Using the state space analysis, illustrate all matrixes of the following differential equation:

The output equation

𝒚 + 𝟔𝒚 + 𝟏𝟏𝒚 + 𝟔𝒚 = 𝟔𝒖 𝒙𝟏
Let: 𝒚= 𝟏 𝟎 𝟎 𝒙𝟐 + 𝟎 𝐮
𝒙𝟏 = 𝒚 𝒙𝟑
𝒙𝟏 = 𝒙𝟐 = 𝒚 so
𝒙𝟐 = 𝒙𝟑 = 𝒚 𝟎 𝟏 𝟎
𝑨= 𝟎 𝟎 𝟏 ,
Accordingly −𝟔 −𝟏𝟏 −𝟔
𝒙𝟑 = 𝒚 = −𝟔𝒙𝟏 −𝟏𝟏𝒙𝟐 − 𝟔 𝒙𝟑 + 𝟔𝒖
𝟎
Or in state space form: 𝐁= 𝟎
𝒙𝟏 𝒙𝟏 𝟔
𝟎 𝟏 𝟎 𝟎
𝒙𝟐 = 𝟎 𝟎 𝟏 𝒙𝟐 + 𝟎 𝒖 𝑪= 𝟏 𝟎 𝟎,
𝒙𝟑 −𝟔 −𝟏𝟏 −𝟔 𝒙𝟑 𝟔
𝑫=𝟎
Using the state space analysis, illustrate all matrices of the following differential equation:
𝒅𝟑 𝒙 𝒅𝟐 𝒙 𝒅𝒙
+ 𝟔 + 𝟏𝟏 + 𝟒𝒙 = 𝒖𝟏 𝒕 + 𝟑𝒖𝟐 𝒕 + 𝟒𝒖𝟑 𝒕
𝒅𝒕𝟑 𝒅𝒕𝟐 𝒅𝒕
where the outputs are ∶
𝒅𝒙 𝒅𝟐 𝒙
𝒚𝟏 = 𝟒 𝒅𝒕+ 𝟑𝒖𝟏 𝒕 , 𝒚𝟐 = 𝟒 𝒅𝒕𝟐 +
𝟒𝒖𝟐 𝒕 + 𝒖𝟑 𝒕
𝒙 + 𝟔𝒙 + 𝟏𝟏𝒙 + 𝟒𝒙 = 𝒖𝟏 𝒕 + 𝟑𝒖𝟐 𝒕 + 𝟒𝒖𝟑 𝒕
Let:
𝒙𝟏 = 𝒙
𝒙𝟏 = 𝒙𝟐 = 𝒙
𝒙𝟐 = 𝒙𝟑 = 𝒙
Accordingly
𝒙𝟑 = 𝒙 = −𝟒 𝒙𝟏 − 𝟏𝟏𝒙𝟐 − 𝟔 𝒙𝟑 + 𝒖𝟏 𝒕 + 𝟑𝒖𝟐 𝒕 + 𝟒𝒖𝟑 𝒕
Or in state space form:

𝒙𝟏 𝟎 𝟏 𝟎 𝒙𝟏 𝟎 𝟎 𝟎 𝒖𝟏 𝒕
𝒙𝟐 = 𝟎 𝟎 𝟏 𝒙𝟐 + 𝟎 𝟎 𝟎 𝒖𝟐 𝒕
𝒙𝟑 −𝟒 −𝟏𝟏 −𝟔 𝒙𝟑 𝟏 𝟑 𝟒 𝒖𝟑 𝒕
The output equation
𝒙𝟏 𝒖𝟏 𝒕
𝟎 𝟒 𝟎 𝒙𝟐 + 𝟑 𝟎 𝟎
𝒚= 𝒖𝟐 𝒕
𝟎 𝟎 𝟏 𝒙𝟑 𝟎 𝟒 𝟏
𝒖𝟑 𝒕
so
𝟎 𝟏 𝟎
𝑨= 𝟎 𝟎 𝟏 ,
−𝟒 −𝟏𝟏 −𝟔
𝟎 𝟎 𝟎
𝐁= 𝟎 𝟎 𝟎
𝟏 𝟑 𝟒
𝟎 𝟒 𝟎 𝟑 𝟎 𝟎
𝑪= , 𝑫=
𝟎 𝟎 𝟏 𝟎 𝟒 𝟏
Obtain state space equation for the following transfer function:
𝒚 𝑺 𝟐
𝑮 𝑺 = =
𝒖 𝑺 𝑺 + 𝟏 𝑺 + 𝟐 𝑺𝟐 + 𝟏
Or
𝒚 𝑺 𝟐 𝟐
𝑮 𝑺 = = 𝟐 = 𝟒
𝒖 𝑺 𝑺 + 𝟑𝑺 + 𝟐 𝑺𝟐 + 𝟏 𝑺 + 𝟑𝑺𝟑 +𝟑𝑺𝟐 +𝟑𝑺 + 𝟐
𝒅𝟒𝒚 𝒅𝟑𝒚 𝒅 𝟐𝒚 𝒅𝒚
𝟒 𝟑 𝟐
𝑺 + 𝟑𝑺 +𝟑𝑺 +𝟑𝑺 + 𝟐 𝒚 𝑺 = 𝟒 + 𝟑 𝟑 + 𝟑 𝟐 + 𝟑 + 𝟐𝒚 = 𝟐𝒖 𝑺
𝒅𝒕 𝒅𝒕 𝒅𝒕 𝒅𝒕

