Adama Science and Technology

University

Mathematical Representation of
Systems

ASTU
Department of EPCE
 4.1 State Space Rep.

(Question) Is it possible to express the model

represented by transfer functions in the state space form?
(Answer)
 In the case of transfer functions, it is possible through
rewriting them as differential equations and
transforming them into state space.
 4.1 State Space Rep.
For example, consider a system represented by TF
u 𝑠+3 y
𝑠(𝑠 + 5)(𝑠 + 10)
From the block diagram
( s  15s  50s )Y ( s)  ( s  3)U ( s)
3 2

Taking the inverse Laplace transform yields

y  15 y  50 y  u  3u
where y (t0 )  y (t0 )  y (t0 )  u (t0 )  u (t0 )  0
 4.2 State Space Rep. : Method 1
Method 1 (observable structure)
3rd-order ODE
y  a1 y  a2 y  a3 y  b0u  b1u  b2u  b3u 

ICs y (t0 ), y (t0 ), y (t0 ), u (t0 ), u (t0 ), u (t0 )

Defining the derivative operator as p= d/dt yields

dy/dt= py, d2y/dt2= p2y, d3y/dt3= p3y

 4.2 State Space Rep. : Method 1
y  a1 y  a2 y  a3 y  b0u  b1u  b2u  b3u 

Writing the expression  in terms of p

( p3  a1 p 2  a2 p  a3 ) y
 (b0 p 3  b1 p 2  b2 p  b3 )u
p ( y  b0u )  p (a1 y  b1u )
3 2

 p(a2 y  b2u )  (a3 y  b3u )  0 

 4.2 State Space Rep. : Method 1
p 3 ( y  b0 u )  p 2 (a1 y  b1u )
 p (a2 y  b2 u )  (a3 y  b3u )  0 

Defining the state variable as

x1  y  b0u 
x2  p ( y  b0u )  (a1 y  b1u )
 px1  (a1 y  b1u ) 
x3  p 2 ( y  b0u )  p (a1 y  b1u )  (a2 y  b2u )
 px2  (a2 y  b2u ) 
 4.2 State Space Rep. : Method 1
p 3 ( y  b0u )  p 2 (a1 y  b1u )
 p(a2 y  b2u )  (a3 y  b3u )  0 

x3  p 2 ( y  b0u )  p (a1 y  b1u )  (a2 y  b2u ) 

From  and 
p[ p ( y  b0u )  p (a1 y  b1u )  (a2 y  b2u )]
2

 (a3 y  b3u )  0
px3  (a3 y  b3u )  0

 4.2 State Space Rep. : Method 1
x1  y  b0u 
x2  px1  (a1 y  b1u ) 
x3  px2  (a2 y  b2u ) 
px3  (a3 y  b3u )  0 
Substituting equation  into  and rewriting gives
px1  x2  a1 y  b1u
 x2  a1 ( x1  b0u )  b1u
x1  a1 x1  x2  (b1  a1b0 )u
 4.2 State Space Rep. : Method 1
x1  y  b0u 
x2  px1  (a1 y  b1u ) 
x3  px2  (a2 y  b2u ) 
px3  (a3 y  b3u )  0 
Substituting equation  into  and rewriting gives
px2  x3  a2 y  b2u
 x3  a2 ( x1  b0u )  b2u
x2  a2 x1  x3  (b2  a2b0 )u
 4.2 State Space Rep. : Method 1
x1  y  b0u 
x2  px1  (a1 y  b1u ) 
x3  px2  (a2 y  b2u ) 
px3  (a3 y  b3u )  0 
Substituting equation  into  and rewriting gives
px3  a3 y  b3u
 a3 ( x1  b0u )  b3u
x3  a3 x1  (b3  a3b0 )u
 4.2 State Space Rep. : Method 1
State equation
x1  a1 x1  x2  (b1  a1b0 )u
x2  a2 x1  x3  (b2  a2b0 )u
x3  a3 x1  (b3  a3b0 )u
or
x  Ax  Bu
 a1 1 0  b1  a1b0 
where A    a2  
0 1  , B  b2  a2b0  

