Dynamic System Analysis

State Variables
Matrix Formulation
 Matrix Formulation of State-Variable Eq.

• One of the benefits of state-variable models is that they are suitable for matrix
notations.

• Standard procedures exist for solving a set of matrix equations involving inputs
and outputs that are a function of time.

• There are many benefits to the solution process to put the modeling equations
into matrix form.
 Matrix Formulation
• We can express all the n state variable in • The m inputs are expressed as the output
vector form (1 column n rows): vector:
𝑢1
𝑞1 𝑢2
𝒖= ⋮
𝑞2
𝒒= ⋮ 𝑢𝑚
𝑞𝑛

• q is called the state vector with initial value • The l outputs are expressed as the output
and derivatives as:
vector
𝑞1 (0) 𝑞ሶ 1 𝑦1
𝑞ሶ 2 𝑦2
𝑞 (0) 𝒚= ⋮
𝒒(𝟎) = 2 𝒒ሶ =
⋮
⋮
𝑞ሶ 𝑛 𝑦𝑙
𝑞𝑛 (0)
 Matrix Formulation
• The matrix form of the equations
• State-equations with constant coefficients:
𝒒ሶ = 𝐴𝑛×𝑛 𝒒 + 𝐵𝑛×𝑚 𝒖
𝑞ሶ 1 = 𝑎11 𝑞1 + ⋯ + 𝑎13 𝑞3 + 𝑏11 𝑢1 + ⋯ + 𝑏1𝑚 𝑢𝑚
𝑞ሶ 2 = 𝑎21 𝑞1 + ⋯ + 𝑎23 𝑞3 + 𝑏21 𝑢1 + ⋯ + 𝑏2𝑚 𝑢𝑚 𝑎11 𝑎12 ⋯ 𝑎1𝑛 𝑏11 𝑏12 ⋯ 𝑏1𝑚
⋮ 𝑎21 𝑎22 ⋯ 𝑎2𝑛 𝑏 𝑏 ⋯ 𝑏2𝑚
𝐴= ⋮ 𝐵 = 21 22
𝑞ሶ 𝑛 = 𝑎𝑛1 𝑞1 + ⋯ + 𝑎𝑛𝑛 𝑞𝑛 + 𝑏31 𝑢1 + ⋯ + 𝑏𝑛𝑚 𝑢𝑚 ⋮
𝑎𝑛1 𝑎𝑛2 ⋯ 𝑎𝑛𝑛 𝑏𝑛1 𝑏𝑛2 ⋯ 𝑏𝑛𝑚

• The output equations • The matrix form of the output equations

𝒚 = 𝐶 𝑙×𝑛 𝒒 + 𝐷𝑙×𝑚 𝒖
𝑦1 = 𝑐11 𝑞1 + ⋯ + 𝑐1𝑛 𝑞𝑛 + 𝑑11 𝑢1 + ⋯ + 𝑑1𝑚 𝑢𝑚
⋮ 𝑐11 𝑐12 ⋯ 𝑐1𝑛 𝑑11 𝑑12 ⋯ 𝑑1𝑚
𝑦𝑙 = 𝑐𝑙1 𝑞1 + ⋯ + 𝑐𝑙𝑛 𝑞𝑛 + 𝑑𝑙1 𝑢1 + ⋯ + 𝑑𝑙𝑚 𝑢𝑚 𝑐21 𝑐22 ⋯ 𝑐2𝑛 𝑑 𝑑 ⋯ 𝑑2𝑚
𝐶= ⋮ 𝐷 = 21 22
⋮
𝑐𝑙1 𝑐𝑙2 ⋯ 𝑐𝑙𝑛 𝑑𝑙1 𝑑𝑙2 ⋯ 𝑑𝑙𝑚
Example 3.14

• Find the state-variable model for this system in matrix form.

• The input is the force 𝑓𝑎(𝑡) and the output is the force in the spring
𝐾1 .

EX 3.14
Video solution
attached
 Example 3.14
𝑥1
• The state variable equations and the output 𝑥2
𝑓𝑎 (𝑡) 𝐵1 𝑥ሶ 1
𝑥ሶ 1 = 𝑣1 𝑀 𝐾1 𝑥1 − 𝑥2
𝐵1 𝐾1 1 𝑀𝑥ሷ 1
𝑣ሶ 1 = − 𝑣1 − 𝑥1 − 𝑥2 + 𝑓𝑎 𝑡
𝑀 𝑀 𝑀 𝑥2
𝐾1 𝐾2
𝑥ሶ 2 = − 𝑥 − 𝑥1 − 𝑥2
𝐵2 2 𝐵2
𝑓𝐾1 = 𝐾1 𝑥1 − 𝑥2 𝐾2 𝑥2 𝐵2 𝑥ሶ 2
𝐴
𝐾1 𝑥2 − 𝑥1
• In matrix form
𝑥1
0 1 0 0
𝒒 = 𝑣1
𝑥2 𝒒ሶ = −𝐾1 /𝑀 −𝐵1 /𝑀 𝐾1 /𝑀 𝒒 + 1/𝑀 𝒖
𝐾1 /𝐵2 0 − 𝐾1 + 𝐾2 /𝐵2 0
𝒖 = 𝑓𝑎 (𝑡)
𝒚 = 𝑓𝐾1 𝒚 = 𝐾1 0 −𝐾1 𝒒 + 0 𝒖