3.state Space Modeling

RIT Dubai
Electrical Engineering Program
EEEE 661
Modern Control
Theory
Dr. Abdulla Ismail
Professor of Electrical Engineering,
axicad@rit.edu
04-3712055
Modern Control Theory 1
Modern Control Theory
Outline
• Overview of Feedback Control
• State-Space Analysis of Linear Control
Systems
• Realization of Feedback Control Systems
• System Canonical Realization
• Controllability & Observability of Linear
Control Systems
• State Feedback Design
• Output Feedback Design
• Observers (Estimator) Design
• Compensator Design
• Please read Chapter 3 • Please read Chapter 2
of the following book: of the following book:
Dorf and Bishop,

K. Ogata, Modern
Modern Control Systems,
13th Edition,
Control
Prentice Hall, 2017. Engineering, 5th
Edition, Prentice-
Hall, 2010.

Control Systems Forms
Single Input-Single Output (SISO) Control System
Single Input-Multiple Outputs Control Systems
EE 0301-761 Modern Control Theory 4

Control Systems Forms
Multiple Inputs-Single Output (MISO) Control System
Multiple Inputs-Multiple Outputs(MIMO) Control Systems

Control Systems Performance Specifications
• Stability
• Speed of Response
• Steady State Error Analysis
• Sensitivity Analysis
• Disturbance Rejection
• Robustness

Modeling Techniques for Control Systems
• Differential Equations (ODE, PDE)

• Transfer Functions
• State Space (Variables)

Modeling of Linear Systems
x(t)
r(t) c(t)
1. Differential Equations Model
Let us begin by writing a general nth-order, linear, time-
invariant differential equation,
2. Transfer Functions
Taking the Laplace transform of both sides of the DE and
rearranging terms yields a rational function,
8
EE 0301-761 Modern Control Theory
Modeling of Linear Systems
x(t)
r(t) c(t)
3. State Space (Variables) Model
.
 x1   u1   y1 
 x1 
x  u  y   x. 
 2  2  2 .  2
X   .  , U   .  , Y   .  , X (t )   . 
. .  .  .
um  y   x. 
x   p
 n    n
9
STATE-SPACE ANALYSIS OF LINEAR CONTROL SYSTEMS
Why State Space (Variables) Model?

1.Studying power system frequency and
voltage variation as the result of load changes.
Kil
s
Integrator
LFC
R
Droop
∆ω
1 1 1 1
0
Tg.s+1 Tt.s+1 (2*H)s+Kd 1
Constant Transfer Fcn Transfer Fcn1 Droop1 Frequency Error
Machine Dynamics
∆PL
Scope
Step
Step2
PID
PID Controller
Ke
Te.s+1
(Kg*Tz1)s+Kg
Tp1.s+1
Tz2.s+1
Tp2.s+1
Tz3.s+1
Tp3.s+1
Tz4.s+1
Tp4.s+1
K1
∆Vt
Exciter Transfer Fcn2 Transfer Fcn3 Transfer Fcn4 Gain Voltage Error
AVR
t
Step1
Gain5
∆VL K2
Gain2
K3
K4
Gain3
K5 Scope6
Sensor
Kr Gain4
Modern ControlTr.s+1
Theory 10
1.Studying power system frequency and voltage variation as the result of
load changes.
Kil
s
Integrator
1
LFC
R
Droop
∆ω
1 1 1 1
0
Tg.s+1 Tt.s+1 (2*H)s+Kd 1
Constant Transfer Fcn Transfer Fcn1 Droop1 Frequency Error
Machine Dynamics
∆PL Scope
Step
PID
Ke
Te.s+1
(Kg*Tz1)s+Kg
Tp1.s+1
Tz2.s+1
Tp2.s+1
Tz3.s+1
Tp3.s+1
Tz4.s+1
Tp4.s+1
K1
∆Vt
Step2 PID Controller Exciter Transfer Fcn2 Transfer Fcn3 Transfer Fcn4 Gain Voltage Error
t
AVR Step1
Gain5
∆VL K2
Gain2
K3
K4
Gain3
K5 Scope6
Sensor
Kr Gain4
Tr.s+1
∆Vo1
∆Vo2
∆Vref1
∆Vo3
∆Vref2 3 Area Power system ∆f1
∆Vref3 With 26 state variables ∆f2
∆Pd1 ∆f3
∆Pd2 ∆Pt12
∆Pt13
∆Pd3 ∆Pt23
1.Studying thermal desalination plant performance.