 a3 0 0   b3  a3b0 
 4.2 State Space Rep. : Method 1
From 

y  x1  b0u
Output equation

y  Cx  Du


where C  1 0 0 , D  b0
 4.2 State Space Rep. : Method 1
Calculation of Initial Conditions (ICs)
From the initial values y (t0 ), y (t0 ), y (t0 ), u (t0 ), u (t0 ), u (t0 )
and the state variables
x1  y  b0u
x2  px1  (a1 y  b1u )
x3  px2  (a2 y  b2u )
we have
x2  px1  a1 y  b1u  p ( y  b0u )  a1 y  b1u
 y  b0u  a1 y  b1u
x3  px2  a2 y  b2u  p ( y  b0u  a1 y  b1u )  a2 y  b2u
 y  b0u  a1 y  b1u  a2 y  b2u
 4.2 State Space Rep. : Method 1
Substituting t= t0 gives

x1 (t0 )  y (t0 )  b0u (t0 )

x2 (t0 )  y (t0 )  b0u (t0 )  a1 y (t0 )  b1u (t0 )
x3 (t0 )  y (t0 )  b0u (t0 )  a1 y (t0 )
 b1u (t0 )  a2 y (t0 )  b2u (t0 )
Initial conditions are calculated by the above
equations.
 4.2 State Space Rep. : Method 1
nth-order ODE
(n) ( n 1) ( n) ( n 1)
y  a1 y   an 1 y  an y  b0 u  b1 u   bn 1u  bn u
( n 1) ( n 1)
ICs y (t0 ), , y (t0 ), y (t0 ), u (t0 ), , u (t0 ), u (t0 )
where
 a1 1 0 0  b1  a1b0 
 a 0 1 0   b a b 
x  Ax  Bu  2  2 2 0 
A , B   
y  Cx  Du    
 an 1 0 0 1 bn 1  an 1b0 
 a 0   b a b 
 n 0 0  n n 0 

C  1 0 0 0 , D  b0
 4.2 State Space Rep. : Method 1
Example 1, consider an ODE

2 y  2 y  4 y  u  2u
with y(0)= 0, y(0)= 0.1, u(0)= u(0)= 0

1,
a1= 1, a 2= 2, b 0= 0, b 1= 2 b2= 1

y  a1 y  a2 y  b0u  b1u  b2u

 4.2 State Space Rep. : Method 1
Dynamic equation
x  Ax  Bu
2 y  2 y  4 y  u  2u
y  Cx  Du
a1= 1, a2= 2,
where 1,
 a1 1   1 1  b0= 0 b1= b2= 1
,
2
A   

 2 a 0   2 0 
 b1  a1b0  1/ 2 
B   
b2  a2b0   1 
C  1 0 , D  b0  0
 4.2 State Space Rep. : Method 1
From ICs y(0)= 0, y(0)= 0.1, u(0)= u(0)= 0
and previous equations
x1 (t0 )  y (t0 )  b0u (t0 )
x2 (t0 )  y (t0 )  b0u (t0 )  a1 y (t0 )  b1u (t0 )
we have x1 (0)  y (0)  b0u (0)  0.1
x2 (0)  y (0)  b0u (0)  a1 y (0)  b1u (0)  0.1

 1 1  1/ 2  0.1
x  x  u, x (t0 )   
 2 0   1  0.1
y  1 0 x
 4.2 State Space Rep. : Method 1
Example 2: Write the differential equation as a dynamic
equation.
y  3 y  4 y  u  u  2u
with y(0)= 0, y(0)= y(0)= 0.2, u(0)= u(0)= u(0)= 0

Solution: From the given equation

a1= 3, a2= 0, a3= 4, b0= 1, b1= -1, b2= 0, b3= 2

y  a1 y  a2 y  a3 y  b0u  b1u  b2u  b3u

 4.2 State Space Rep. : Method 1
Dynamic equation
x  Ax  Bu
y  3 y  4 y  u  u  2u
y  Cx  Du
where  a1 1 0   3 1 0 
A   a2 0 1    0 0 1 
 a3 0 0   4 0 0 
 b1  a1b0   1  3  1  4 
B  b2  a2b0    0  0  1    0 
 b3  a3b0   2  4  1   2 
C  1 0 0 , D  b0  1
 4.2 State Space Rep. : Method 1
ICs are
x1 (0)  y (0)  b0u (0)  0.2
x2 (0)  y (0)  b0u (0)  a1 y (0)  b1u (0)
 0.2  3  0.2  0.8
x3 (0)  y (0)  b0u (0)  a1 y (0)
 b1u (0)  a2 y (0)  b2u (0)
 3  0.2  0  0.2  0.6
y(0)= 0, y(0)= y(0)= 0.2, u(0)= u(0)= u(0)= 0
 4.2 State Space Rep. : Method 1
Example 3: Write a dynamic equation of the system
represented by the block diagram. All initial values
are 0.
u 𝑠+3 y
𝑠(𝑠 + 5)(𝑠 + 10)
Solution: From the block diagram

