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Chapter 12: Design Via State Space 1

This chapter discusses control system design using state space representation. It covers state feedback control, observer design, and an example of designing an antenna position control system.

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Cesar
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61 views

Chapter 12: Design Via State Space 1

This chapter discusses control system design using state space representation. It covers state feedback control, observer design, and an example of designing an antenna position control system.

Uploaded by

Cesar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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1 Chapter 12: Design via State Space

Chapter 12

Design via State Space

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
2 Chapter 12: Design via State Space

Figure 12.1
An automatic
pharmacy system
showing a robot
picking up drugs
to deposit in
boxes for
individual patients
at a hospital © Dick Blume--Syracuse Newspapers/ The Image Works.

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
3 Chapter 12: Design via State Space

Figure 12.2
a. State-space
representation
of a plant;
b. plant with
state-feedback

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
4 Chapter 12: Design via State Space

Figure 12.3
a. Phase-variable
representation
for plant;
b. plant with
state-variable
feedback

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
5 Chapter 12: Design via State Space

Figure 12.4
a. Phase-variable
representation
for plant of
Example 12.1;
b. plant with
state-variable
feedback

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
6 Chapter 12: Design via State Space

Figure 12.5
Simulation of
closed-loop
system of
Example 12.1

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
7 Chapter 12: Design via State Space

Figure 12.6
Comparison of
a. controllable
and
b. uncontrollable
systems

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
8 Chapter 12: Design via State Space

Figure 12.7
System for
Example 12.2

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
9 Chapter 12: Design via State Space

Figure 12.8
a. Signal-flow
graph in cascade
form for G(s ) =
10/[(s + 1)(s + 2)];
b. system with
state feedback
added

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
10 Chapter 12: Design via State Space

Figure 12.9
Signal-flow graph
for plant of
Example 12.4

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
11 Chapter 12: Design via State Space

Figure 12.10
Designed system
with state-variable
feedback for
Example 12.4

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
12 Chapter 12: Design via State Space

Figure 12.11
State-feedback design
using an observer to
estimate unavailable
state variables:
a. open-loop observer;
b. closed-loop observer;
c. exploded view of a
closed-loop observer,
showing feedback
arrangement to
reduce state-variable
estimation error

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
13 Chapter 12: Design via State Space

Figure 12.12
Third-order
observer in
observer canonical
form:
a. before the
addition of
feedback;
b. after the addition
of feedback

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
14 Chapter 12: Design via State Space

Figure 12.13
a. Signal-flow
graph of a system
using observer
canonical form
variables;
b. additional
feedback to create
observer

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
15 Chapter 12: Design via State Space

Figure 12.14
Simulation showing
response of
observer:
a. closed-loop;
b. open-loop with
observer gains
disconnected

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
16 Chapter 12: Design via State Space

Figure 12.15
Comparison of
a. observable and
b. unobservable
systems

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
17 Chapter 12: Design via State Space

Figure 12.16
System of
Example 12.6

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
18 Chapter 12: Design via State Space

Figure 12.17
System of
Example 12.7

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
19 Chapter 12: Design via State Space

Figure 12.18
Observer design

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
20 Chapter 12: Design via State Space

Figure 12.19
Observer design
step response
simulation:
a. closed-loop
observer;
b. open-loop
observer with
observer gains
disconnected

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
21 Chapter 12: Design via State Space

Figure 12.20
a. Plant;
b. designed
observer
for Example
12.9

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
22 Chapter 12: Design via State Space

Figure 12.21
Integral control for
steady-state error
design

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
23 Chapter 12: Design via State Space

Figure 12.22
Simplified block diagram of antenna
control system shown on the
front endpapers (Configuration 1)
with K = 200

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
24 Chapter 12: Design via State Space

Figure 12.23
Conceptual
state-space
design
configuration,
showing
plant, observer,
and controller

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
25 Chapter 12: Design via State Space

Figure 12.24
Signal-flow graph for
G(s) = 1325/[ s(s2 + 101.71s + 171)]

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
26 Chapter 12: Design via State Space

Figure 12.25
Plant with state-variable
feedback for controller
design

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
27 Chapter 12: Design via State Space

Figure 12.26
Completed
state-space
design for the
antenna azimuth
position control
system, showing
controller and
observer

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
28 Chapter 12: Design via State Space

Figure 12.27
Designed response of
antenna azimuth
position control system:
a. impulse response—
plant and observer
with the same initial
conditions, x1(0) =
b. portion of impulse
response—plant and
observer with different
initial conditions,
x1(0) = 0.006 for
the plant,
for the observer ©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
29 Chapter 12: Design via State Space

Figure P12.1

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
30 Chapter 12: Design via State Space

Figure P12.2
(figure continues)

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
31 Chapter 12: Design via State Space

Figure P12.2
(continued)

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
32 Chapter 12: Design via State Space

Figure P12.3

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
33 Chapter 12: Design via State Space

Figure P12.4

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
34 Chapter 12: Design via State Space

Figure P12.5

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
35 Chapter 12: Design via State Space

Figure P12.6
Block diagram of a
gas-fired heater

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e

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