1.Studying thermal desalination plant performance.
State 6 outputs
6 inputs Variables
Variables
155



Example 1 u (t ) e(t ) s 1 y (t )
+
- ( s  1)
2
s 1 +
Transfer functions
n(t ) noise
Y (s) s  1
 Stable
U (s) s  3
E ( s)  2( s  1)
u 0 
N ( s) ( s  1)( s  3)
Unstable
15

Example 2 u (t ) s 1 1 y (t )
s 1 s 1
y s 1 1 1
 
u s 1 s 1 s 1
• The system is internally unstable BUT externally STABLE

• This is due to pole/zero cancellation

Why State Space (Variables) Model? Example 2

x 1   x1  2u x1 (0)  x10
x 2  x1  x2  u x 2 (0)  x 20
y  x2
x(t )  L1 [( sI  A) 1 ]x(0)  L1 [( sI  A) 1 BU ( s )]
x1 (t )  e  t x 10 2e  t  u (t )
1 1 t
y (t )  x 2 (t )  ( x 20  x10 )e  e x 10  e t  u (t )
t
2 2
1. if x10  x 20  0
then system stable
2. if x10  2 x 20
State-space description Internal behavior description


• Contains Internal Systems Information
• More Suitable for Multivariable and MIMO
Systems
• More efficient for Computer Implementation
• Applicable to Non-linear Systems
• Works for Time Varying Systems

Introduction
• The time-domain analysis and design of control
systems utilizes the concept of the state of a system.
• The state of a system is a set of variables such that
the knowledge of these variables and the input
functions will, with the equations describing the
dynamics, provide the future state and output of the
system.
• For a dynamic system, the state of a system is
described in terms of a set of state variables
[ x1 (t ) x2 (t ) .. xn (t )]
Introduction
• Consider the system shown in Figure below, where
y1(t) and y2(t) are the output signals and u1(t) and
u2(t) are the input signals.
• A set of state variables [x1 x2 ... xn] for the system shown in the
figure is a set such that knowledge of the initial values of the
state variables [x1(t0) x2(t0) ... xn(t0)] at the initial time t0, and of
the input signals u1(t) and u2(t) for t˃=t0, suffices to determine
the future values of the outputs and state variables.
20
Introduction
The state variables describe the future response of a
system, given the present state, the excitation inputs, and
the equations describing the dynamics of the system.
• In an actual system, there are several choices of a set

of state variables that specify the energy stored in a
system and therefore adequately describe the
dynamics of the system.
• The state variables of a system characterize the
dynamic behavior of a system. The engineer’s interest
is primarily in physical, where the variables are
voltages, currents, velocities, positions, pressures,
temperatures, and similar physical variables.
Introduction
The State Differential Equation:
The state of a system is described by the set of first-order
differential equations written in terms of the state variables
[x1 x2 ... xn].
These first-order differential equations can be written in
general form as
x1  a11 x1  a12 x2  a1n xn  b11u1  ..b1mu m
x2  a21 x1  a22 x2  a2 n xn  b21u1  ..b2 mu m
.
.
xn  an1 x1  an 2 x2  ..ann xn  bn1u1  ..bnm um
22
Introduction
• Thus, this set of simultaneous differential equations can be written
in matrix form as follows:
n: number of state variables, m: number of inputs.
• The column matrix  x1  • The vector of

u 
1
x  u 
consisting of the
state variables X is  2 input signals is u   .2 
x .   
called the state defined as u.  . 
vector and is written . u 
 m
as x 
 n 23
Introduction
• Then the system can be represented by the compact notation
of the state differential equation as
“state equation”
The matrix A is an nxn square matrix, and B is an nxm matrix.
• In general, the outputs of a linear system can be related to

the state variables and the input signals by the output
equation
“output equation”
 y1 
where y is the set of p output y 
signals expressed in column y . 
 2
vector form as .


 
Modern Control Theory  yp  24
Procedure for state variable modeling

• Starting from the system block diagram or differential
equation or transfer function , select or define the right
state variables
• Compute the state equation for each state variable
• Compute the output equation for each output variable
• Formulate the equations in matrix format

Example 1 Longitudinal aircraft dynamics

Example 1 Longitudinal aircraft dynamics
The state model

Example 2
AUTOMATIC GENERATION CONTROL OF POWER SYSTEMS

Example 2

Example 2
 1 K5  K5 
 0 0 0 0 0
T8 T8 T8    K5 
   0
 1 K3
0 
T8 

0
T6 T6
0 0 0 0
  
 0 0 
 1 
 0 0 1 0 0 0 0   0 0 
 T5   
A=  1 K2   0 0 
 0 0 0 0 0 0   K Tv1 Tv 2
T4 T4 T5 0 
1
   
  K1 Tv1Tv 2 1 T1T2 T3

0 0 0
1 Tv 2
0 

B=  

T1T2 T3 R T3 T3 T2 T3
  K1   Tv1  1 0 
 K1Tv1  Tv 2  1 0 0 0 0
1  Tv 2

1
0 
 T1T2  T1  
 T1T2 R  T2  T2 2
T 2 T2   

K  Tv  1
  K1   Tv1  1 0 
 1
 1  1 0 0 0 0 0 0   T1  T1  
 T1 R  T1  T1   
 K4
 K4 1   0 
 0 0 0 0 0 0 
 T7 R T7   T7 

State Variable (SV) Definitions

Classification of State Models

State Variables of a Dynamic System

The state variables describe the future response
of a system, given the present state, the
excitation inputs, and the equations describing
the dynamics

State Variables of a Dynamic System
The state of a system is described by the set of first-order
differential equations written in terms of the state variables (x1,
x2, .., xn) as follows:

State Variable (SV) Descriptions
State Equations
Output Equations

State Variable (SV) Descriptions

• The linear state-space system has the form shown in the
figure. It contains an integrator which acts as the memory of
this dynamical system.
• Note that the feedback is determined only by the system A
matrix. The direct feedback matrix D is often equal to zero for
many systems

How to determine the state variable model of a system?
1.From Physical Systems directly

2.From system block diagram
3.From system differential equations
4.From system transfer function

Modeling Procedure
1. Determination of the system order n and

selection of a set of state variables from the
physical system or system representation.
2. Generate a set of state equations and the associated state
A and control B matrices.
3. Determination of a suitable set of output equations and
the associated output C and D matrices.

