EK | Onit- & | Qtare Space ANALYS6 OF ConTINvOUS Systems { Basteaty » » tere ane & si cesids ‘tothe analysts pela of conve Sistem’. bmhe Transfer sonaion state warlawle Approach. approach seo wavlable APIO ath Transfer fonctioi hn 2 wt fe aplasia 40° tmeay Eo Th tile mittol tonditions. acre. weguected- domain sons. OAL Ib ts based on Tal 4 ‘Ertor procedure 8 ri tie alr & Error | uy wbeewable~% Internal varfables cannot State varfables can be e. 8 Tat any time imston [Be fea back fed back. g. State moclel of o sy i Tnansfer fonction of a She, ‘sdstem is untque te not ontque Concepts of State, state variable and State Model + State +The stare of adynamfe «ystem fs a, minima, Set of varfables such that the knowledge of nese Narlables abv t=%o togetneT wlth the Knowledge of Inputs. fon $2 to completely debermines the behaviour of Ane system for b% to State variable + ser of variables which desalbe the sqskem 4 are clea state variables . Wn tne lgeate variable formulation OF 4 systert sm a) impals,.“P ovtpuls, general ; a system consis W state variables. Me facie 2 no- of olp variables ™ Mo: of ‘Ip variates Tig taKO — yy Ck) n glate. variables, Figs State Space Representation of a System: :} 5 = Different voriables Maybe represented wey the verti Inpub veckese uted [ane 3109 | uated | 7 OBPUE vector Yee) =} dared tint) apt) | (Srake Vvortable Ak? weckor atx) = | ath) \ nut} tate Equations + State variable Repisentation tn’ be arranged in the form of nF orden altfereritial tqne Os shoust below. OF WW Mov oe 2 Al tya25 ~~ 09 F Urtian-- ny Bare ty = FiltiPlza~ Mp bene ro =~" om) ae Ain dy + fatan%e---tn > . “at. ve pe: varithen In vector ‘n’ No-oh dijperentia’ equations mod notations 2 Bip tty -- UA) 400 = £ (ates ute) =" The seb “Of all: postinle Valves aonlen the ile vector ule ton Woe’ aka time * forms he Ips pace of the Systern The seb of all polsible valves cyayicn ae elP vector Ye at atime * gorme te elp space of, te sysien ‘ fan nave -| these op ail possible values whateh the srake Vector att) can have at 4 Hme € forms the srade. space of system Srare model Of Linear syetem + consists ‘af state ean ta -| the state model of a eustern, % Olp equation - | The ‘state’ an Of a system i a gonert on. or shabe Variobies wa + fps. ~' Fon, linear fme Invariant systems, tne first derivativesVantapley “ean! be expressed. as Uneay | founes and, mmpul . lahieve coeffi aly bif ‘ane eesti Inthe’ matrix: , form, above eas & @ veriten os{ “aq -matits, form , above tang tam be usiliten as Yeoe exw + pu —S woey = ottate vector of ore om uta) + mpok veckot of order me! order PRI ‘ oydiey PRY . | where ‘qn-@ ts galled: OvTPOT ‘avarto of in the srave tan ole ‘Eqn Hogerne coed as State odd! vj one supreme ence OTe SEE moaet & tne vay syste given Pa oo gens Arce + BOW = eave eam ws WO) exw) + ou — ‘olp tan. Ssaie Diagram + : , he, piexotol representation: ‘ay “erate model oh the: grave viagra 4 | ayetem te cated Stare fagrarn. ; és either bloc dlagrare forth : flow graph