MODERN CONTROL ENGINEERING

 OUTLINE

• STATE SPACE CONCEPT

• STABILITY

• OPTIMAL CONTROL
 STATE SPACE CONTROL

 DRAWBACKS OF CLASSICAL CONCEPT

 CONCEPT OF STATE SPACE

 MATLAB

 SYSTEM MODELING
 RECOMMENDED TEXT BOOKS

 Modern Control Engineering, (5th Edition)

By: Katsuhiko Ogata.

 Control Systems Engineering, (6th Edition)

By: Norman S. Nise

CLASSICAL CONCEPT OF TRANSFER FUNCTION

 The techniques for analysis and design of

classical control
• Root locus plots

• Nyquist plots

• Bode plots
 DRABACKS OF CLASSICAL CONCEPT OF TRANSFER
FUNCTION

 Defined under zero initial conditions

 The transfer function is applicable only to LTI

systems
 Trial-and-error procedures i.e. restricted to
SISO systems
 It reveals only the system output for a given
input and provides no information about the
internal behaviour of the system
 IMPLICATIONS OF DRAWBACKS

 Complex for MIMO systems

 May not yield an optimum control system with

respect to performance
 Lack of information on feedback and internal
states may affect stability and performance
 CONCEPT OF STATE SPACE
 In order to overcome these limitations,
especially when dealing with Time-Varying
Systems:
 “SYSTEMS IN WHICH ONE OR MORE OF THE
PARAMETERS VARY WITH TIME”
 The idea of the state-variable was born.

 NOTE: This was very critical in the attempt to

go to space
 CONCEPT OF STATE SPACE
 STATE: “A set of numbers x1 , ..., xn such that
the knowledge of these numbers and the input
functionsu1 , ..., u n  will, with the equations
describing the dynamics, provide the future
state and output  y1 , ..., yn  of the system”

u1 y1
STATE
SYSTEM
un yn

x1 xn
 CONCEPT OF STATE SPACE
 State Variables: The state variables of a
dynamic system are the variables making up the
smallest set of variables that determine the
state of the dynamic system.
 State Vector is thus a vector that determines
uniquely the system state x(t) for any time
t≥t0, once the state at t=t0 is given and the
input u(t) for t≥t0 is specified.
 State Space: The n-dimensional space whose
coordinate axes consist of the x1 axis, x2
axis, ..., xn axis, where x1, x2, ... , xn are
state variables, is called a state space. Any
state can be represented by a point in the
 STATE-SPACE CONCEPTS
 State equations: A set of n simultaneous, first-order
differential equations with n variables, where the n
variables to be solved are the state variables.
 Output equation: The algebraic equation that expresses
the output variables of a system as linear combinations
of the state variables and the inputs.

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 CONCEPT OF STATE SPACE
 In deriving a mathematical model for a physical
system one usually begins with a system of
differential equations.
 We will call this system of differential equations
a state space representation.
 The solution to this system is a vector that
depends on time and which contains enough
information to completely determine the
trajectory of the dynamical system.
 This vector is referred to as the state of the
system, and the components of this vector are
called the state variables
 Advantages of using the state space
representation compared with the classical method
 Ability to handle MIMO systems;
 State system model includes the internal state
variables as well as the output variable;
 State model provides a time-domain solution;
 The form of the solution is the same as for a
single 1st-order differential equation;
 Effect of initial conditions can be easily
incorporated in the solution;
 The matrix/vector modelling is very efficient
from a computational standpoint for computer
implementation 12
 STATE-SPACE CONCEPTS
 State space model: a representation of the
dynamics of an nth order system as a first order
differential equation in an n-vector, which is
called the state.

x  Ax  Bu State Equation

y  Cx  Du Output Equation
x = State Vector
x = Derivative of the State Vector with respect to Time
A= State Matrix (n x n)
B= Input Matrix (n x m)
C= Output Matrix (p x n)
D= Direct Transition Matrix (p x m) 13
 STATE-SPACE CONCEPTS
 The block diagram of the linear, continuous time control
system represented in state space is shown