1. State Variables from Differential Equations:
• A system described by a • 3 state variables

3rd-order ODE:
• 3 state equations:
• State Variable Model: • Output equation:

1. State Variables from Differential Equations:
• A system described by an ODE:
Compute its State variable model. Let

SOLUTION
• Third order - 3 state variables: x 1 , x2 , x3
• 3 state equations
• Output equation:

2. State Variable Model from Physical Systems:

• Spring Mass Damper system:
• 2nd-order model
.. . K
M x(t) + B x(t) + K x(t) = F
F
• Number of State variables: 2 M
• Define the state variables:
x(t): mass M position B
.
x(t): mass M velocity x
• Let
z1 = x1
and
z2 = x

• D.E. equations: • State equations:
.. . .
M x(t) + B x(t) + K x(t) = F z1 = z 2
.
z1 = x 1 z2 = (1/M) (-Kz1 – Bz2 + F)
z2 = x
• State variable model

• Output equation:
.
z1
 z1 
y  1 0  
.
z2
 z2 
42
• RLC Electric Circuit: +

Ii iL v
R L C
C
–
Compute its State Variable Model
• 2nd-order model
• 2 state variables:
– capacitor voltage, x1 = vC
– inductor current, x2 = iL

System Model: Using circuit analysis techniques (KVL, KCL), we
obtain 2 equations as follows:
2 circuit equations:
diL
+
L  vC Ii iL v
dt R L C
dvC 1 C
Ii  C  iL  vC
dt R –
2 State equations: • Selecting the State Variables

diL 1 Let x1 = iL , x2 = vc u = Ii
 vC
dt L
dvC 1  1 
   iL  vC  Ii 
dt C R  Modern Control Theory 44
• x1 = iL , x2 = vc
u = Ii
• The State Variable model can be

written as follows:
+
dx1 1 Ii iL v
 x2 R L C
dt L C
dx 2 1  1  –
   x1  x2  u 
dt C  R 

2. State Variable Model from Physical Systems: Two rolling carts
A translational Mechanical System modeled by the following DEs
• Here, the energy-storage elements are the two springs and the two masses.
• Defining state variables in terms of mass displacements and velocities

• Straightforward algebra yields the following

state and output equations:

• In the last model, it was convenient earlier to define the
second state variable as the difference in mass displacements,
x2(t) = y2(t) − y1(t), because this relative displacement is the
amount the second spring is stretched.
• Instead we could have defined the second state variable based
on the absolute mass displacement, that is x2(t) = y2(t), and
derived an equally valid state-space representation. Making
this one change in our state variable definitions, that is,
yields
Note: The B and D matrices are unchanged

• Consider the electrical network shown in Figure below.
• We now derive the mathematical model and then determine a valid
state-space
• representation.
• The two inputs are the independent voltage and current sources vin(t)
and iin(t), and the single output is the inductor voltage vL(t).
• In terms of clockwise circulating mesh currents i1(t ), i2(t), and i3(t),
Kirchhoff’s voltage law applied around the leftmost two meshes yields
• In addition, Kirchoff’s
current law yields

• Letting
• Using the relationships
the preceding DEs can be recast as

• Rewriting these equations in matrix form and isolating the state-variable time derivatives

In addition, the associated output equation can be
expanded to the algebraic output equation as follows

3. State Variable Model from Block Diagrams:
For the control system described
by the block diagram shown,
determine its state variable
model.
SOLUTION
From the block diagram, we can write the
state and output equations as follows:
In matrix form
D= 0

3. State Variable Model from Block Diagrams:
For the control system described
by the block diagram shown,
determine its state variable
model.
SOLUTION
From the block diagram, we
can write the state and
output equations as follows:
In matrix form

3. State Variable Model from Block Diagrams: DC Motor
What is DC motor?
An actuator (EM system), converting
electrical energy into rotational
mechanical energy
Sketch
EM Diagram
• The equations for the electrical side of the system are
Where Kb is the motor’s back EMF constant.
• The equations for the mechanical side of the

system are
Where Tapp is the applied torque, and KT is the

torque constant that relates the torque to the
armature current.


Developing the State Equations
• There are three derivative terms in the system model for the DC servo motor—first
derivative of ia(t) in the 1st Eqn and first and second derivatives of θ(t) in 2nd Eqn.
• Therefore, there are a total of 3 state variables in the state space model.


