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State Space Control System

The document discusses the state space representation of control systems, detailing the formulation of state equations and their matrix forms. It covers concepts such as controllability and observability, providing equations and conditions necessary for analyzing the system's behavior. Additionally, it addresses the transfer function and feedback mechanisms within the context of state variable models.

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Manu Singh
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5 views

State Space Control System

The document discusses the state space representation of control systems, detailing the formulation of state equations and their matrix forms. It covers concepts such as controllability and observability, providing equations and conditions necessary for analyzing the system's behavior. Additionally, it addresses the transfer function and feedback mechanisms within the context of state variable models.

Uploaded by

Manu Singh
Copyright
© © All Rights Reserved
Available Formats
Download as PDF or read online on Scribd
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ISTATE SpACE ANALYSIS OF CONTROL SYSTEM The Representation of a wel ordec clifferential eqn based on state Space opproach is olotatyed below — 2x Ct) da(ty = 0 ae +e SE rext= ult) —o if tnittal condition Given as — dz 26 and xy =0 at t=o lt Pe) LoL ax cle Fora t a ee ee) let 2xQ@) = x, and dxlw _ x —— = SO, block %, 0, Cc! chegran eax > TRE dynamic €q7 can be wathe ag — X= % —@® feb i) go ZIT Be Rah aq ult) —& ta Metrix form [] = tL = /0 ue o ° a 1 iG hsb [-]+ 4 [ue a a a Eq: is Known as Atte &pace Representatioy of Syslem Given by eqn @- ¥otate Space Re presentattoy of nt oyder different, equatioy —p “I | a Me tiy op amy = uly aen bent o S Enittel » lyr dry S Conditons en We aarti ee Given. Also “Terms yo, Gl, <= yn Ut) can be Considered as Q set of nm stale Variables. Now = Z ee d= % ey Sey Y= Can Wai ten ae xX ' ag a i AY ge = Xp Sn-— = ey, A = Iso 2%, = An, mea — 9) 2n-) =o A General Ge ee of Above eqn Can expressed tn -form of- state equatoy as_ m= An Bu Here» = a And Az 0 1--0d _ A © o-~Lol? B=] 0 : 9 e-04 dag in uo vee KA} 9 " Xe Qt Ah ain coh vo +) wees) U— Conto| (scalar) bY The output eqn is Given by — x ieee oro oJ % ial ‘ —— © Cx (Len Matrix Scalar J gesiate space Reprecentatioy -for electrical NI» —> >i —¥4 Ye BY The eqn of dy naaic behaviowr of Syslem ae - Vigo e, avn +t =o —O R abt } s dvs War a0 ® at Ra a o4y-y =O ® ae By Reanraugirf atl eqn we finds — vi ¢ € dv) - -s= - = RG ree icy ee at Ro Cn —® oe ieee at = + let zr = My X25 Vo X = t se yo tt xy —-+—x% + e | — Racy CL Rich ° _— 4 . ' % = iT 2 x~3 ee aucs Co “re = tee he 2% Fae Tet vector-mertrix form gtate space Repyesentatioy x pee o -t |) i EC = Rig ' xy 2 : ° = + a 4, 2a Se nee ei 0 oe | L [E, | | + ft j Rac. —t aca} 6 ( ° tt fs fa relatiou to tronsfx of a sys lem -from one | state +0 another by appropriate input Conte) in a finite time. Now taxing a block diagram Representatoy os — OG) eS 2oe i ee ta —@ = 2% diagram it Ls noted that Stocte x, is operate x fom bs initiqs state x2 (to) +o final fe x2 (+5) w ler, Consider Follows state equations as ~ % = AL+ Bu —-@ ¢ = ct + dU ——@® we velocity