Scribd
Upload
11 views

statespace

Uploaded by

aravindhgowtham705
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
11 views

statespace

Uploaded by

aravindhgowtham705
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
You are on page 1/ 22

14-10-2023

Control Systems
Engineering

Control system Design using State space Approach

The General State-Space Representation


Now that we have represented a physical network in state space and
have a good idea of the terminology and the concept, let us
summarize and generalize the representation for linear
differential equations.
First, we formalize some of the definitions that we came across in
the last section.
Linear combination. A linear combination of n variables, xi, for i =1
to n, is given by the following sum, S= Knxn + Kn-1xn-1 . ∙ ∙ ∙ +K1x1
where each Ki is a constant.
Linear independence. A set of variables is said to be linearly
independent if none of the variables can be written as a linear
combination of the others.
System variable. Any variable that responds to an input or initial
conditions in a system.

1
14-10-2023

State variables. The smallest set of linearly independent system


variables such that the values of the members of the set at time t0
along with known forcing functions completely determine the
value of all system variables for all t >= t0.
State vector. A vector whose elements are the state variables.
State space. The n-dimensional space whose axes are the state
variables. This is a new term and is illustrated in Figure 3.3, where
the state variables are assumed to be a resistor voltage, vR, and a
capacitor voltage, vC. These variables form the axes of the state
space.
A trajectory can be thought of as being mapped out by the state
vector, x(t), for a range of t. Also shown is the state vector at the
particular time t =4.
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.
Now that the definitions have been formally stated, we define the
state-space representation of a system. A system is represented in state
space by the following equations:

2
14-10-2023

The first step in representing a system is to select the state


vector, which must be chosen according to the following
considerations:
1. A minimum number of state variables must be selected as
components of the state vector.
2. This minimum number of state variables is sufficient to
describe completely the state of the system.
3. The components of the state vector (that is, this minimum
number of state variables) must be linearly independent.

3
14-10-2023

4
14-10-2023

5
14-10-2023

6
14-10-2023

7
14-10-2023

8
14-10-2023

9
14-10-2023

10
14-10-2023

11
14-10-2023

12
14-10-2023

13
14-10-2023

Controllability

14
14-10-2023

15
14-10-2023

Controllability Matrix

16
14-10-2023

Observer Design
Controller design relies upon access to the state variables for
feedback through adjustable gains. This access can be
provided by hardware. For example, gyros can measure
position and velocity on a space vehicle. Sometimes it is
impractical to use this hardware for reasons of cost, accuracy,
or availability.
For example, in powered flight of space vehicles, inertial
measuring units can be used to calculate the acceleration.
However, their alignment deteriorates with time; thus, other
means of measuring acceleration may be desirable (Rockwell
International, 1984).
In other applications, some of the state variables may not
be available at all, or it is too costly to measure them or send
them to the controller.

If the state variables are not available because of system configuration or cost,
it is possible to estimate the states. Estimated states, rather than actual states,
are then fed to the controller.
One scheme is shown in Figure 12.11(a). An observer, sometimes called an
estimator, is used to calculate state variables that are not accessible from the
plant. Here the observer is a model of the plant.

17
14-10-2023

Observability

18
14-10-2023

The Observability Matrix


Again, as for controllability, systems represented in other than
diagonalized form cannot be reliably evaluated for observability by
inspection.
In order to determine observability for systems under any
representation or choice of state variables, a matrix can be
derived that must have a particular property if all state variables
are to be observed at the output.
We now state the requirements for observability, including the
form, property, and name of this matrix.

19
14-10-2023

20
14-10-2023

21
14-10-2023

22

You might also like