Let
𝒙𝟏 =𝒚
𝒙𝟏 = 𝒙𝟐 = 𝒚
𝒙𝟐 = 𝒙𝟑 = 𝒚
𝒙𝟑 = 𝒙𝟒 = 𝒚
𝒙𝟒 = −𝟑𝒚 − 𝟑𝒚 − 𝟑𝒚 − 𝟐𝒚 + 𝟐𝒖 𝒕
Or in state space form:

𝒙𝟏 𝟎 𝟏 𝟎 𝟎 𝒙𝟏 𝟎
𝒙𝟐 𝟎 𝟎 𝟏 𝟎 𝒙𝟐 𝟎
= 𝟎 𝟎 𝟎 𝒙𝟑 + 𝟎 𝒖 𝒕
𝒙𝟑 𝟏
𝒙𝟒 −𝟐 −𝟑 −𝟑 −𝟑 𝒙𝟒 𝟐
The output equation
𝒙𝟏
𝒙𝟐
𝒚= 𝟏 𝟎 𝟎 𝟎 𝒙𝟑 + 𝟎 𝒖 𝒕
𝒙𝟒
so
𝟎 𝟏 𝟎 𝟎
𝟎 𝟎 𝟏 𝟎
𝑨= 𝟎 𝟎 𝟎 ,
𝟏
−𝟐 −𝟑 −𝟑 −𝟑
𝟎
𝐁= 𝟎
𝟎
𝟐
𝑪= 𝟏 𝟎 𝟎 𝟎, 𝑫=𝟎
Obtain state space equation for the following mechanical system:

𝒚𝟏 𝒚𝟐
𝒇 𝒕
𝒃

𝑴𝟏 𝑴𝟐

𝒌𝟏 𝒌𝟐
Force balance on Mass 𝑴𝟏
𝒚𝟏
𝒇 𝒕 𝒚𝟏 𝒚𝟐 𝒇 𝒕 +𝒗𝒆
𝒃
𝑴𝟏 𝑴𝟐 𝒌𝟏 𝒚𝟏 (𝒕) 𝑴𝟏
𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕
𝒌𝟏 𝒌𝟐
𝑴𝟏 𝒚𝟏 (𝒕)

Applying Newton’s second law

𝒇𝒐𝒓𝒄𝒆𝒔 = 𝑴𝒂𝒔𝒔 ∗ 𝑨𝒄𝒄𝒆𝒍𝒆𝒓𝒂𝒕𝒊𝒐𝒏 • External force 𝒇 𝒕
• Spring force 𝒌𝟏 𝒚𝟏 (𝒕)
𝒆
• Damper force 𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕
𝒇 𝒕 − 𝒌𝟏 𝒚𝟏 𝒕 − 𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕 = 𝑴𝟏 𝒚𝟏 (𝒕)
• Inertia force 𝑴𝟏 𝒚𝟏 (𝒕)
Or
𝑴𝟏 𝒚𝟏 (𝒕) +𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕 + 𝒌𝟏 𝒚𝟏 𝒕 = 𝒇 𝒕
Force balance on Mass 𝑴𝟐
Or
𝒚𝟏 𝒚𝟐 𝒚𝟐
𝒇 𝒕 +𝒗𝒆
𝒃
𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕 𝒌𝟐 𝒚𝟐 (𝒕)
𝑴𝟏 𝑴𝟐
𝑴𝟐
𝒌𝟏 𝒌𝟐
𝑴𝟐 𝒚𝟐 (𝒕)
Applying Newton’s second law
• Spring force 𝒌𝟐 𝒚𝟐 (𝒕)
𝒇𝒐𝒓𝒄𝒆𝒔 = 𝑴𝒂𝒔𝒔 ∗ 𝑨𝒄𝒄𝒆𝒍𝒆𝒓𝒂𝒕𝒊𝒐𝒏 • Damper force 𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕
𝒆 • Inertia force 𝑴𝟐 𝒚𝟐 (𝒕)
𝟎 − 𝒌𝟐 𝒚𝟏 𝒕 + 𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕 = 𝑴𝟐 𝒚𝟐 (𝒕)
Or
𝑴𝟐 𝒚𝟐 (𝒕) −𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕 + 𝒌𝟐 𝒚𝟐 𝒕 = 𝟎
State space representation of the system:
The resulting Equations of motion are Let

