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Lecture (4) Mathematical Modeling in Mechanical and Electrical System

This document introduces the state space method for modeling mechanical and electrical systems. The state space representation replaces higher order differential equations with sets of first order equations. It represents a system using state variables, input variables, output variables, and matrices relating their rates of change. The state space model consists of a state equation describing the rates of change of the state variables, and an output equation relating the output variables to the states and inputs. Converting between state space and transfer function models allows analysis and design of linear time invariant systems using either representation.

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Abdullah Mohammed Alsaadouni
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40 views

Lecture (4) Mathematical Modeling in Mechanical and Electrical System

This document introduces the state space method for modeling mechanical and electrical systems. The state space representation replaces higher order differential equations with sets of first order equations. It represents a system using state variables, input variables, output variables, and matrices relating their rates of change. The state space model consists of a state equation describing the rates of change of the state variables, and an output equation relating the output variables to the states and inputs. Converting between state space and transfer function models allows analysis and design of linear time invariant systems using either representation.

Uploaded by

Abdullah Mohammed Alsaadouni
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture(4)

Mathematical Modeling in Mechanical and Electrical system


Definitions
System state: minimum information needed in order to completely determine the output of a
system from a given moment, provided the input is known from that moment
System variable: any variable that responds to an input or initial conditions in a system
State variables: the smallest set of linearly independent system variables such that the values of
the set members at time t0 along with known inputs completely determine the value of all system
variables for all t≥t0
State vector: vector whose elements are the state variables
State space: n-dimensional space whose axes represent the state variables
State equations: set of n simultaneous, first order differential equations with n variables, where
the n variables to be solved are the state variables
Output equation: algebraic expression of the output variables of a system as linear
combinations of the state variables and the inputs

As systems become more complex, representing them with differential equations or transfer
functions becomes cumbersome. This is even more true if the system has multiple inputs and
outputs. This document introduces the state space method which largely alleviates this
problem. The state space representation of a system replaces an nth order differential equation
with a single first order matrix differential equation. The state space representation of a system
is given by two equations

In control engineering, a state-space representation is a mathematical model of a physical


system as a set of input, output and state variables related by first-order differential equations or
difference equations. ... To abstract from the number of inputs, outputs and states, these variables
are expressed as vectors

Consider state space system as below


̇( ) ( ) ( )

( ) ( ) ( )
-The first equation is called the state equation,
-the second equation is called the output equation.
For an nth order system (i.e., it can be represented by an nth order differential equation)
with r inputs and m outputs the size of each of the matrices is as follows:

Where

 x is nx1 (n rows by 1 column); x is called the state vector, it is a function of time


 A is system matrix n×n, constant
 B is input matrix n×r

 D is feed forward matrix m×r
 u is rx1; u is the input, a function of time
 y is mx1; y is the output, a function of time

Derive a state space model for the system shown. The input is ia and the output is e2.

There are three energy storage elements, so we expect three state equations. Try choosing
i1, i2 and e1 as state variables. Now we want equations for their derivatives. The voltage
across the inductor L2 is e1 (which is one of our state variables)

so our first state variable equation is

If we sum currents into the node labeled n1 we get

This equation has our input (ia) and two state variable (iL2 and iL1) and the current through
the capacitor. So from this we can get our second state equation

Our third, and final, state equation we get by writing an equation for the voltage across
L1 (which is e2) in terms of our other state variables
We also need an output equation:

So our state space representation becomes

Consider an 4th order system represented by a single 4th order differential equation
with input x and output z.

We can define 4 new variables, q1 through q4.

but

We can now rewrite the 4th order differential equation as 4 first order equations

This is compactly written in state space format as


with

Conversion between state space and transfer function

Taking Laplace transform (with zero initial conditions)

The state equation can be placed in the form

Pre-multiplying both sides by

Substituting for X (s) in the output equation,

Ex1: consider state space system as below find T.F


Solution:

Steps of control design:

a) Modeling :equation of motion of the system (electrical, mechanical, microcontroller ,…)


b) Analysis: test system behavior
c) Design: design a controller to achieve the required specification
d) Implementation: build the design controller
e) Validation: test overall system in state space modeling ,analysis, design in time domain
There are two methods to represent system
1- State variable method
2- Linear time invariant (LTI)

Ex2:
Find a state-space representation of the system shown in the figure if the output is the current
through the resistor.

Note: Video Lec 5 include assignement problem at it's END

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