CONTROL SYSTEMS II

Mutaz Ryalat

Mechatronics Department(ME)
School of Applied Technical Sciences (SATS)
The German-Jordanian University (GJU)

MR
c • Lecture 2 1/12
 ME547-8
CONTROL SYSTEMS II

CH 4 (Time Response)

q 4.10 Laplace Transform Solution of State Equations

q 4.11 Time Domain Solution of State Equations

MR
c • Lecture 2 2/12
 4.10 Laplace Transform Solution of State Equations (see 3.6
Converting State Space to a Transfer Function

MR
c • Lecture 2 3/12
 4.11 Time Domain Solution of State Equations

MR
c • Lecture 2 4/12
 Time domain solution of state equation

q The problem may be stated as: Find ~x(t) from

ẋ = Ax + Bu. (1)

q Consider the scalar system

ẋ = ax. (2)

q it is assumed that we know all initial conditions x0 , ẋ0 , ẍ0 , · · · .

q Using Taylor series, a solution to the scalar differential equation is:
ẍ0 t2
x(t) = x0 + ẋ0 t + + ··· (3)
2!
q from (2), when t = 0, we obtain
ẋ0 = ax0 (4)
2
ẍ0 = aẋ0 = a x0 · · · (5)

MR
c • Lecture 2 5/12
 q Substituting into (3) yields
a2 x0 t2
x(t) = x0 + ax0 t + + ···
2!
a2 t2
 
= 1 + at + + · · · x0 (6)
2!
| {z }
exponential
at
= e x0 .
q where the matrix exponential can be calculated directly by using a
Taylor-Series expansion:
∞ ∞
X (at)n at X (at)n
eat = e = .
n=0
n! n=0
n!
q Applying the same to the matrix equation:
A2 t 2
 
x(t) = I + At + + · · · x0
2! (7)
At
= e x0 = Φ(t)x0 .

MR
c • Lecture 2 6/12
 q The n × n matrix Φ(t) := eAt is called the state transition matrix,
since it transforms the initial state x0 into the current state x.
q Defining x0 at general time t = τ rather than t=0:
x(t) = eA(t−τ ) x0 = Φ(t − τ )x0 . (8)

q subtracting Ax from both sides of ẋ = Ax + Bu., then

premultiplying by e−At to get
d −At
e−At [ẋ(t) − Ax(t)] = [e x(t)] = e−At Bu(t).
dt
q Integrating from t0 to t gives
Z t
e−At x(t) − x(0) = e−Aτ Bu(τ )dτ,
0

At
q and then multiplying by e gives
Z t
At
x(t) = e x(0) + eA(t−τ ) Bu(τ )dτ (9)
0

MR
c • Lecture 2 7/12
 Z t
x(t) = eAt x(0) + eA(t−τ ) Bu(τ )dτ
| {z } 0 (10)
transient | {z }
steady state

q The first RHS term is called the transient (or zero-input or

unforced) response. It only depends on the initial condition and it
will go to zero for a stable system.
q The second RHS term is called steady state which is responce due
to input and is given by the convolution integral.
q the total response is the sum of the two responses.
q We can also obtain the solution using Laplace transforms, where
 
−1 −1 −1 adj(sI − A)
L [(sI − A) ] = L = Φ(t) = eAt .
det(sI − A)

q each term of Φ(t) would be the sum of exponentials generated by

the systems poles (eigenvalues).
MR
c • Lecture 2 8/12
 Eigenvalues of a square matrix
Given a matrix An×n . The eigenvalues of A are the roots of the
characteristic equation (CE)
|λI − A| = 0
Example:
 
0 1 0
A= 0 0 1
−8 −14 −7
The CE is
 
λ −1 0
|λI − A| =  0 λ −1 
8 14 λ+7
= λ3 + 7λ2 + 14λ + 8
= (λ + 1)(λ + 2)(λ + 4) = 0
The eigenvalues of A:
λ1 = −1, λ2 = −2, λ3 = −4.
MR
c • Lecture 2 9/12
 Example, time domain solution

   
0 1 0
ẋ = x+ u
−8 −6 1
 
1
x(0) = , u(t) = 1 (unit step)
0
The eigenvalues of A are the roots of CE:
 
s −1
|sI − A| = = s2 + 6s + 8 = 0 (11)
8 s+6
Hence s1 = −2 and s2 = −4, and
(K1 e−2t + K2 e−4t ) (K3 e−2t + K4 e−4t )
 
Φ(t) = (12)
(K5 e−2t + K6 e−4t ) (K7 e−2t + K8 e−4t )

Φ(t) = eAt , thus Φ(0) = I and Φ̇(0) = A. Hence, we have

K1 + K2 = 1, K3 + K4 = 0, K5 + K6 = 0, K7 + K8 = 1,
−2K1 − 4K2 = 0, −2K3 − 4K4 = 1, −2K5 − 4K6 = −8, −2K7− 4K8=−6

MR
c • Lecture 2 10/12
 Solving the four pairs of equations, we obtain

(2e−2t − e−4t ) ( 21 e−2t − 12 e−4t )

 
Φ(t) =
(−4e−2t + 4e−4t ) (−1e−2t + 2e−4t )
 1 −2(t−τ ) 1 −4(t−τ ) 
e − e
Φ(t − τ )B = 2 −2(t−τ ) 2 −4(t−τ )
−e + 2e

Hence,
(2e−2t − e−4t )
 
Φ(t)x(0) =
(−4e−2t + 4e−4t )
Z t " Rt Rt #
( 21 e−2t 0 e2τ dτ − 21 e−4t 0 e4τ dτ )
Φ(t−τ )Bu(τ )dτ = Rt Rt
0 (−e−2t 0 e2τ dτ + 2e−4t 0 e4τ dτ )
 1 1 −2t 1 −4t 
− e + e
= 8 1 4−2t 1 8−4t
2 e − 2e

and we solved
" #
1 + 7 e−2t − 7 e−4t
Z t
x(t) = Φ(t)x(0) + Φ(t − τ )Bu(τ )dτ = 8 4 8
0 −7
2
e−2t + 27 e−4t

MR
c • Lecture 2 11/12
 Example, solution with Laplace transform

q Homework 1:  
s −1
(sI − A) =
8 s+6
Find the inverse (sI − A)−1 , then solve

L−1 [(sI − A)−1 ] = Φ(t)

MR
c • Lecture 2 12/12