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 DYNAMIC SYSTEMS
 State equations can be obtained from function
dynamic system of nth order differential
equation
n n 1 n2
d y d y d y dy
an n  an1 n1  an2 n2    a1  a0 y 
dt dt dt dt
m m 1 m2
d u d u d y du
bm m  bm1 m1  bm2 m2    b1  b0u
dt dt dt dt
Where
u = input and
y = output
 (an s  an1s
n n 1
 an2 s n2
     a1s  a0 )Y  s  
m
b s m
 bm 1 s m 1
 bm2 s m2
     b1s  b0 U  s 

Y s

m
b s m
 bm 1 s m 1
 bm2 s m2
     b1s  b0 
U  s  (an s  an1s  an2 s      a1s  a0 )
n n 1 n2

U(s) Y(s)
 DEFINITION OF STATE VARIABLES

y  x1
y x1  x2  x2  x1
y  x2  x3
  x3  x2
y  x3  x4
  x4  x3

x n  a0 x1  a1 x2  a2 x3    an1 xn  u

yn  b0 x1  b1 x2  b2 x3    bn1 xn
 DEFINITION OF STATE VARIABLES

 x1   0 1 0 0    0   x1  0 
 x   0 0 1 0     
0   x1  0  
   2  
 x 3   0 0 0 1    0   x1  0 
      
             
 u
              
      
              
 x   0 0 0 0    0   xn 1  0 
  
n 1
   
 x n   a0 a1 a2 a2    1   xn  1 
DEFINITION OF STATE VARIABLES

 x1 
x 
 2
 x3 
 
  
y  b0 b1 b2     bn 1 
  
 
  
x 
 n 1

 xn 
 Example
 Find the state model of the ff D.E:
5 4 3 2
d y d y d y d y dy
4 5  6 4  3 3  2 2   3 y  4u
dt dt dt dt dt
 NOTE: The number of state variables is
equal to the highest order of the differential

 Example 2: DC MOTOR
 DERIVATION OF TRANSFER FUNCTION
FROM STATE MODEL
 Recall:
  Ax  Bu
x
y  Cx  Du
 Assuming zero initial conditions and Laplace
transforming:

sX ( s )  AX ( s )  BU ( s ) (1)
Y ( s )  CX ( s )  DU ( s ) (2)
 From (1):
X  s  sI  A  BU  s 
 X  s    sI  A BU  s 
1
 Putting (3) into (2)

Y  s   C  sI  A BU  s   DU  s 
1

 Y  s   C  sI  A B  D  U  s 
 1
 
Y s
 T s   C  sI  A B  D
1

U s
In matrix a lg ebra form
adj  sI  A B
T s  C D
det  sI  A
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• The adjoint of a matrix is found by replacing
each element by its co-factor and transposing
(interchanging rows and columns)
1 T
 a11 a13 
a12  c11 c12 c13 
a  
a22 a23  c21 c22 c23 
 21   
 a31 a32 a33   c31 c32 c33 
 c11 c21 c31 

 c12 c22 c32 
 
 c13 c23 c33 
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 MATLAB

 Syntax: [num,den] = ss2tf(A,B,C,D,iu)

 Description: ss2tf converts a state-space model
of a given system to an equivalent transfer
function representation. It returns the transfer
function
Y s
T s   C  sI  A B  D
1

U s

 from the iuth input.

 NOTE: iu must be specified for systems with
more than one input.

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 Vector den contains the coefficients of the
denominator in descending powers of s.
 The numerator coefficients are returned in array
num with as many rows as there are outputs y.
 Ex: Given the state model of a system as follows

 :

  0 1  1 1
X   x  u
 25 4  0 1
1 0 
y  x
0 1 
 Determine the transfer function of the system

25
 MATLAB

• tf2ss: Transfer function to state-space

conversion.
• [A,B,C,D] = tf2ss(num,den)
calculates the state-space representation:
x  Ax  Bu
y  Cx  Du
of the system:
• num  s 
T s 
den  s 
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 ARMATURE CONTROL DC MOTOR

• An armature controlled DC Motor with load

inertia mounted on its shaft is as shown:

27
 The inputs are the armature voltage Ea and the
load torque ΤL.
 The outputs are the motor torque Τm and the
angular speed of the motor,ω.
 Dependent variables are the armature current ia
and the back e.m.f of the motor Eb.
 Ra and La are the electrical resistance and
inductance of the armature circuit
 fo and j are the viscous damping coefficient and
load inertia .
 Km and Kb are the motor and back emf constants
of the motor respectively.