germ — [ plagrrams deeribe ane vaationsnip among state i ae ton. phusical aot rpreta tion. 4 Time pion state diagram | digg: eqns. S-domain srate diagram cal Horm — svansher fonction ol Septem “| diate plagqvam — prowlde ylation ble Thre domain, ‘ ‘ | & dome. model ts constrcted by von, - 4 aidte Blagiam ef Stott adder JA Integrator |g. baste elements ~ seatars |S s Th le vsed to raoltiply a Aqned ‘py a constant Adder « Tt is weed to ddd “two or more stgmale. Inteqvato? + be ane steqnat. They ame used to Integrate the devatives of stake vaniables th ie used to Integral YO gey stake variables > the ralHal condthons o} the ehabe woerfasle ean, } be added “by ving an addet afver ‘tnteqvaton | etncaits ef. Block Diagram + * Element Time Domain ¢- Domain 4) Scalar at Dat ape . Orahe Adder sol seis © pT S| Oe = elt Dckicwel > xl nett ¥ als) bh se ed) “pst ntegrator | —>[ Ff SQ fata, & oe 7 me 40 4x9 r es| Blernen te of stamal Flow Graph; a rr nn ae oda euement | Tree Domain - ae je sealer | a | _—* ce) ANd) Adder ne, wR, TUL +9908) pao xats) ow 7 Fats), ue). LOD] s Integrator + lig f au) fat ¥le)+ x10), ss) Dy LD $ arate tam + U2 Ax + BLU output wan + ye) = exte) +.D0t) Block Diagrayn of Stabe model ¢ model * Signal flow graph of abate 8 a pS yw | Opens. p xf gnown Tn. viain ane svate trode’ % elecbriaal “netvoorh dare verianles ti . ‘dom by noosing mintmem 7? of #| Yoor Lek % state veviables “ist, | ane related. to physical quantities. | onus f= towent tmvough Lt. | ta = fy = cumvent threo be i * 13 2 Ve = voltage across capacitor. th y eae Consider the node at Wode- a: 8 - f+ fy co We 2 atc Beso DP dy4a, + CA%B 20 av = mya, eg tO: BE i ' dg 2 E18 +O Hl S Yew consider + Ry on ete) phard{iaer ° . = fe, = au Veo ete) —TR) af kee et) 2 Ul) . Ey uLey eS erp 5 ALE) ae RI PCS ei. => =m = Se, ae i at pA ‘ ty 2 — UBD my Ri 4 8 * th yt oO i bow .. consider ated, + he ol be Ve = SE a R tg Sahat Take. + Hye 7 THRe ~ur@ i: = a Ril, “oO TF (fe hy n o Raho Veg) loee | +] 2 [wt . * “1 ca z “Ve oj [3 o Ly state “Equarton i AR = SPR) PH seme vottage aevess w Current Through Ra Ove ole variokte: WM Ga TEP - theelp eqns > 25! " qn T = Ry Rete? aie given = (5 [2 rg u ve 2 PL [oS “ete equal Obtain stake model for ane eleciricat nemworic Py e variables Y by, ag stab cnoesing Ue) i.e) pew, ww Ve) bg ely? ¥ Apply Ker at node~t ve ae Tf hee WD 2 BH > Vat: B- 2 Sev) ye } ute) 6 a Gu, aS HOA Lg a ak ae * “lel” 4 ces = wie =0 -a(E J: + a +0. Now consider . 2g ps , Apply keh T c dtthey Gets 2 0 a at | , UH ¥en Tee. zgmatin form | i | Solst m Litee Wee }f*") (© ite | “ ty Hee tes Hee Are > State Equats, “ = vitk) = 2 ty rCk) i . 13] (2) + Output wgitric dorm Mie - Dae ota state model ef mechariical sae construct the in Zhown below, Eqns for ™ 2 Te FO= fet ha t fon > f= ma 4 a * Bid her 4s) yt 2 im- a5 a “ee eh ath oe tt —Kg2 > O tee Kans fot Ma + O = tisk Hoa t fae ttn + Hing O- ‘atay onlay + Bilas) + a ge) -@ a + Mod Ut es Lek PU) Su, are Bip to U2 5 Mae ut ‘ ae ad % rt net r m= SYe 5 te= Uy tu eye dt dt O + ue M5 + Bixa Bret WX Hider. * Us mypty + Bylocg-me) + Brrr %2),Bp tat By) Caa-2De HiCKe=2D.