Developing the State Equations



State Variable Modeling of Non-linear Systems :
choosing x1=y, x2= dy/dt,
Van der pol equation
choosing x1=y, x2= dy/dt,
Simple pendulum
where J > 0 is the moment of inertia

of the body, W > 0 is the weight of
the body and l is the distance
between the mass center of the body
and the axis of rotation.

SOLUTION OF STATE AND OUTPUT EQUATIONS

63
SOLUTION OF STATE & OUTPUT EQUATIONS
Solution of the output
The system output response y(t) may be found by substitution of the state
variable response into the algebraic system output equations
Using the solution of the state vector, the output becomes
the output becomes

Example1
(d) the complete response due to a step input (forced response).

Assume zero initial condition.

Example1 .. Solution
(a)
From
The natural frequency ωn and damping factor ζ are determined as follows

(b) The state transition matrix is calculated as follows
Note

(b) The state transition matrix is calculated as follows

(c) The transient response is calculated as follows
Using MATLAB
X1
A=[0 1;-2 -3]
B=[0 1]‘
C=[1 0]
D=[0]
X0=[1 0]’ X2
System=ss(A,B,C,D)
[Y,T,X] = initial(system,X0)
X1=X(:,1)
X2=X(:,2)
Plot(X1),hold,plot(X2) Modern Control Theory 69
(d) Forced response:

Using the convolution integral

Using MATLAB
A=[0 1;-2 -3]
B=[0 1]‘
C=[1 0]
D=[0] X1
System=ss(A,B,C,D)
[Y,T,X] = step(system)
X1=X(:,1)
X2=X(:,2)
Plot(X1),hold,plot(X2)
X2

Example2

Example2
Then the state transition matrix is

Example2
For x1(0) = x2(0) = 1 and u(t) = 0, we have
Using MATLAB 1
0.9
Zero Input Response
%Zero Input Response 0.8
% or Natural Response
0.7
0.6
A=[0 -2;1 -3] 0.5
B=[2;0] 0.4
C=[1 3] 0.3
D=[0] %Zero State Response

0.2
0.1
X0=[1;1] % or Forced Response 0

0 20 40 60 80 100 120 140 160 180 200
system=ss(A,B,C,D) A=[0 -2;1 -3] 3
[Y,T,X] = initial(system, X0) B=[2;0] 2.5
X1=X(:,1) C=[1 3] 2
X2=X(:,2) D=[0]
Plot(X1),hold,plot(X2) system=ss(A,B,C,D)
1.5
[Y,T,X] = step(system) 1
X1=X(:,1) 0.5
X2=X(:,2) Zero State Response

0
0 20 40 60 80 100 120 140
Modern Control Theory Plot(X1),hold,plot(X2) 75
EXAMPLE3
Determine the state and output responses of the following
system given a step input u(t) = 5 for t > 0, and the initial
conditions x1(0) = 2, x2(0) = 3:
SOLUTION:
The state matrix is

The state transition matrix is
76
EXAMPLE3 - SOLUTION

EXAMPLE3 .. SOLUTION
The state response then becomes:
natural
x1(0) = 2,
x2(0) = 3

Now let us determine the state response due to the input or forced response
Xf(t) u(t) = 5

The output response is
C=[2 1] D=[0]

Let us determine the state transition matrix in a different way:
Solving for the system eigenvalues yields λ1 = −1, and λ2 = −4.

• To find the systems eigenvectors, these eigenvalues are substituted
into the equation
• For the case λ1 = −1, this gives
• Both of these equations give the same result; m11 = m21.

• The eigenvector particular solution is
• The general solution must be defined in terms of an unknown scalar

multiplier α1
provided α1 = 0.

Similarly, for the second eigenvalue, λ2 = −4, the equations are

Now using the eigenvectors



State Model from Transfer Function
E1
E1



Transfer Function from State Model
• Given the State and Output equations:
• Obtaining their Laplace transforms yield:
•Rearranging
•Substituting X(s) into Equation for Y(s) yields
90

Example
Solution


Example .. Solution
The transfer function is given by,


Example .. Solution
Using MATLAB
>> [num,den] = ss2tf(A,B,C,D)

Example2
The transfer function is

Using MATLAB

Using MATLAB

USING MATLAB in CONTROL SYSTEMS
Control System Toolbox
LTI Objects (Linear Time
Invariant)
• 4 basic types of LTI models
– Transfer Function (TF)
– Zero-pole-gain model (ZPK)
– State-Space models (SS)
– Frequency response data model (FRD)
• Conversion between models

• Model properties (dynamics)
Conversion between different models
tf2ss
Transfer function State Space
ss2tf
zp2tf ss2zp
tf2zp zp2ss
Zero-Pole-Gain

Time Response of Systems
• Impulse Response (impulse)
>> impulse(SYS) plots the impulse response of the dynamic system SYS or
>> [Y,T,X] = impulse(SYS)
• Step Response (step)
>> step(SYS) plots the impulse response of the dynamic system SYS or
>> [Y,T,X] = STEP(SYS)
• General Time Response (lsim)
>> lsim(sys,u,t,x0) or
>> [Y,T,X] = lsim(SYS,U,T,X0)
• Initial condition response or Natural response
>> INITIAL(SYS,X0) or
>> [Y,T,X] = INITIAL(SYS,X0)

Main Time Response of Systems
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S EE 0301-761 Modern Control Theory 101
The simulation horizon is automatically determined based on the
model dynamics. You can override this automatic mode by specifying
a final time, step(h,10) % Simulates from 0 to 10 seconds or a vector
of evenly spaced time samples.
Right-Click Menus
All the time and frequency response
functions provide right-click menus
that allow you to customize your plots.

