

x1
y=f = 1 0
x2
14
Example 1:
How do you turn a general dynamical equaQon into a system in
state space form?

x = Ax + Bu
mf = f + f + cp ) y = Cx

3)
x1 x2
x = = 1
x2 m (x2 + x1 + cu)

0 1 x1 0
= + c u = Ax + Bu
m m
x2 m

x1
y=f = 1 0
x2
15
Example 1:
How do you turn a general dynamical equaQon into a system in
state space form?

x = Ax + Bu
mf = f + f + cp ) y = Cx

u y
(A, B, C)

f
x= u=p y=f
f

0 1 0
(A, B, C) = , c , 1 0
m m m

16
Example 2:
Linearize the following system around x=0.

z
z = `z 2 + z + c x= u=
z

17
Example 2:
Linearize the following system around x=0.

z
z = `z 2 + z + c x= u=
z

x1 z x2
x = = =
x2 z `x21 + x2 + cu

18
Example 2:
Linearize the following system around x=0.

z
z = `z 2 + z + c x= u=
z

x1 z x2
x = = =
x2 z `x21 + x2 + cu
" #
@f1 @f1
@x1 @x2 0 1 0 1
A= @f2 @f2 = =
@x1 @x2
2`x1 x=(0,0)
0
x=(0,0)

19
Example 2:
Linearize the following system around x=0.

z
z = `z 2 + z + c x= u=
z

x1 z x2
x = = =
x2 z `x21 + x2 + cu
" #
@f1 @f1
@x1 @x2 0 1 0 1
A= @f2 @f2 = =
@x1 @x2
2`x1 x=(0,0)
0
x=(0,0)

20
Example 2:
Linearize the following system around x=0.

z
z = `z 2 + z + c x= u=
z

x1 z x2
x = = =
x2 z `x21 + x2 + cu
" #
@f1 @f1
@x1 @x2 0 1 0 1
A= @f2 @f2 = =
@x1 @x2
2`x1 x=(0,0)
0
x=(0,0)

@f1

@u 0 0
B= @f2 = =
@u
c x=(0,0)
c
x=(0,0)
21
Check the forums for more help and good luck with Quiz 3!

22