+ Hota=0 ia, = = tt Ser * 2G; - | @3> %- ce 2) oy @ + dy an[Paxut siGcued + hitreah +h2e9] M2 2 ise Blea 4 Boss - Bu tat Bi sey #2 ti. * [we ure, 8 UBirBs wg Eee = Bt og, 4 CBr Se! fy Ma? Mat ag OH > tus Hay - Grits) e _ Wert BD, Ma ag 2 Bevo - “Se we have Hoy Dobe As aps ° oY my ° % o 0 © = o % “Hy, Kia, “Bi + fo el { ™i mi Ry Py CHR) py “89 6 Mo Jy ets Yo = 0 Wp, Tre o72} ba as > * aL é “| [io + 0 0 a! 2 Taal. : sind Be pererm{ne tne. “State pode ob Armatre contolMae taka radia xey +O. / toa a8 > owe Mog 4\ =| te previ \ 9 | 1 10 0 % ye l[>] 21 0 ein Ys ool a3 Syare Space Representation using Phase variables: are d¢jimed as those. particalay Phase variables e obtained: trom one o§ the sgsrem variables whieh am vartanies and ths Aevivalives. ie used & beszem eubpab. The state fRante can be easily Ackermined |b ferenHat Usuattey , the wera! mode using Pnase vou \s alveady Known tn the Olt whe System model Raquation tor) Transje? function fo7™ - Advantages 1 Bt can be divectly formed by Tspection tom | a\yperenttal Equations governing the sustem- ace a dink between Transtet function approach, and Wie domain design approach Disqdvantaajes + axe not physical variables of the system Phase variables dor measpremen’ and and therefore -not available tonbro\ purpose. construch @ Stake model fora syctem characterised by Differential eqn & ody yaa +U=0.. Sa, + Se FING teu The system ordey 73%. ia +. The noo stare vatiables. are 3. her y= Uy & 24 xo. aU + 3 y Me = Sy Meet = ey OY et, at ae: Be a 8 j } 2 & eqn sen dig big + Wig AE > . cng Ub ail hg Bee SEO OL TYOg ye mete tans eer Wo. te I, (| MB pusteae tt Sr] stay [Strag*ensti), > AEE see yas See y ad a, mele at 3 tht Hoist ary +2| tp eqn * Me) | a — g- hood \ : i a, | . tcl controlled 2 -lObiain the Skate variable yovmulation eh & Fi a | pe motos - $o%, consider equations soe | tor field contvolled Pe | td’ de ae | OG = 7 | Moo ab ra Tf \TS Hert 5 ide da . gi t SSP = here + O- { | | ug all se > ®- | Et Ree oe . kek ifs to tar SB 200s jaa, Cte 0» Bea +O Qo = Toy + BoCg = BEM Ti, + 8% —KE = © % = Kee — Bog J v ® + ® + Lid) + oRpo |e UV 4 - tg = Xz +) Matyioc form ° ‘ | ‘)opapeg Oe hgh [: afi was S88 °° ca : ° - \ 4 6A Ootatn state model tot fre system ‘hose banster, { ‘ 5b | doneton Is given as ®) * os ue MOL SO eo ae “ee VG)” S4as43. : ‘ 4 Divide numerator & Denominator se ae. — ———— TD = pivide => Ts) = + 3st 3 she os 4oS4l num waen vy Ss” g+3 3° o 1 9 = |e ool 1 3 7%‘s 4TATE SPACE REPRESENTATION USING CANONICAL 4 | VARIABLES 4 Deberning tne cenoriical bate model of the system who, avainefer function ‘id TU) ~ PAGED ae axersise | 1 ty _ 21st 9) f+ Be +e » ~ opr HS 644 (saa) se) Esta) Isis) = Alsisre+ Blstaplstu)+ etste Lst3) ley Sa-d- gs ohb Se-B SF het Seo S = AWM = ab) = BEN al) =U(-att | Keg Be+y Ce=l,. > WS): -Hoy a os ORE WwW -3— - te + t 2 u ve) = ('*Z) 8 [3] s(4 2) - t Ib