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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 )
ξ = (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) θ (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 ) α
G(s) = =
U ( s) s 2 + βs + γ
. 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 = Φ ( s )
X (s) = Φ (s) B U (s)
Y (s) = C Φ (s) B U (s)
Y (s)
G (s) = = C Φ (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
λ -1
Det (λI - A) = Det
1 (λ + 1)
= λ (λ + 1) + 1 = λ + λ + 1 = 0
2
1 3 1 3
λ1 = − + j ; λ2 = − − 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
λ -1 2
Det (λI - A) = Det = λ + 20λ + 100
100 λ + 20
= (λ + 10 )2 = 0; λ1 = λ2 = -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
λ -1 0
Det(λI - A) = Det 0 λ
-1 =
0 5 λ = 2
( 2
λ λ + 2λ + 5) = 0 )
λ1 = 0; λ2 = -1 + j 2; λ3 = -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