( s 3  15s 2  50s )Y ( s )  ( s  3)U ( s )

s 3Y ( s )  15s 2Y ( s )  50sY ( s )  sU ( s )  3U ( s )
 4.2 State Space Rep. : Method 1
Taking inverse Laplace transform yields
y  15 y  50 y  u  3u
Thus, a1= 15, a2= 50, a3= 0, b0= b1= 0, b2= 1, b3= 3

y  a1 y  a2 y  a3 y  b0u  b1u  b2u  b3u

 15 1 0 0 0


x   50    
0 1  x  1  u, x (0)  0  
 0 0 0   3  0 
y  1 0 0 x
 4.2 State Space Rep. : Method 1
Example 4: Obtain the unit step response of the
system for 10 seconds.
2 y  2 y  4 y  u  2u
where y(0)= 0, y(0)= 0.1, u(0)= u(0)= 0

Program: From the previous results

 1 1  1/ 2  0.1
x  x  u, x (0)   
 2 0   1  0.1
y  1 0 x
 4.2 State Space Rep. : Method 1
Function program
function xdot= fun(t,x,u)
xdot= zeros(2,1);
xdot(1)= -x(1)+x(2)+0.5*u;
xdot(2)= -2*x(1)+u;

 1 1  1/ 2 
x  x   u
 2 0   1  x1   x1  x2  0.5u
x2  2 x1  u
 4.2 State Space Rep. : Method 1
Primary function
function ode01
t= 0; x= [0.1;0.1]; h= 0.02; loop= 500;
buf= [t x(1)]; u= 1;
for i= 1:loop
x= RK4(@fun,t,x,u,h);
t= t+h;
buf= [buf; t x(1)];
end
plot(buf(:,1),buf(:,2),'linewidth',2)
xlabel('t'); ylabel('y(t)');
axis([0 10 0 1])
4.2 State Space Rep. : Method 1
Unit step response
1

0.8

0.6
y(t)

0.4

0.2

0
0 2 4 6 8 10
t
 4.3 State Space Rep. : Method 2
Method 2 (Controllable structure)
3rd-order ODE
y  a1 y  a2 y  a3 y  b0u  b1u  b2u  b3u
with ICs y (t0 ), y (t0 ), y (t0 ), u (t0 ), u (t0 ), u (t0 )
Rewriting using the derivative operator p= d/dt gives

u
y  (b0 p  b1 p  b2 p  b3 )
3 2
( p3  a1 p 2  a2 p  a3 )
u
Letting q 
( p3  a1 p 2  a2 p  a3 )
 4.3 State Space Rep. : Method 2

( p3  a1 p 2  a2 p  a3 )q  u 
y  (b0 p  b1 p  b2 p  b3 )q
3 2

Defining state variables and differentiating both sides
once gives (p= d/dt)

x1  q x1  pq  x2
x2  pq x2  p 2 q  x3
x3  p 2 q x3  p 3 q  a3 q  a2 pq  a1 p 2 q  u
 a3 x1  a2 x2  a1 x3  u
 4.3 State Space Rep. : Method 2
( p3  a1 p 2  a2 p  a3 )q  u 
y  (b0 p 3  b1 p 2  b2 p  b3 )q 
From  and , the output equation is

y  (b0 p 3  b1 p 2  b2 p  b3 )q
 b0 (u  a1 p 2 q  a2 pq  a3 q )  b1 p 2 q  b2 pq  b3q
 (b3  a3b0 )q  (b2  a2b0 ) pq  (b1  a1b0 ) p q  b0u
2

 (b3  a3b0 ) x1  (b2  a2b0 ) x2  (b1  a1b0 ) x3  b0u

 4.3 State Space Rep. : Method 2
Dynamic equation x1  x2
x2  x3
x  Ax  Bu
x3  a3 x1  a2 x2  a1 x3  u
y  Cx  Du y  (b3  a3b0 ) x1  (b2  a2b0 ) x2 
where (b1  a1b0 ) x3  b0u