ote He ut) + 2 & Te vr bee mee Teas Lex ts { be oD gy “* | i \ Ae by canonteat eet Y YS atures, Un 2-Bte FU ag 24a FU ai -—2 9 0 ay : & | \o -3 © |Jar | tla fu a3 o 6 -Uj las 1 ys fe -u 19 |2! ca 3 OF Homogentoos STATE EabaTIONS (sodLUTION ZOLWTION DE STATE EQUATION WwithooT aNPUT Avip’ exer ATIQND + xe) = [D+ Aer pated ABP EH-- |KO xt) =! exo the mavrin e%* i called State Transition miata ana a@enored by OO From the Sovtion Oh the stake equation, ft is Ooserved {nivel state So at bo % anven bey RUD thar ine ‘ $e transiviow madre. at Yne + YY dra CoMPETATION OF STATE TRANSITION MATRIX ¢ State Trandlion Modus ear) be computed ey wsinag, Following methods . \ tnginnize (ceales. mnetnod _ % pq boplace fransformeattion. { pamelor Theorem Transformation A a By sipvesters | method ° A using yea4 Zompetation: OF - STATE, TRANSITION MATRIX gy” | dnikiiTs series meTheP me ast Bt 7 frvwonetoe 2.gu) = om (Heat bea fares abn oh gl -2 ‘S43 at . Sse 6. - aS V & “orl BYRe espe ast) A arts) Apsads H= Be) By ah.| ee ghey » glsd= Stl SE Bet SFe | 2 = ZB. a Bex. Eri gra S41 | | r'(¢id)= a = 9gh ek a* ait | -geteaet® -a'+20"* ie Transtormation of “sim by canonical 3. |Computation te Becerbed by FOllowl!ng A Dinear Hime Invariant system atate model . dy o | Olfe rR a joo f+ ||P and | is) Len j -g20 0 oO] a | % Sd le -Frangorm anis state'model “nto danonfeal statemode?. a | Also cormpuke <1™ Step + Finding gen values, | Jad-a\l =O = i ° | AI-As 9% weet Lath oo} 8. ee ~ tad-al e 0 wees . os Jeon 6 "a © A el 20. f . bon on | oRnA-& +0- ALPsoaur] + ibe) =e repent hare ed ) Mek = 8 |' a SH1 eB B - Bhepen s pad mi mm \ . Roding Modal movie mp + Ay Baca rovgq A OB. ad Moe tk 3 Pye—ly Ber FPe AaesB, 1 4 @ Step=3 + os Finding oy got. [> 5 ~B —4 at LA, OS eps Finding canonical form of skate model. her Grammaian sfectviy 2. Many = A ef? 38) O5yr0 4 O7ft 11 A. kh tf }e 6 ft -| -2 +3 \ bS os} |e ~r-bJ]1 4 . ci ° ° 4 a 8 A 2 a 8 > f sid { | Gnarical form of state model. > E os ' # g _ fr! oo zx Be Azer Per Yeas |) : o oo 3= 2 Are be a wi @ OTe , 4, | 2] ov-20 ¥ |-2/o 2% o 0 ~3) | 1 xy ye. fo als 23\ - ‘Stepss + rs At PS: finding e: a gro 0 = Abe mde) where & = RE oo ° pot 6 ° k Pad 8. ev [é 8 ' . o. et o eat . oo & |. ses ! 1 1ntge 6 © 3s as 08 -! -2-3]\o gt of ia -4 7 vy asle o Sf ve os . ge pet op \ = |e" € TCS ws Os geet |\-s “4 -t : aet] [i se OF : me 2b ° a os . 2 fe, |PE 88 Lest gcdtnghice* ose bgt ooe™ aateoe hat, athe se nod nd tense 8 ee “i eed. Bitne tae acd} yeh west pega yet dt 4) * near Time Tnvaviant system & chavacterised by homogencous State equcction.. mu Th OL PET compute i ‘ : ae) pet a * | the Sclurion 4 homogeneous eqn anvming initial vecti= oh, Gtie i(er-aT" mG OUTS 2) tears tT 1 td . . gape Ofsi-ay [e® 0 yet «| The solution O& the state equation f x = gratsatl) a 4 (2] Zo (astray ios +45) etc = 1964.54 alert) opratn ot if (el (: ‘ | (aI * (Je get] (tj +t) = efer-aT' wa (2 8 ah wl a SP. es ow zy e 6 atsr-ale- [i “ojt— on ) 19 . . senna S$ 1 - a , : isals¢2) 