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3.4.2 Design Procedures for Lag Compensation by the Root-Locus Method: ..................... 70
3
Chapter One
“Design of the Control System in State
Space”
𝑥̇ 0 1 𝑥1 1 0 𝑢1
[ 1] = [ ] [𝑥 ] + [ ][ ]
𝑥̇ 2 −2 −3 2 0 1 𝑢2
Is the system completely controllable?
Solution:
Since the order of the given system is n=2
𝑆 = [𝐵 𝐴𝐵]
0 1 1 0 0 1
𝐴𝐵 = [ ][ ]=[ ]
−2 −3 0 1 −2 −3
1 0 0 1
∴𝑆=[ ]
0 1 −2 −3
Because 𝑆 is not square matrix we have to find the determinate of 𝑆𝑆 𝑇
1 0
1 0 0 1 0 1 2 −3
𝑆𝑆 𝑇 = [ ][ ]=[ ]
0 1 −2 −3 0 −2 −3 14
1 −3
2 −3
𝑑𝑒𝑡[𝑆𝑆 𝑇 ] = 𝑑𝑒𝑡 [ ] = 19
−3 14
Since the det[𝑆𝑆 𝑇 ] ≠ 0, so that the given system is completely controllable.
5
𝒚 = 𝒄𝒙
where 𝐴 𝑖𝑠 𝑛 × 𝑛 𝑚𝑎𝑡𝑟𝑖𝑥 , 𝑏 𝑖𝑠 𝑛 × 1 𝑐𝑜𝑙𝑢𝑚𝑛 𝑣𝑒𝑐𝑡𝑜𝑟 𝑎𝑛𝑑 𝑐 𝑖𝑠 1 × 𝑛 𝑟𝑜𝑤 𝑣𝑒𝑐𝑡𝑜𝑟 .
to test the Observability, from the matrix 𝑄 that give as:
𝑐
𝑐𝐴
𝑄 = 𝑐𝐴2
:
[𝑐𝐴𝑛−1 ]
If the rank of 𝑄 is n then the system is completely observable. In other words, if det[𝑄] ≠ 0
then the given system is completely observable.
Example 1.4: Consider the system:
𝑥̇ 1 1 𝑥1 0
[ 1] = [ ][ ] + [ ]𝑢
𝑥̇ 2 2 −1 𝑥2 1
𝑥1
𝑦 = [1 0 ] [ 𝑥 ]
2
𝑥̇ 0 1 𝑥1 1 0 𝑢1
[ 1] = [ ] [𝑥 ] + [ ][ ]
𝑥̇ 2 −2 −3 2 0 1 𝑢2
𝑦1 1 0 𝑥1
[𝑦 ] = [ ][ ]
2 0 1 𝑥2
Is the system completely controllable?
Solution:
6
Since the order of the given system is n=2
1 0
𝑐
𝑄=[ ]=[ 0 1]
𝑐𝐴 0 1
−2 −3
Because 𝑆 is not square matrix we have to find the determinate of 𝑄 𝑇 𝑄
1 0
1 0 0 −2 0 1 ] = [5 6
𝑄𝑇 𝑄 = [ ][ ]
0 1 1 −3 0 1 6 11
−2 −3
5 6
𝑑𝑒𝑡[𝑄 𝑇 𝑄] = 𝑑𝑒𝑡 [ ] = 19
6 11
Since the det[𝑄 𝑇 𝑄] ≠ 0, so that the given system is completely observable.
Home Work:
Test the Controllability and the Observability of the following systems:
0 1 0 1
1) 𝐴 = [0 0 1 ] ; 𝑏 = [3] ; 𝑐 = [1 −1 2]
0 −3 −2 1
2 0 0 0 1
1 0 0
2) 𝐴 = [0 2 0 ] ; 𝐵 = [ 1 0] ; 𝐶 = [ ]
0 1 0
0 3 1 0 1
3) 𝑦⃛ + 16𝑦̈ + 192𝑦̇ + 640𝑦 = 160𝑢̇ + 640𝑢.
r(t) + y(t)
𝑢∗ (𝑡)