 0 1 0  0 
A   0 0 1  , B  0 
 a3 a2 a1  1 
C  b3  a3b0 b2  a2b0 b1  a1b0 , D  b0
 4.3 State Space Rep. : Method 2
Initial condition
From the dynamic equation
y  Cx  Du
y  Cx  Du  C ( Ax  Bu )  Du
 CAx  CBu  Du
y  CAx  CBu  Du
 CA( Ax  Bu )  CBu  Du
 CA x  CABu  CBu  Du
2
 4.3 State Space Rep. : Method 2
Substituting t= t0 yields
y (t0 )  Cx (t0 )  Du (t0 )
y (t0 )  CAx (t0 )  CBu (t0 )  Du (t0 )
y (t0 )  CA2 x (t0 )  CABu (t0 )  CBu (t0 )  Du (t0 )
Rewriting
1
 C   y (t0 )  Du (t0 ) 
   
 x (t0 )   CA   y (t 0 )  CB u (t 0 )  Du (t 0 ) 
CA2   y (t0 )  CABu (t0 )  CBu (t0 )  Du (t0 ) 
 
 4.3 State Space Rep. : Method 2
nth-order ODE
(n) ( n 1) ( n) ( n 1)
y  a1 y   an 1 y  an y  b0 u  b1 u   bn 1u  bn u
( n 1) ( n 1)
ICs y (t0 ), , y (t0 ), y (t0 ), u (t0 ), , u (t0 ), u (t0 )
x  Ax  Bu
y  Cx  Du
where  0 1 0 0  0 
 0 0 1 0  0 
  
A  , B    , D  b0
   
 0 0 0 1  0 
 a a a1  1 
 n n 1  an  2

C  bn  an b0 bn 1  an 1b0 b2  a2b0 b1  a1b0 

 4.3 State Space Rep. : Method 2
Quiz 1: Find a dynamic equation of the differential
equation.

y  3 y  2 y  2u  u
where y(0)= 0, y(0)= 0, u(0)= u(0)= 0

y  a1 y  a2 y  b0u  b1u  b2u

 4.3 State Space Rep. : Method 2
Example 4: Find a dynamic equation of the
differential equation.

y  3 y  2 y  2u  u
where y(0)= 0, y(0)= 1, u(0)= u(0)= 0
Solution: From the given equation
a1= 3, a2= 2, b0= 0, b1= 2, b2= 1

y  a1 y  a2 y  b0u  b1u  b2u

 4.3 State Space Rep. : Method 2
Dynamic equation
x  Ax  Bu a1= 3, a2= 2,
y  Cx  Du b0= 0, b1= 2, b2= 1
where
 0 1  0 1 0 
A    ,B   
 a2 a1   2 3 1 
C  b2  a2b0 b1  a1b0   1 2
D  b0  0
 4.3 State Space Rep. : Method 2
ICs are y(0)= 0, y(0)= 1, u(0)= u(0)= 0

0 1
CA  1 2     4 5
 2 3
1
C   y (0)  Du (0) 
x (0)     
CA  y (0)  CBu (0)  Du (0) 
1
 1 2  1  1  5 2  1   5 / 3
          
 4 5 0  3  4 1  0   4 / 3 
 4.3 State Space Rep. : Method 2
Example 5: Obtain the zero-input response of the
ODE for 10 seconds.
y  3 y  2 y  2u  u
where y(0)= 0, y(0)= 1, u(0)= u(0)= 0
Program: From the previous result

0 1 0  5 / 3
x  x    u, x (0)   
 2  3   
1  4 / 3 
y  1 2 x
 4.3 State Space Rep. : Method 2
Function program
function xdot= fun(t,x,u)
xdot= zeros(2,1);
xdot(1)= x(2);
xdot(2)= -2*x(1)-3*x(2)+u;

0 1
x
0
x   u
x1  x2

 2 3 1  x2  2 x1  3x2  u
 4.3 State Space Rep. : Method 2
Primary function
function ode03
t= 0; x= [-5/3;4/3]; h= 0.02; u= 0; loop= 500;
y= x(1)+2*x(2); y  1 2 x
buf= [t y];
for i=1:loop
x= RK4(@fun,t,x,u,h);
t=t+h; y= x(1)+2*x(2);
buf= [buf; t y];
end
plot(buf(:,1),buf(:,2),'linewidth',2)
xlabel('t'), ylabel('y(t)'), axis([0 10 0 1])
4.3 State Space Rep. : Method 2
Zero-input response
1