4 [32 in ao ow. eee YS) : teenie systems. *, : comperely state ‘onrrouabe | mmecras of an enor hijstern forn " Contronability of tmear A” sysremis said te be! at Hime to» ip WS poesia by %4 contiol vector ut) 40 tansiey teinital etare ilted -e"q bine? desived state iy @ Antze inrervall OF Hime. For a inear rime invariant system describe by the dynamite equations. ~ awe ART Bvt) VO cxen, Y state vector fw al) fe a Mhene xt) is a nx! ate controileble- ue sanlar to %@ completely 4 nevessarg mM subficleat thet tye | Follows DRM commoliability modviz 6=[e 8 A®--- A”) since the matvix ~« and B ave {mvowed » Sometimes we ay tat the- “pain Ast rontroyjabié “inieh ymptles thar 6 fb of sank %. Rraluate fsa contronability of Syatem x Aefit ft we ib n-dimensional state fe nyo8 o[g] where vecton Sol a+[' ®@! gs ih 5 o-t & 9-8: 2x2 oe ‘ controllability Matix & = te AB). ce fedple fl 2 AK+B0 5 bh= 0 5 Rab =I \4) fo W Ranh tn S the’qiven vtyctem & Not ¢ontioljable- al Re Arron)” res “Ths Vee . rE]! hteQeEe|>—te gntvellable YWatrice ¢- (9 AB) T= G) mal aba -lo9 rank =.2 AB > a system 6 contronable- | po 1° 5 | | Bete eo}. Kesh lt - ¥ AB = 6 1 O70 10 ‘3 o etl|le eo) [es 0-3 B}lo ~2-3 Lt © ° Ss {? 3 o | @ Oo 8 Eo gee oO l -3 0 7 0 ds Is} = ° ot t f 1 0 3] = io) =0 -3.04|2)- o 1 o oot 2 1 40° 1 o +3 Rant = a am. ordet > me system fe controle. “f \elFO 0 Ranken, Observability : abe tf o be completely apsery A system is said 4 every state xtte) can be completely fdentitied PY ts ye over a folte time intewal, measorements of outp' Tf ne system ts nor comp! Few ob tts store voriables Oe on Observation + ane opservar' jetely opservawre mecins toar not, prdeHcallg Meas rable w axe shielded fro: . jiity: op tne system ¥ conitolabhlita 5 — dimilat ined by Katmnaws’ Test - can be obtal for Opservability + ; walt-olf) sTT system, Kaliman's Tet nth ofder MIMO Crmeal IP consider represented by lke State eouicdion @s ke axipr Bul yay. exe where 6% Undine ¢ Wed f Fx) arian Bidarwalne “een 35 tne The cystern js jornpietelq rank of composite morrinc Go “The composite maodn ie ap. given 6g Q = fet; wet. - Lane] where a Als Fianspoee Of motte ye Thus 1 Rank of 2 =") then the cqstemn ts completely Observable. The mone RO is calied Teste motrice for obe eavabllity . VL Ieyideo re? ae] i 2 eTrans post of ye Ae [ ‘| he (} *] vert a, [ 3] eets CONTTOVOLTH TG, 5 aogele sei is 4 2 Alol < [age | Sed x a Lest. Observablt \ dor a Q ids °. a 7esdey., ‘3 Ks -l © Ram Re Aly ° (i fo it ae. 1st oy as Derarmine State by As at stem arene? 3 ‘+ “10! Lo ot z The system & comple read G2 fe! i a ee fai] me db fee. ne B a t dy - YP, ooh ie li ofe| 2 eels tEo [ss fe “oh 4 . +e MS ° ‘ o a 7 ate [9 fo%oo) a 4 xs Le * Ac | a1 I. [2 : ie ‘Vec§ ‘] oti i 7 Ranke o 09 [x= larch = okie ge th ‘vomelt . 80 = [el atet a ‘tl ers [P°! owes A a sau. [ ites aang 4 rh | : 3st 2 Qo Arete Pes stake Jf era ‘ ee a) gees “4h nae 12] i o4 Apt, envoble faa od Tuo ais u bs cnbaretaicestyo?) |. = 0, | Ranbt eel tal Gly obsewable-