EE-371

LINEAR CONTROL SYSTEMS

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 5
Design via State Space
5.6 Signal-Flow Graphs of State Equations, Page 254
5.7 Alternative Representations in State Space, Page 256

Instructor: Dr. Farid Gul

Class: BEE-2k20-AB
Electrical Engineering Department

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Signal-Flow Graphs of State Equations

 x1   2 5 3   x1   2 
 x    6 2 2   x    5  r
 2   2  
 x 3   1 3 4   x3  7 
 x1 
y  4 6 9  x2 
 x3 

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3
 Alternative Representations in State Space
Phase Variable Form Cascade Form

X 1 (s) 1

X 2 (s) s  4
 s  4  X 1 (s)  X 2 ( s)
sX 1 ( s )  4 X 1 ( s )  X 2 ( s )
x1  4 x1  x2

x  Ax  Bu
y  Cx
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 x1   4 1 0   x1   0 
 x    0 3 1   x    0  r
 2    2  
 x 3   0 0 2   x3   24
 x1 
y  1 0 0  x2 
 x3 

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Parallel Form

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Parallel Form (Repeated pole)

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 Controller Canonical Form

ss-model in phase-variable form

Renumber the phase variables in reverse order Rearrange in ascending numerical order

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Observer Canonical Form

1 7 2 9 26 24
R( s)  2 R( s)  3 R( s )  C (s )  C ( s )  2 C ( s)  3 C ( s )
s s s s s s

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Observer Canonical Form Controller Canonical Form

x1  9 x1  26 x2  24 x3  r
x 2  x1
x 3  x2

y  x1  7 x2  2 x3

 9 26 24  1 

x =  1 0 0  x +  0  r

 0 1 0  0 

y = 1 7 2  x

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Phase Variable Form

Cascade Form Parallel Form

 x1   4 1 0   x1   0 
 x    0 3 1   x    0  r
 2    2  
 x 3   0 0 2   x3   24
 x1 
y  1 0 0  x2 
 x3 

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Phase Variable Form

Controller Canonical Form Observer Canonical Form

 9 26 24  1 
x =  1 0 0  x + 0  r
 0 1 0  0 

y = 1 7 2 x

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???
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