𝑴𝟏 𝒚𝟏 (𝒕) +𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕 + 𝒌𝟏 𝒚𝟏 𝒕 = 𝒇 𝒕 𝒙𝟏 = 𝒚𝟏 𝒕

𝑴𝟐 𝒚𝟐 (𝒕) −𝒃 𝒚𝟏 𝒕 − 𝒚𝟐 𝒕 + 𝒌𝟐 𝒚𝟐 𝒕 = 𝟎 𝒙𝟐 = 𝒙𝟏 = 𝒚𝟏 𝒕

Rearranging the above equation gives 𝒙𝟑 = 𝒚𝟐 𝒕

𝒃 𝒌𝟏 𝒃 𝟏 𝒙𝟒 = 𝒙𝟑 = 𝒚𝟐 𝒕
𝒚𝟏 (𝒕) + 𝒚 𝒕 + 𝒚 𝒕 = 𝒚 𝒕 + 𝒇 𝒕
𝑴𝟏 𝟏 𝑴𝟏 𝟏 𝑴𝟏 𝟐 𝑴𝟏
Accordingly:
𝒃 𝒌 𝒃
𝒚𝟐 (𝒕) + 𝒚𝟐 𝒕 + 𝟐 𝒚𝟐 𝒕 = 𝒚 𝒕 𝒌𝟏 𝒃 𝒃 𝟏
𝑴𝟐 𝑴𝟐 𝑴𝟐 𝟏 𝒙𝟐 = 𝒚𝟏 = − 𝒙 − 𝒙 + 𝒙 + 𝒇 𝒕
𝑴𝟏 𝟏 𝑴𝟏 𝟐 𝑴𝟏 𝟒 𝑴𝟏
𝒃 𝒌𝟐 𝒃
𝒙𝟒 = 𝒚𝟐 = 𝒙 − 𝒙 +− 𝒙
𝑴𝟐 𝟐 𝑴𝟐 𝟑 𝑴𝟐 𝟒
State space representation of the system:
so
The state equations become: 𝟎 𝟏 𝟎 𝟎
𝟎 𝟏 𝟎 𝟎 𝒌 𝒃 𝒃
𝒌𝟏 𝒃 𝒃 𝟎 − 𝟏 − 𝟎
𝒙𝟏 𝒙𝟏 𝑴𝟏 𝑴𝟏 𝑴𝟏
− − 𝟎 𝟏 𝑨= ,
𝒙𝟐 𝑴𝟏 𝑴𝟏 𝑴𝟏 𝒙𝟐 𝟎 𝟎 𝟏 𝟎
= 𝒙𝟑 + 𝑴𝟏 𝒇 𝒕 𝒃 𝒌𝟐 𝒃
𝒙𝟑 𝟎 𝟎 𝟏 𝟎 𝟎 − −
𝒃 𝒌𝟐 𝒃 𝒙𝟒 𝟎 𝑴𝟐 𝑴𝟐 𝑴𝟐
𝒙𝟒
𝟎 − − 𝟎 𝟎
𝑴𝟐 𝑴𝟐 𝑴𝟐
𝟏
The output equation 𝐁 = 𝑴𝟏
𝒙𝟏 𝟎
𝒙𝟐 𝟎
𝒚= 𝟏 𝟎 𝟎 𝟎 𝒙𝟑 + 𝟎 𝒇 𝒕 𝑪= 𝟏 𝟎 𝟎 𝟎,
𝒙𝟒
𝑫=𝟎