0.8

0.6
y(t)

0.4

0.2

0
0 2 4 6 8 10
t
 4.3 State Space Rep. : Method 2
Method 1 (observable structure)
y  a1 y  a2 y  a3 y  b0u  b1u  b2u  b3u
Y (s) (b1  a1b0 ) s 2  (b2  a2b0 ) s  (b3  a3b0 )
 b0 
U (s) s 3  a1s 2  a2 s  a3

 a1 1 0  b1  a1b0 
x  Ax  Bu A   a2 0 1  , B  b2  a2b0 
y  Cx  Du  a3 0 0   b3  a3b0 
C  1 0 0 , D  b0
 4.3 State Space Rep. : Method 2
Method 2 (controllable structure)
y  a1 y  a2 y  a3 y  b0u  b1u  b2u  b3u
Y (s) (b1  a1b0 ) s 2  (b2  a2b0 ) s  (b3  a3b0 )
 b0 
U (s) s 3  a1s 2  a2 s  a3

 0 1 0  0 
x  Ax  Bu A   0 0 1  , B  0 
y  Cx  Du  a3 a2 a1  1 
C  b3  a3b0 b2  a2b0 b1  a1b0 , D  b0
 4.3 State Space Rep. : Method 2
(Quiz 1) Write the transfer equation (1) for method 1 and
(2) for method 2.
Y (s) s4
(1) 
U ( s ) ( s  1)( s  2)( s  3)
Y (s) s3  s 2  4
(2)  3
U ( s) s  2s  2
 4.3 State Space Rep. : Method 2
Y (s) s4
(1)  3
U ( s ) s  6s 2  11s  6
From the equation
a1= 6, a2= 11, a3= 6, b0= 0, b1= 0, b2= 1, b3= 4

 6 1 0 0
x   11 0 1  x  1  u, x (t0 )  0
 6 0 0   4 
y  1 0 0 x
 4.3 State Space Rep. : Method 2
Y (s) s  s  4
3 2
(2)  3
U ( s) s  2s  2
From the equation
a1= 0, a2= 2, a3= 2, b0= 1, b1= 1, b2= 0, b3= 4

 0 1 0 0 
   
x   0 0 1  x   0  u , x (t 0 )  0
 2 2 0  1 
y   2 2 1 x  u
 4.4 Simulation of systems
Example 6: Obtain the unit step response of the
system for 10 seconds, where all ICs are 0 and time
increment (h)= 0.01.

R(s) U(s) 1 1 Y(s)

+
25
- - s3 s

3
25
 4.4 Simulation of systems
Plant
Defining the state variables X1(s) and X2(s) in the
plant yields
U(s) 1 Y(s)
1
s3 X2(s) s X1(s)

sX1(s)= X2(s) x1  x2
(s+3)X2(s)= U(s) x2  3x2  u
Y(s)= X1(s) y  x1
4.4 Simulation of systems
Controller
3
u  25(r  x1  x2 )  25r  25 x1  3x2
25

X2(s)
X1(s)
 4.4 Simulation of systems
Function program for plant
function xdot= fun(t,x,u)
xdot= zeros(2,1);
xdot(1)= x(2);
xdot(2)= -3*x(2)+u;

x1  x2
x2  3x2  u
 4.4 Simulation of systems
Primary Function
function ode02
t= 0; x= [0;0]; h= 0.01; loop= 1000;
buf= [t x(1)]; r= 1;
for i=1:loop
u= 25*r-25*x(1)-3*x(2); % Controller
x= RK4(@fun,t,x,u,h); % Plant
t= t+h; buf= [buf; t x(1)];
end
plot(buf(:,1),buf(:,2),'linewidth',2)
xlabel('t'); ylabel('y(t)');
axis([0 10 0 1.5])
4.4 Simulation of systems

Unit step response

1.5

1
y(t)

0.5

0
0 5 10
t
 4.4 Simulation of systems
Example 7: The following block diagram shows the
disk head position control system. Obtain a unit step
response when Ka= 100.
d
r+ e u y
5000 m + - 1
Ka
- 𝑠 + 1000 𝑠(𝑠 + 20)
 4.4 Simulation of systems
Controller
u  K a (r  y )