Data Markers
In addition to right-click menus, you can use plot data markers. These
allow you to identify key data points on your plots.

Example: Custom Plots
For example, the following sequence of commands displays the Bode
plot, step response, pole/zero map, and some additional data in a
single figure window.
h = tf([4 8.4 30.8 60],[1 4.12 17.4 30.8 60]);
subplot(221)
bodeplot(h)
subplot(222)
stepplot(h)
subplot(223)
pzplot(h)
subplot(224)
plot(rand(1, 100)) % Any data can go here
title('Some noise')

Simulating Models with Arbitrary Inputs and Initial Conditions
Opening the Linear Simulation Tool

To open the Linear Simulation Tool, do one of the following:

Working with the Linear Simulation Tool
• The Linear Simulation Tool contains two tabs, Input
signals and Initial states.
• After opening the Linear Simulation Tool, follow these
steps to simulate your model:
106
Working with the Linear Simulation Tool

MODEL INTERCONNECTION FUNCTIONS
• You can use the Control System Toolbox model
interconnection functions to help you build models.
• With these functions, you can perform I/O concatenation
([,], [;], and append), general parallel and series
connections (parallel and series), and feedback connections
(feedback and lft).
• These functions are useful to model open- and closed-loop
systems.


Concatenation of LTI Models

Concatenation of LTI Models
specifies
Use append(sys1,sys2)
to specify the block-decoupled LTI
model interconnection.
111
Feedback and Other Interconnection Functions

Feedback and Other Interconnection Functions

State-Space Realizations

CTRB Compute the controllability matrix.
CO = CTRB(A,B) returns the controllability matrix [B AB A^2B ...].
CO = CTRB(SYS) returns the controllability matrix of the

state-space model SYS with realization (A,B,C,D).
CTRBF Controllability staircase form.
[ABAR,BBAR,CBAR,T,K] = CTRBF(A,B,C) returns a decomposition

into the controllable/uncontrollable subspaces.

OBSV Compute the observability matrix.
OB = OBSV(A,C) returns the observability matrix [C; CA; CA^2 ...]
CO = OBSV(SYS) returns the observability matrix of the

state-space model SYS with realization (A,B,C,D).
OBSVF Observability staircase form.
[ABAR,BBAR,CBAR,T,K] = OBSVF(A,B,C) returns a decomposition

into the observable/unobservable subspaces.

LTIVIEW Opens the LTI Viewer GUI.
LTIVIEW opens an empty LTI Viewer. The LTI Viewer is an interactive

graphical user interface (GUI) for analyzing the time and frequency
responses of linear systems and comparing such systems. See LTIMODELS
for details on how to model linear systems in the Control System Toolbox.
LTIVIEW(SYS1,SYS2,...,SYSN) opens an LTI Viewer containing the step

response of the LTI models SYS1,SYS2,...,SYSN.
You can specify a
distinctive color, line style, and marker for each system, as in
sys1 = rss(3,2,2);
sys2 = rss(4,2,2);
ltiview(sys1,'r-*',sys2,'m--');

LTIVIEW(PLOTTYPE,SYS1,SYS2,...,SYSN) further specifies which responses
to plot in the LTI Viewer. PLOTTYPE may be any of the following strings
(or a combination thereof):
1) 'step' Step response
2) 'impulse' Impulse response
3) 'lsim' Linear simulation plot
4) 'initial' Initial condition plot
5) 'bode' Bode diagram
6) 'bodemag' Bode Magnitude diagram
7) 'nyquist' Nyquist plot
8) 'nichols' Nichols plot
9) 'sigma' Singular value plot
10) 'pzmap' Pole/Zero map
11) 'iopzmap' I/O Pole/Zero map
For example,
ltiview({'step';'bode'},sys1,sys2)
opens an LTI Viewer showing the step and Bode responses of the LTI
models SYS1 and SYS2.
PZMAP Pole-zero map of dynamic systems.
PZMAP(SYS) computes the poles and (transmission) zeros of the

dynamic system SYS and plots them in the complex plane. The poles
are plotted as x's and the zeros are plotted as o's.
PZMAP(SYS1,SYS2,...) shows the poles and zeros of several systems

SYS1,SYS2,... on a single plot. You can specify distinctive colors
for each model, for example:
pzmap(sys1,'r',sys2,'y',sys3,'g')
[P,Z] = PZMAP(SYS) returns the poles and zeros of the system in two
column vectors P and Z. No plot is drawn on the screen.
The functions SGRID or ZGRID can be used to plot lines of constant

damping ratio and natural frequency in the s or z plane.
For arrays SYS of dynamic systems, PZMAP plots the poles and zeros of
each model in the array on the same diagram.
Using MATLAB
Example1
% Convert G(s) = (2sA2+8s+6)/(sA3+8sA2+16s+6)