vector (nx/) 2% = State vectoy (x1) i = inpar Viecho? (x43 | ¢ = owipur veetor (px4) A, Bi Ci D = Marefy (nny 1X. PX, Pxkn | a Ae spectively 5 | ele) x(n) | x xu Couhel] of State Vector. | oe *O) = Arey + BUlo) ~@) = Ax + Buly = ala x0) + BA(o)] +BuUL) | x1) = AxXQ) + Bua) = Ara 2 FBUu(I) : + Bu) xin) = AY x(0) + A! BUlo) FAT ?BU (I) + +84] . Ulm) "7 = : 1A2g:--- Ane, This x(n) - Px) = [8 06:Ade: ~ Tae ours Con cezned ane the obsecvaritifg | ey eee Equatioy x, = —2X, FU ——O % = 2H rk, ——O Here fate x, not connecia| to ouput =b g meastured » %)\ is Known but x Cann't measures, So only Lt Con be Observed. “$M = AX+BU —@ YS pce. —@ Where 2. = velocitG veetor (nx1) input vector (x1) " stot veetor (nXx)) outpet vector (px) Pp ack & ul ,B,C = matasx (nen, nxm, Pxn) By definitioy Yo) = Cx(0) ya) = Cxa) eg Bye 4x00) YQ) = cA? (Xo) j —® S-1) = can! w(o) r ¥(o) c ya) a vi) | car | % 2) ¥(n-1), car-] y unique dleterminactioy of state. x00) tue NaTEX Eni st have jnverse, — c oo. ele have Q vouk=n so cae fe or fs a square Mabex A ; so rt chould be non singub carl for ovservabitily * > que Mataix is colled observabitity tet alsin: ane it con sewaite as — Tr atcl: i tat! chia’ : (AD) oT, (A) OT oh = r+ obecsva itity cond tHoy fs satisfied v be of 6ank7 ay fe sald thot ca ts observable palas { . Ex» check observatitiy tr X= Mr X = —2x,—- 3% +u it Y= xy tee, 2 {3 = grok eo " CC; 4 boo ae te — RoR Cae eas 7 — ae) a, J I r Co oa | —- Oo 1 ee 1 oe be uy 3 . a. = ics a! in Cc. - qe csi al ti < " (eal ° a DR, 8 = 1 a i 1 b tu Aowk of Matix Is not equal to n So Ur is Unobservalle sys Transfer Mactsin —> E Re Motels eleting laplace +aausform of owlput +o laplace traneform rtof input of State space Represeatatio, of 4 Control System Called transfee Matrix 1 Tle State eq of a syslem is given as — wile Aut Bu = 70 yo= Ger ou ——& | i state Vector (X)) = inpat'; y= output : Where a ‘matrix (nxn) Matrix (1¥n) = ¢calan Matrix Ci 2 ok a ow taking lap lace 4ransformatioy of Both sidle of suotions @ and @ — Sx(s) xo) = ARG) TF avis) —@ yis) = Cx + BUCS) —© AS per definitioy of trousfer #7 %(0)=0 Sx(s) = AX(s) + BULS) a + DU and Als ui) = (st-Ay' BU(S) puce | yids Value tu eq” @ We have- y(s) =[¢ (sT-ay! B+ DJ U(s) 4 ° _ Ys) ade Nal] Taansfer functong GCs) = TOW) Neb. ats) = MS = e(st-aylg —@ v(s) | Te afer £9 in 3 AW = AN-GA fo, & . - The state model of SI¢o (single -input- single —cutpur) is. Given by - x= Ax + BU i Y= cx Choracteristics polynomias of cys le is Jazt-aA] =o Tae eisay values of System Mats, A ate Aoots Of Cchanacieuist’s eqn of closed [oop Poles of Systea- here system matrices A&B should form 4 | contobabie paix for applying Stare variable ‘feed back: Ww 8 Ko i w= Axt Ww ed e@ = Ax t+ B(4-kKX) = (A-BK)x + BA \ system : Motux Tex cigan values oF Moth (A-BK) Cau ea ad?u sted by ey tee feedback Gaim Mate k Now on Opplicetioy of State variable feedback +H Characteristics Polynornial is - [st - CA-8x)| —o Here feedback, Gain mebtly K Cau be determined &) Dekrmine Her“ Chancicterst os pelmorial aL | pet desi rec Closed —loop pole tocattey. Le Petermine characteristics _polynomia| in Wot j terms: ‘OF “Feedlloack os Halal k. \— Compare cofficieuts of Oia G polynomiat we sRe DM aol @ rte feedback Gain Maliiy k lofted. Maiti.

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