Actuator
( s  1000) M ( s)  5000U ( s)
m(t )  1000m(t )  5000u (t )
 4.4 Simulation of systems
Linear motor

( s 2  20s )Y ( s)  M ( s)  D( s)

a1= 20, a2= 0  20 1  0

x  x    (m  d )
b0= b1= 0, b2= 1  0 0 1 
y  1 0 x
 4.4 Simulation of systems
Actuator m(t )  1000m(t )  5000u (t )
function xdot= actuator(t,x,u)
xdot= -1000*x+5000*u;

 20 1  0
x  x    (m  d )
Linear motor  0 0 1 
function xdot= linearmotor(t,x,u)
d= 0; % zero disturbance
xdot= zeros(2,1);
xdot(1)= -20*x(1)+ x(2);
xdot(2)= u-d;
 4.4 Simulation of systems
Primary function
function head_position_control
t= 0; h= 0.001; loop= 1000;
r= 1; xa= 0; xm= [0;0]; Ka= 100;
buf= [t xm(1)];
for i=1:loop
u= Ka*(r-xm(1));
xa= RK4(@actuator,t,xa,u,h);
xm= RK4(@linearmotor,t,xm,xa,h);
t= t+h;
buf= [buf; t xm(1)];
end
4.4 Simulation of systems
plot(buf(:,1),buf(:,2),'b','linewidth',2)
axis([0 1 0 1.5])
grid on
function xdot= actuator(t,x,u)
xdot= -1000*x+5000*u;
function xdot= linearmotor(t,x,u)
d= 0;
xdot= zeros(2,1);
xdot(1)= -20*x(1)+x(2);
xdot(2)= u-d;
 4.4 Simulation of systems
Unit step response
1.5

0.5

0
0 0.2 0.4 0.6 0.8 1
 4.4 Simulation of systems
Example 8: Obtain the step response of the mooring
winch tensioning system.
2𝑠 + 1
d 𝑠2 + 5𝑠 + 500
r e u y
+ 1500 + - 1
PI
- 𝑠2 + 5𝑠 + 500 q 𝑠

Mooring winch
 4.4 Simulation of systems
PI Controller

e(t )  r (t )  y (t )
t
u (t )  K p e(t )  K i  e( )d
0
Kp: Proportional gain, Ki: Integral gain
 4.4 Simulation of systems
Actuator

( s 2  5s  500)Q( s )  1500U ( s )

 x1   5 1   x1   0 
q  5q  500q  1500u x     x     u
 2   500 0   2  1500 
q  x1
 4.4 Simulation of systems
Angular/Angle velocity

sY ( s )  Q( s )  D( s) y  qd
 4.4 Simulation of systems
Disturbance

( s 2  5s  500) D( s)  (2 s  1)Y ( s)

 x1   5 1   x1   2 
d  5d  500d  2 y  y x     x     y
 2   500 0   2  1 
d  x1
4.4 Simulation of systems
function auto_mooring_winch
t= 0; h= 0.02; loop= 2000; r= 20; z= 0;
xa= [0;0]; xi= 0; xd= [0;0]; Kp= 0.73; Ki= 0.2;
buf= [t xi];
for i=1:loop
e= r-xi; z= z+h*e; u= Kp*e+Ki*z;
xa= RK4(@actuator,t,xa,u,h);
ui= xa(1)-xd(1);
xi= RK4(@integrator,t,xi,ui,h);
xd= RK4(@disturbance,t,xd,xi,h);
t= t+h; buf= [buf; t xi];
end
4.4 Simulation of systems
plot(buf(:,1),buf(:,2),'b','linewidth',2)
axis([0 h*loop 0 25])
function xdot= actuator(t,x,u)
xdot= zeros(2,1);
xdot(1)= -5*x(1)+x(2);
xdot(2)= -500*x(1)+1500*u;
function xdot= integrator(t,x,u)
xdot= u;
function xdot= disturbance(t,x,u)
xdot= zeros(2,1);
xdot(1)= -5*x(1)+x(2)+2*u;
xdot(2)= -500*x(1)+u;
4.4 Simulation of systems
Step response
25

20

15

10

0
0 10 20 30 40
4.4 Simulation of systems
Q&A