% to a state-space representation
%
num=[2 8 6]; den=[1 8 16 6]; sys_tf=tf(num,den);
sys_ss=ss(sys_tf);

Using MATLAB
Example2
»A=[0 -2; 1 -3]; dt=0.2; Phi=expm(A*dt)
A=[0 -2;1 -3]; B=[2;0]; C=[1 0]; D=[0]; % State-space model

sys=ss(A,B,C,D);
x0=[1 1]; % Initial conditions
t=[0:0.01:1];
u=0*t; % Zero input
[y,T,x]=lsim(sys,u,t,x0);
subplot(121), plot(T,x(:,1))
xtabel(Time (s)'), ylabel('x_1')
subplot(122),p!ot(T,x(:,2))
xlabel('Time (s)'), ylabel('x_2')

Using MATLAB
Example2

Using MATLAB
Example3

Using MATLAB
Example3

Using MATLAB
Example3
% Model Parameters
k=10;
M1=0.02; M2=0.0005;
b1=410e-03;b2=4.1e-03;
t=[0:0.001:1.5];
% state apace Model
A=[0 0 1 0;0 0 0 1;-k/M1 k/M1 -b1/M1 0;
k/M2 -k/M2 0 -b2/M2];
B=[0;0;1/M1;0]; C=[0 0 0 1]; D=[0j;
sys=ss(A,B,C,D);
% Simulated Step Response
y=step(sys,t); plot(t,y); grid
Response of y for a step input for the
xlabel(Time (s)'), ylabel('y dot (m/s)') two-mass model with k =10.

Using MATLAB
Missile tracking a maneuvering Aircraft
• The pilot of the aircraft provides an
input vector, u(t), to the aircraft
represented as (Aa, Ba, Ca, Da).
• The input vector, u(t), consists of
the aircraft pilot's deflection of the
rudder and the aileron.
• The motion of the aircraft is
described by the vector, yd(t),
which is the desired output of the
missile, i.e. the missile's motion -
described by the output vector, y
( t ) - should closely follow that of
the aircraft.
• The output vector, y(t), consists of
the missile's linear and angular
velocities with respect to three
mutually perpendicular axes
attached to the missile's center of Block diagram for the aircraft-missile control system
gravity - a total of six output
variables.
MATLAB Simulation of State variable Model 126

Using MATLAB
• The state-space representation for the missile is (Am, Bm, Cm, Dm).
• The missile is controlled by a feedback controller with the state-space representation (Ac,
Bc, Cc, Dc) whose task is to ultimately make y(t) = yd(t), i.e. cause the missile to hit the
maneuvering aircraft.
• The system matrices representing the aircraft are as follows:

Using MATLAB
Aircraft Model:
Aa = [-0.01 -0.1 0 0 0 0 0;0 -0.4158 1.025 0 0 0 0;0 0.05 -0.8302 0 0 0 0; 0 0 0 -0.56 -1 0.08 0.04;
0 0 0 0.6 -0.12 -0.3 0;0 0 0 -5 0.4 -0.47 0;0 0 0 0 0.08 1 0]
Ba=[0 0;0 0;0 0;0.730 0.0001;-4.8 1.2;1.5 10;0 0]
Ca=[1 0 0 0 0 0 0;0 0 0 250 0 0 0;0 250 0 0 0 0 0;0 0 0 0 0 1 0;0 0 1 0 0 0 0;0 0 0 0 1 0 0]
Da=zeros(6,2)
>> eig(Aa)
ans =
-0.0100 + 0.0000i
-0.3161 + 0.0000i
-0.9299 + 0.0000i
0.0611 + 1.2858i
0.0611 - 1.2858i
-1.2681 + 0.0000i
-0.0041 + 0.0000i

Using MATLAB
• The system matrices representing the missile are as follows:

Using MATLAB
Missile Model:
Am=[0.4743 0 0.0073 0 0 0;0 -0.496 0 0 0 0;-0.0368 0 -0.496 0 0 0;0 -0.0015 0 -0.0008 0 0.0002
0 0 -0.2094 0 -0.0005 0;0 -0.2094 0 0 0 -0.0005]
Bm=[0 0 0;191.1918 0 0;0 191.1918 0;0 0 1;0 232.5772 0;232.5772 0 0]
Cm=eye(6), Dm=zeros(6,3)
>> eig(Am)
ans =
-0.0005
0.4740
-0.4957
-0.0008
-0.0005
-0.4960

Using MATLAB
• The system matrices representing the controller are as follows:

Using MATLAB
Controller Model:
Ac=[0 0 0 1 0 0;0 0 0 0 1 0;0 0 0 0 0 1;-1 0 0 -0.3 0 0;0 -1 0 0 -0.3 0;0 0 -1 0 0 -0.3]
Bc=[zeros(3,6);0 0 0 0 0 0.0001;0.6774 0 0.0052 0 -0.0001 0;zeros(1,6)]
Cc=[eye(3) zeros(3)]; Dc=zeros(3,6)
>> eig(Ac)
ans =
-0.1500 + 0.9887i
-0.1500 - 0.9887i
-0.1500 + 0.9887i
-0.1500 - 0.9887i
-0.1500 + 0.9887i
-0.1500 - 0.9887i

