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MIT16 30F10 Lec06
MIT16 30F10 Lec06
State-Space Systems
• What are state-space models?
• Why should we use them?
• How are they related to the transfer functions
used in classical control design and how do we
develop a state-space model?
• What are the basic properties of a state-space model, and
how do we analyze these?
Fall 2010 16.30/31 6–2
⎡ ... ⎤ ⎡
y
⎤⎡ ⎤ ⎡ ⎤
−a1 −a2 −a3 ÿ 1
ẋ = ⎣ ÿ ⎦ = ⎣ 1 0 0 ⎦ ⎣ ẏ ⎦ + ⎣ 0 ⎦ u
ẏ 0 1 0 y 0
⎡ ⎤
� � ÿ
y = 0 0 1 ⎣ ẏ ⎦ + [0]u
y
• This is typically called the controller form for reasons that will become
obvious later on.
• There are four classic (called canonical) forms – observer, con
troller, controllability, and observability. They are all useful in
their own way.
• Consider case 2
y b1 s2 + b 2 s + b 3 N (s)
= G(s) = 3 =
u s + a1s2 + a2s + a3 D(s)
• Let
y y v
= ·
u v u
where y/v = N (s) and v/u = 1/D(s)
β1s2 + β2s + β3
= 3 +D
s + a1 s 2 + a 2 s + a 3
= G1(s) + D
where
D( s3 +a1s2 +a2s +a3 )
Modal Form
SS to TF
1 see here
A =
⎣
1 0 0
,
B =
0
,
C
=
b1 b2 b3
⎦ ⎣
⎦
0 1 0 0
then
⎡ ⎤
s + a1 a2 a3 −1
1
⎢ −1 s 0 0 ⎥
⎢ ⎥
G(s) = · det ⎢
det(sI − A) ⎣
0 −1 s 0 ⎦
⎥
b1 b2 b3 0
b3 + b 2 s + b 1 s2
=
det(sI − A)
and det(sI − A) = s3 + a1s2 + a2s + a3
• Which is obviously the same as before.
State-Space Transformations
• Now introduce the new state vector z related to the first state x
through the transformation x = T z
• T is an invertible (similarity) transform matrix
• Are these going to give the same transfer function? They must if
these really are equivalent models.
September 21, 2010
Fall 2010 16.30/31 6–11
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