Vibration and Control ( ME F319)

Control system

(Lecture 3)

Mechanical Engineering Dept.

 Control Theories
• Conventional Control theory
– linear time invariant single-input, single-output systems
– is a complex frequency-domain approach
•Modern control theory
– is applicable to multiple-input, multiple-output systems,
which may be linear, nonlinear, time invariant or time varying
– is essentially time-domain approach and frequency domain
approach
•Complex systems may have multiple inputs and multiple outputs
and may be time varying
•This new approach is based on the concept of state

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 State space approach: important terms

• State
• State Variables
• State Vector
• State Space
• State space Equation

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 State space Equation
• In state-space analysis : three types of variables that are
involved in the modeling of dynamic systems: input variables,
output variables, and state variables.
• The number of state variables to completely define the
dynamics of the system is equal to the number of integrators
involved in the system
• Let, a multiple-input, multiple-output system involves n
integrators. Assume also that there are r inputs u1(t), u2(t), …,
ur(t) and m outputs y1(t), y2(t),.., ym(t).
• Define n outputs of the integrators as state variables: x1(t), x2(t),
xn(t) Then the system may be described by

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 State space Equation

• The outputs y (t), y (t), …. , y (t) of the system may be given by

1 2 m

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 State space Equation

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 Block Diagram for state space approach

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 State space approach: Example

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 State space Eqn. Vs Transfer function

Transfer Function State Space Equation

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 Multi input multi output (MIMO)

Next, consider a multiple-input, multiple-output system. Assume that

there are r inputs u1(t), u2(t), …, ur(t) and m outputs y (t), y (t), …. , y (t).
1 2 m

The transfer matrix G(s) relates

the output Y(s) to the input U(s)

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 State space Equation: Scalar differential
equation
• Linear Differential Equations in which the Forcing Function Does
Not Involve Derivative Terms

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 State space Equation: Scalar differential
equation
• Linear Differential Equations in which the Forcing Function Does
Not Involve Derivative Terms

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 State space Equation: Scalar differential
equation
• Linear Differential Equations in which the Forcing Function Does
Involve Derivative Terms

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 State space Equation: Scalar differential
equation
• Linear Differential Equations in which the Forcing Function Does
Involve Derivative Terms

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 State space Equation: Scalar differential
equation
• Linear Differential Equations in which the Forcing Function Does
Involve Derivative Terms

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 Transform from Transfer Function to
State Space representation

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