Using MATLAB
sysc=ss(Ac,Bc,Cc,Dc) ; sysm=ss(Am,Bm,Cm,Dm) ; sysa=ss(Aa,Ba,Ca,Da);

sysO = series(sysc,sysm) ; sys1=ss(eye(size(sysO) ) )
sysCL=feedback(sysO,sys1 );
syst=series(sysa, sysCL)
[a,b,c,d]=ssdata(syst); damp(a)
• The total system, syst, is of order 19, which is
the sum of the individual orders of the sub-
systems.
• If the entire system, syst, is asymptotically
stable, the missile will ultimately hit the
aircraft, irrespective of the pilot’s inputs to the
aircraft.
• To analyze whether the pilot can escape the
missile by maneuvering the aircraft with the
help of rudder and aileron inputs, let us find
the eigenvalues of the entire system as
follows:
133
MATLAB Simulation of State variable Model
Using MATLAB
>> [a,b,c,d]=ssdata(syst); damp(a)
Pole Damping Frequency Time Constant
(rad/TimeUnit) (TimeUnit)
-8.00e-04 1.00e+00 8.00e-04 1.25e+03

-1.39e-01 + 9.89e-01i 1.39e-01 9.99e-01 7.21e+00
-1.39e-01 - 9.89e-01i 1.39e-01 9.99e-01 7.21e+00
-5.04e-01 1.00e+00 5.04e-01 1.99e+00
-1.55e-02 1.00e+00 1.55e-02 6.45e+01
-5.50e-01 1.00e+00 5.50e-01 1.82e+00
3.06e-01 + 1.02e+00i -2.88e-01 1.06e+00 -3.27e+00
3.06e-01 - 1.02e+00i -2.88e-01 1.06e+00 -3.27e+00
-3.69e-01 1.00e+00 3.69e-01 2.71e+00
-1.62e-02 1.00e+00 1.62e-02 6.19e+01 • There are four eigenvalues or poles of the system
-1.50e-01 + 9.89e-01i 1.50e-01 1.00e+00 6.67e+00 which are unstable.
-1.50e-01 - 9.89e-01i 1.50e-01 1.00e+00 6.67e+00 • Thus it is possible that the pilot can escape the
-1.00e-02 1.00e+00 1.00e-02 1.00e+02 missile.
-3.16e-01 1.00e+00 3.16e-01 3.16e+00
-9.30e-01 1.00e+00 9.30e-01 1.08e+00 • This means that the controller has to be
6.11e-02 + 1.29e+00i -4.75e-02 1.29e+00 -1.64e+01 redesigned, such that the entire system is stable.
6.11e-02 - 1.29e+00i -4.75e-02 1.29e+00 -1.64e+01 • This way the missile would be able to hit the
-1.27e+00 1.00e+00 1.27e+00 7.89e-01 aircraft.
-4.14e-03 1.00e+00 4.14e-03 2.42e+02
134
Using MATLAB
Vectored thrust aircraft
The Harrier AV-8B military aircraft
• redirects its engine thrust downward so that it can “hover”
above the ground. Some air from the engine is diverted to
the wing tips to be used for maneuvering.
• As shown in (b), the net thrust on the aircraft can be
decomposed into a horizontal force F1 and a vertical force
F2 acting at a distance r from the center of mass. The Harrier AV-8B military aircraft
• Let (x, y, θ) denote the position and orientation of the

center of mass of the aircraft. Let m be the mass of the
vehicle, J the moment of inertia, g the gravitational
constant and c the damping coefficient.
• Then the equations of motion for the vehicle are given by
Simplified model

Using MATLAB
• Letting u1 = F1 and u2 = F2 −mg, the equations become
• These equations describe the motion of the vehicle as a The Harrier AV-8B military aircraft
set of three coupled second order differential equations.
• In state space form,
Simplified model

Using MATLAB
Given the system parameters as m = 4 kg, J = 0.0475 kg m2, r = 0.25 m, g
= 9.8 m/s2, c = 0.05 N s/m, which corresponds to a scaled model of the
system.
The Harrier AV-8B military aircraft
Simplified model

Using MATLAB
Using MATLAB
m = 4;J = 0.0475; r = 0.25; g = 9.8; c = 0.05
A=[0 0 0 1 0 0;0 0 0 0 1 0;0 0 0 0 0 1;0 0 –g –c/m 0 0;
0 0 0 0 –c/m 0;0 0 0 0 0 0]
B=[0 0; 0 0;0 0;1/m 0;0 1/m;r/J 0] The Harrier AV-8B military aircraft
C=[1 0 0 0 0 0;0 1 0 0 0 0], D=zeros(2,2)

sys=ss(A,B,C,D);
eig(A)
step(sys)
Simplified model

Using MATLAB
Using MATLAB
B=
A=
0 0
0 0 0 1.0000 0 0 0 0
0 0 0 0 1.0000 0 0 0
0 0 0 0 0 1.0000 0.2500 0
0 0 -9.8000 -0.0125 0 0 0 0.2500
0 0 0 0 -0.0125 0 5.2632 0
0 0 0 0 0 0
eig(A)
C=
ans =
0 1 0 0 0 0 0
0 0 1 0 0 0 0
-0.0125
0
-0.0125
0

Using MATLAB
eig(A)
ans =
0
0
-0.0125
0
-0.0125
0

REVIEW SLIDES

MODELING OF LINEAR CONTROL SYSTEMS
• Differential equation
• Transfer function
• Frequency characteristic
• State Variables
Study Linear system study

time-domain frequency-domain
response response
Transfer Differential Frequency

function Laplace equation Fourier characteristic
transform transform

Modeling Methods: Analytic Method
According to
A. Newton’s Law of Motion
B. Law of Kirchhoff
C. System structure and parameters
the mathematical expression of
system input and output can be
derived.
Thus, we build the mathematical
model ( suitable for simple systems).

Modeling Methods: System Identification
Building the system model based on the
system input—output signal
This method is usually applied when there
are little information available for the
system.
Input Output Neural
Black box Networks, Fuzzy
Systems
Black box: the system is totally unknown.
Grey box: the system is partially known.

MODELING OF ELECTRICAL ELEMENTS

BASIC LAWS OF ELECTRIC CIRCUITS
148
MODELING OF MECHANICAL ELEMENTS
149
150




155
MATRIX RANK
Properties of Matrix Rank

State Variable Modeling of Non-linear Systems :
Two-link robotic manipulator
where
The coordinates q1 and q2 denote the angular location of the first and second links
relative to the local vertical, respectively. The second link includes a payload located
at its end. The masses of the first and the second links are m1 and m2, respectively.
The moments of inertia of the first and the second links about their centers of mass
are I1 and I2, respectively. The locations of the center of mass of links one and two are
determined by l and l , respectively; l is the length of link 1.
Given the linear time-invariant system
The states solution is given by:
ᵡ
The output solution is given by:

Solution of Uncontrolled (Homogeneous) System


and is called the state transition matrix because it relates the

state at any instant of time t0 to the state at any other time t.
• The Laplace transform of the state equation:
and the inverse transform yields

Solution of Uncontrolled System
NOTE1: The exponential term eat may be expanded as a power
series, to give:
eat
Similarly for matrix A,
eAt

Solution of Controlled (Forced) System
Consider the state model of a controlled dynamical system,
We then rearrange the above equation as
We can represent (A.150) in the form

Integrating both sides of the resulting equation gives
If the initial condition is x(t0) = x0, then integration from t0 to t yields

As in the case of the uncontrolled system, we can also use the Laplace
transform technique to obtain the solution to (A.149) subject to the initial
condition x(0) = x0.
If x0 = x(t0), then


3.state Space Modeling

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RIT Dubai

Electrical Engineering Program

Dorf and Bishop,

Modern Control Theory 3

Single Input-Single Output (SISO) Control System

Single Input-Multiple Outputs Control Systems

EE 0301-761 Modern Control Theory 4

Multiple Inputs-Single Output (MISO) Control System

Multiple Inputs-Multiple Outputs(MIMO) Control Systems

Modern Control Theory 5

EE 0301-761 Modern Control Theory 6

• Differential Equations (ODE, PDE)

Modern Control Theory 7

Why State Space (Variables) Model?

Modern Control Theory 12

Modern Control Theory 13

Modern Control Theory 14

Why State Space (Variables) Model?

Why State Space (Variables) Model?

• The system is internally unstable BUT externally STABLE

Modern Control Theory 16

Why State Space (Variables) Model? Example 2

State-space description Internal behavior description

Why State Space (Variables) Model?

Modern Control Theory 18

• In an actual system, there are several choices of a set

n: number of state variables, m: number of inputs.

• The column matrix  x1  • The vector of

• In general, the outputs of a linear system can be related to

vector form as .

Procedure for state variable modeling

Modern Control Theory 25

Modern Control Theory 26

Modern Control Theory 27

Modern Control Theory 28

Modern Control Theory 29

Modern Control Theory 30

State Variable (SV) Definitions

Modern Control Theory 31

Modern Control Theory 32

State Variables of a Dynamic System

Modern Control Theory 33

Modern Control Theory 34

State Variable (SV) Descriptions

Modern Control Theory 35

State Variable (SV) Descriptions

Modern Control Theory 36

How to determine the state variable model of a system?

1.From Physical Systems directly

Modern Control Theory 37

1. Determination of the system order n and

Modern Control Theory 38

1. State Variables from Differential Equations:

• A system described by a • 3 state variables

• State Variable Model: • Output equation:

Modern Control Theory 39

1. State Variables from Differential Equations:

• A system described by an ODE:

Compute its State variable model. Let

Modern Control Theory 40

2. State Variable Model from Physical Systems:

2. State Variable Model from Physical Systems: