Tz madern approach, the state spate introduce in this chopter deals wth the formulation of state model of a control system. The solution of state equation through state transition matrix can be ‘obtained. Similarly transformation transforms state transition matrix into @ diagonal form. The diagonalization methods are explained. The transfer function can be obtained for a given control system from the state model using transfer matrix. The chapter concludes with the determination of controllability and observabilty of a state model. Stale Space Representation The Concept of Sate ‘State Space Representation of Systems Block Diagram fr Sate Equation Transfer Function Decompostion Solution of State Equation Tranter Matic Controtabity Obsenabity Solved Examples Stale Variable Feexback Introduction. The analysis of control systems carried out in earlier chapters is based on transfer functions and graphical approach such as root locus, Bode and Nyquist plot. The input output relations are in the form of transfer function. In this approach of analysis initial conditions are considered zero meaning that the system is initially at rest and the time solution obtained is in a general form due to input only. However, for multiple-input multiple-output and systems initially not at rest, the transfer function approach for artalysis, is inadequate and not convenient. 382 nowledg Th Kdomain by uitable s land right fbutput sy Whe repre lebtained bith initi The shown in] Letn approach. The state be eunder can be conver used for analysis of control system with basic jowledge of matrix algebra. ‘The anal control system using state space appréac ied out in system in the form of first order differential rein first orde tive terms are arranged on left hand side ives, The variables in such a form of ate space approach multiple input- multiple- sm equations ean be arran matrix form which facilitates their soluti EEG State SPACE REPRESENTATIO! ‘tation of a second order differenti obtained below ‘The differential equation under considerati s (9. The block diag : g. 9.1.1 Fig. 9.1.2. eoresentation ofc dynamic equations describing t n equations can be written as (9.3) (94 (93) andLinea Corton Svorens representation given by kc "2 representation of n by 1 AEG THE CONCEPT OF STATE The dynamic behaviour of the sys (9.1) can be determine At any instant of time ¢ given by the values ed state variables, The dy Fig. 9.2.1. Path traced by state vector. jowledge stant of time ¢ > t, the state vecto The tes Let e state of a system at the sum of si s known as stai A gent ate vector thus s state space mple the definitions (2) State Variab ich determine the state of aIhnhoniicnoh 16 Stare Seace Auntvais 6= Control Syston Ea (2) State. “The state of a system is the smallest set of state variabl ‘knowledge of these variables determines the behaviour of t such that the f, (initial condition) together with the inputs eompletely system for any time t > t, (3) State Vector. “Ifn state variables are necessary to determine the behaviour of a iziven system, the variables can be considered as n components of a vector called state veetor” (4) State Space. “The n dimensional state variables are elements of n dimensional space called state space IEEE STATE SPACE REPRESENTATION OF SYSTEMS __ (1) State space representation of nth order differential equation. The nth Sifferential equation is given below aap att a It is noted that the input is u(t) and the initial conditions a0) a"y00) tae ‘The dynamic behaviour of differential Eq. (9.6) (0), at =Oare given, can be completely determined from the sewing ruts SONG The terms y(t), it) Let \(f) can be considered as a set of n state variables. ‘The set of Eqs. (9.6a) can be written as (7) A general representation of set of Eqn. ed in the form of a state uation as x + BuShoot Sic(8) State space representation for transfer funetion. The transfer function of a control system can be represented in the form of a state block diagram wherein the variable appeering at the output of each intogrator is considered as state variable and state space representation obtained therefrom, Consider the following transfer function 1 (9.18) ‘The corresponding differential equation for the above transfer funetion is cde To draw the state block diagram the equation above is rearranged below de ae eget Na The state block diagram is shown in Fig. 9.3 ‘The output of last integrator gives the output c. The output of each integrator is assigned a state variable in ascending order from right to left as shown in Fig. 9.3.2, As per the block diagram, the state equations for the system are Fig. 9.32. State block diagram for Pela + ayldelat) + a5c r ‘The output is denoted by y. Therefore,Ener Covel Svsrevs As per above equations, the state model in vector-matrix form is given below On reversing the order of state variables i.e, assigning the integrator output by a st variable in descending order from right to left. Denoting ¥, in place of, and % for x», the state equations are and y=% ‘The state model in vector-matrix for1 ate model (2) can be obtained from (1) by applying similarity transformation x=Px fo. 1] l1 0 where P Es x=Ax+Bu substitute x= Px PX =APE+Bu on pre multiplying by P-! =PIAPX+P7Bu inimebui The per the sia On xe icorrespondiIhmmopuctiow 10 StATE Smack Aunuvass oF Contho. SverENe | 389 | ofr lle] jean be rearranged a Fig. 9.3.3, State block diagram for dcfat?+ ade/dt) = oper The output is denoted as y. Therefore, ‘As per above ions, the state model in vector-matrix form is given below On reversing the order of state variables in the state block diagram Fig. 9.3.3, the corresponding state model is given belowA The characteristic polynomial for the trans ral, the nth order polynomial en above contains upper elements of the diagonal as unity and the last row cons elements are zero ‘The system matrix A given above con the first row consists of negative coeffi clement: For the case (1) and (2), form, Also known as companion for ‘stem matrix. the last column consists of ne} elements are zero. For the ease (3) and (4), the s rm, Also known as companion form 2. of the characteristic polynomial. All othe he diagonal as unity an: ¢ polynomial. All othi matrix A is known to be in Observable Canonicalnot same, though have hat stem t pplication The overall transfe technique. In this r 9.20) The term refers t input. The notations P, (forward path gain), 4 factor) and A(g sn explained in chapter 3. is also termed as sta ing well as to forward red. This reduc a The signal flow gra On multiplying the n 0 o. ove transfer funetion is rewritten as ascending oF denoted ‘The state Fig. 9.3.4, State signal flow graph (controllable canonical form).Linea Contace Svsre 1 On reversing the order of state variables ie. replacing x, and % state model takes the form given below For the transfer function a RG) 1 the state signal flow graph is drawn in a different way as shown in Fig. 9.3.5. ‘The output of cach integrator is assigned a state variable as shown in Fig, 9.3.5. T and input are y and r respectively equation are and the output equation Fig. 9.35. state sgn flow er0ph S . fa (observable canonical form). In veetor-matrix form the state model is given below On reversing the order of stat nal flow graph ie, replacing and x, by %, the state model [EEN BLOCK DIAGRAM FOR STATE EQUATION ‘The state space representation of multiple input multiple output (MIMO) system is given bs the following equations Ax+Bu (9.2 9.22%ft . Rh ee ikl) i hk. IntmooucTion ro Stare Srack Ankivsis oF Contmoe SyaveNs Z Ea where x= state vector (n x 1 = control veetor (m x 1) output veet A= system matrix (n xn put matrix (n xm), = output matrix (p xn) D = Input output coupling matrix (rx m) ‘The block diagram for the system based on 9.21) and (9.22) is shown in Fig. 9.4.1, broad arrows represent vector quantitie Fig. 8.4.1. Block diagram for state Eqs. (9.21) and (9.22) representing ‘multipie-input multiple-output system. In most of single-input-single-output (SISO) sy combination of state variables, as such D is a SISO systom is given by ‘ems, the output consists of linear null matrix. Therefore, the state model of a X= Ax+ Bu (9.23) (9.24) where tate vector (n x 1 u = control (sealar) output (scalar), A= matrix (n x n) trix (n x 1), C= matrix (1x n) The block diagram for the SI com based on E 9.23) and (9.24) is shown Fig. 9.4.2. Block representation diagram for state Eqs (9.23) and (8.24) representing SISO system, The process of obtaining state model from the transfer function is called transfer fun decomposition. Let the given transfer funetion be Ys) _To obta 9.5.1 Direct decomposition ct decor Fig. 8.5.2. Block diagram representation ‘vanster Gis Conan Siereve netion (9.28)(9.30) i.e, 2el(s? + 25 + 8) is the twice m is available as the input to the last integrat ion to transfer function (9.30) Fig. 9.5.4. Block diagram represent for transfer function (9.30)| 306 | Lea Connon Svsre "he output of each integrator The output equation is ‘The state model 9.5.2 Cascade decomposition In the case of cascade decomposition, the transfer function is given in the following form For decomposition of the transfer e output of the term Ms + given as input to U(s + 3) and the outp’ is given as input to U(s + 4). The outp {'the term 1/(s + 4) is the system outpu justrated in Fig. 9.5. Fig. 9.5.5 Block diagram for the transfer function (9.33) output of each intes d a state variable as shown in equations based on F are given below The output equa The coefficients of matrix A ofa state equation, obtained as per cascade decom of the transfor function give a triangular matrix known as pole-zero form.Innhopucriow ro Stare Space ANALISIS oF Contnon Sv Ea 9.5.3 Parallel decomposition omposition of a transfer function is carried into partial fractio: Let the transfer ut by spliting the given transfer (9.38: +4) ition process for each term of the tr nétion (9.36) is shown in Fig. 9.5.6. lock diagram for transfer function (2.36) The output of each in| sssigned a state variable as shown in Fig. 9 the state equations ar output equation is The state model coefficient ma per parallel decomposit is a diagonal one a al or diagonal or partial fraction expansion form.8.5.4 Parallel decomposition of a transfer function having repeated roots of its characteristic equation The ‘omposi Fig. 95.7. jon for transfer function (9.38), Itis not 0), (9.24) and9.5.5 Transfer function decomposition using State Signal Flow graph 1) Direct decomposition (a) The state model for the tr Ys 1 insfer function 26s +24 can be obtained using state signal flow graph. On multiplying the numerator and denominator by s-* the transfer fun above is rewritten below signed a state variable as shown in Fig. 245%, 26x, — 9x44 The output equation is y = x The equations given above are arranged in vector-matrix form to obtain the state model as below 1 Of] fo] Dest Ou -26 -9| i On multiplyi above is rewritten belowLineait Cour signal flow junction is di output of each integrator d a state variable as shown in quations are obtained bel Fig. 9.5.9. State signal flow graph : Vs)/U(s) = (257+ «2/11 — The outpu The equatio bove are arranged in veetor-matrix f below the transfer functi an be obtained in cascad The transfer fu Fig. 9.5.10. state signal flow graph WVU) = 54 —H 2s. fdas. ela (- ast,lnnacoucrion 1a Stave Seace ANALG oF Conroe Svoreus zu The output equat trix form to obtain the state model as bel Cae) Teas The signal flow graph for the transfer function is drawn in Fig. 9.5.11 where in each integrator assigned a state variable. signal flow graph Bee astyla— 308] + (aie‘As per state signal flow graph, the state equations are ‘The equations given above are arranged in vector-matrix form to obtain the state model in diagonal form as, 20 O}fm] fi 0-3 olla |+|1 fu 0 -o ~4])x_| [1 EEG sou he state eq (4) Parallel Decomposition : Repeated roots of characteristic polynomial The transfer function is factored in the form given below Yo 2 Ue) G+) G42)" G+aF Above transfer function is rearranged a: Yeo st : 5 Ue) 1-6 1-63 f= ‘The state signal flow graph for the ahove transfer function is drawn as shown in Fig. 9.5.12 wherein each integrator (=) is assigned a state variable as indicated. Fig, 95.12. tate signal flow graph Differe We/Us) = 5478-54) + AML 2 + (SAME E2 ‘The state equations areADBUCTION TO State Grace ANaLwsis Oe Gonraok SySrens ‘The output equation is The equations above are arranged in vector-matrix form as below to form the state Brodel z m4] fv i m|+|1|u Lia] 33} (0. EZGH SOLUTION oF STATE EQUATION he state equation is given below & = Axit) + Bul) (9.41) = Ax(t) + Bul) (9.42) ‘The Eq. (9.42) is linear time invariant and the time solution may be obtained either lusing Laplace transform or classical method. The solution of a state equation is termed as state transition equation describing the change of state of a system w.r.t. time. ‘The natural response of a state equation is obtained by considering the effect of initial vector x(0), while the input vector u(t) in the equation is deleted from the equation. This makes the state equation as homogeneous which is written below (9.43) The solution of Eq. (9.43) is to be obtained for the given initial condition x(0). The classical method of solving above equation assumes a solution given below x(t) = eM x(0) (9.44) ‘The matrix exponential 4 can be expressed as substituting Eq. (9.45) in (9.44) x()=| T+ At+ Differentiate Eq. (9.46) x(t) _Kneis Covitor Srereil ‘Therefore, equ a rnd (9.43) follo x(t) = e4x(0) is the solution of state equation {dx ‘The initial state xi is shifted to a state x(t) at time f: This matrix expone e carries out the transition of the state s termed as state trans matrix and denoted as 6 Solution of non-homogeneous state equation ‘The non-homogeneous state equation has initial c as given below S80 _ ase) + Bute The solution of Eq, obtained by rearranging the sam PO ax = Butt On premultiplying both sides b % X(f)— AeA! x(t eX xo) substitute Eq. (9.51) in (9.50) to @ On integrati x(t) = @(¢) x(0) The solution of non-homogeneous (9:49) is given by Eq, (9.53 on the right hand side of the solutic atural response nput respor the second term fareed response (ze)+Bu ne invariant homogeneous equation can be obtained by Lay a ansform of the Eq. (9.54) on both sides, where x(0) i On rearranging E 9) + (s I= A} BULa) using convolution integral 9.6.1 Determination of state transition matrix as state transition matrix a ed as O10), on matrix are given below, state transition matrix o¥ fi 2 ed on substitutingt= 26% | (2) Laplace transform metho ‘The Laplace transform of the n matrix i Os) =(@I-Ay ‘The state transition 2 both sides of equation (9.59) @) = <6 T- ay trix $() is determined by taking inverse Laplace transfor ‘The state transition ms is determined usin transform method as below GI-A)=|°Ch 3th ciel od i ihqRopieTioN TO Stare Si ‘The state transition matrix is s1-Ay? and applied for the determinati “The ery square matrix sa its own characteristic equation.” ‘The characteristic equation of a matrix A of order n is given by |aI-Al = 9.60) which can be ext jomial form of 2. as below a, 2°) + ay +a"=0 (9.61) As per Cayley-Hamilton theorem matrix A s characteristic Bg, (9.61), thus =A +a,A'14a,A"-24...40,1=0 (9.62) where, I is the identity matrix of order n theorem is verified for the matrix A as given below The characteristic equation is Al=to Linea Canina Sv Hence, Cayley-Hamilton ti Application of Cayley-Hami 0 etermi of state transit F(A) is function of matrix A such that the degree of F(A) is higher than or of of A and if the characteristic equation of matrix A is given as then, according to Cayloy-Hamilton theorem order of A, the same can expressed as . Since, R(A) can be written in polynomial f R(A) = where, the order of matrix A is n Considering i as the eige written asEq. (9.68) is a sea ‘The example below gives application are distinct.lipitor ‘The mate The solut ~etie® et izet Premulti (4) Determination of state transition matrix using matrix diagonalization The state transition matrix eis conveniently determined when A matrix is given in Thus, the the form of a diagonal matrix. This is verified as below The diagonal form of matrix A is given by The colus therefore where, {m,, ms my, me ‘The proc determine the Let ‘As alreas @ The el solving the foll Thus, the state transition matrix of a diagonal matrix having diagonal elements 4, @ = 1, 2, 8, ...) is also a diagonal one with its diagonal elements as exponential of AEG=1,2, 3, ..) In case, the matrix is not in diagonal form, the same may be transformed into diagonal form using a similarity transformation as deseribed in the texts of matrix algebra. A non- diagonal matrix A with distinct eigen values is considered for the transformation. where The homogeneous state equation is given below x =Ax (9.73) The variable x is transformed using following similarity transformation x=Mz (9.74) ‘Mis known as modal matrix of A x= Mi (9.75) Substituting in Eq, (9.73) from (9.74) and (9.75) the transformed equation Eq, (9.78) is Mi = AMz Premultiplying on both sides by M* a % =M* AMzDI till } Oe Boas Infa80UGTION Yo Stare Seace ANALv=IS OF Conrmot SysTENS ‘The matrix M“ AM is a diagonal one and denoted as A a=he The solution of the (9.76) is given by 20 M*x and 2(0)=M* x(0) Mx =e" M™ xi0) Premultiplying both sides by J Me" M* x(0 Thus, the state transition matrix is Me* M- The columns of a Modal matrix M are formed by eigen vectors of m x n matrix A, therefore whore, fm), 7, the eigen vector associated with eigen value 2, limgg my is the eigen vector associated with eigen value Ay The procedu M s of matrix diagonalization method to determine the stat fen non-diagonal matrix A. Let As already calculated, the eigen values @ The eigen vector x, of matrix A at solving the following equation, lA T-Alx,te Lies Covina Svea my == 2myy soleét_m,,=1 my =- 05 [ra] mp, | (Gi) The eigen vector x, of matrix A associated with eigen value 2, = — 3 is obtained by solving the following equation iy T= Al xx = 0 rma] where x, = The equatior ‘The! ‘The negative The and given where 2 form. Th matrix. Thi Th determin La Iti used for ¢ Thi a ctaeatil | F | bas The matrices A ‘The representation of ‘The phase variable for negative coefficient elements in similar and have the same characteristic le form low 0 0 unit, element above its dia other elements being zero. The Modal matrix with reference to phase variable form of matrix A and given by where Ay, hy 2, are distinct eigen values form. A, which is given in phase variable ‘The matrix A = P+! AP is a diagonal one. The matrix P is known as Vandermonde's matrix ‘The matrices A and P-* AP are similar and have the same characteristic equation. The procedure given below explai state transition matrix for a given phase variable of matrix diagonalization method to n of matrix A. is given that matrix A is in phase variable form, hence Vandermonde's matrix P is, xr diagonalization. ‘The characteristic equation is given by |AT-Ap=0om tna Coinot Siaens A+) (6K +5h46=0 or (a+ 2Xh+3)=0 The cigon values are, =~2 and Vandermonde's matrix | Invariance of eigen values under similarity transformation The similarity transformation x=P P is a non-singular matrix used for transforming the system matrix A into a desired form. The determinant | sI— A | on such transformation remains unchanged as shown below The system matrix on transformation becomes P-! AP and the determinant is | sI=P-'AP | which can be written as | sI-P7 AP] = POPP AP insnoout post mult premultig 7 ‘The mate’ represents The=| PGL-AP | P| Sin: r g [sl ~ Al = 0, therefore the invariance 0 n larity transformation is established. 9 ae of State Transition matrix a) « (0) = 4 ® t) =! post multiply both sides by e-* Qed = ete premultiply both sides by 6! ok terms k= positive integer OW) =A ge) TERM TRANSFER MATRIX ‘The matrix relating Laplace transform of output to Laplace transform of input of state space ssentation of a control system is known as transfer matrix. The state equations of a system are given below = Ax + Bu Cx +Du where xis state vector (n x 1), u is input, and y is output Ais matrix (n x n), C is matrix (1 x n) and Dis scalar transform on both sides of Eqs. ( +BUs (9.79) +DUIs) (9.80) -ansfer function x AXis) + BUfo PeeneeSe ‘Substituting (9.81) in (9.80), the following equation is obtained Ye) = C(el AJ? BUls) + DUS) ¥(e) = [C(sl = A)4 B+ D] Uis) Fi} = (1A B + If Dis null matrix, the transfor matrix takes the following form ¥is) Ue ‘Transfer matrix (9.84) can also be represented as ‘The transfer matrix is G(s) = Ge) CI-AB QW) aa 68)= Gay 9.85) where Qs) is a polynomial ins and [sl - A| = 0 is characteristics polynomial of G(s). Rigen values of (sI — A) are identical to the poles of G(s). For a multi-input multi-output system the transfer matrix is given by ‘Therefore, Yis) = Gls) Ue) In expanded form Eq. 9.70 can be written as H0)] [Gul Gls)» Gin()] Uys] I¥,(8)] | Gai(s) Gap)... Gam(S)) | U(s) ‘The transfer function for multiple-input multiple-output system is given below AyB+D (9.88) CONTROLLABILITY The controllability is in relation to transfer of a system from one state to another by appropriate input contrals in a finite time. Sometimes such a control is not possible and this: can be verified by using controllability test matrix. The concept of controllability and derivation of controllability test matrix are given below nal ‘nia to) ea Fig. 9.8.1 Block diagram for Eqs. (9.89) and (9.90) Inaauerons The ble In the controllable y no control ove state x,(%,) to the system 3 controllabi A syst system from: of time (t,— As stal controllabilit The in final as xin): system from relations giv to final stateIn the bl controllable whereas no control over the state x,(t,) to the the system nal state x s st given initial state x(¢,) to a uncontrollable ‘tate x e state, from it (using input control 1 he term controllability is also referred to as state it is possible to have an input u to transfer the nn final state x(¢,) over a specified interval ndence of state variables on the i ives the concept of the following state equations. ctor (n x y = output vector (p x A= matrix (n x2 B= matrix (n x m) C= matrix (p x D The initia final as x(n) as state of a s own in Fig. 9 ons gf en below explain t Ax+Bu Cx+Di ector (n x 1 edie controllability mathematicagives initial and f ficient that the nm x The The itis said th Ho controllab tthe pair A, controlla Example 9.8.1.7 Cheek for contro Solution. lu ¢ test matrix U is Example 9.8.2. -n as controllabilit he state eque Lean Coyrnot Svarens ed by equations (9.91) and (9.92), L.H.S. of the equation (9.94) : Jetely state controllable, itis fxd The met observab stat system 2 as a rank of n An 3B) test matrix, which is nx nm Ficient matrices A ik of th B: AB: A’B (9.95: Bis controllable indicating that the ra test matrix is , square matrix, then the condition 5 of a utput. If observed wand to hence th of U is not equal to n(n Ans. lable sst matrix U is equal‘Lob fe i ‘The method of determining the state of a system by observing its output concerns observability. Sometimes it is desirable to get information about the state variables from the measurements of the output and input. In case, it is not possible to obtain any one of the states from the measurements of the output, the state is said to be unobservable and the system as a whole is unobservable. ‘The condition under which the state of a system is ‘measured from the output is explained below tia iti cond. cond. ee ‘The block diagram representation of the state Eqs. (9.96) and (9.97) is shown in Fig. 9.9.1. tu (9.96) : ~ 2, tu (9.97) In the block diagram (Fig. 9.9.1) itis seen that, the state x) is not connected to the output. If the output y is measured, the state x, is known, but state x, cannot be measured (observed). Thus the system is unobservable. A system is said to be observable if, every state variable affects the system output. Consider the system described by the following state equations x= Ax+Bu (9.98) yecx (9.99) velocity vector (n x 1), state vector (n x 1), input veetor (m x 1), ‘output vector (p x 1), A= matrix (nxn), B= matrix (n xm), C= matrix (px n), By definition, (0) = Cx(0) Further, at the next instant y(1)= Cx(1) = CAx(0) y(2) = CA? x0) y(3) = CA? x(0) yin- 1) =CA™?x(0)ro Lean Contnon Ssrews wo} [ ©] | y@ | ca | yea |_} ca? | | x(0) youl Hear [ ec yy vo cA ya) | | 2 yi) | on (9.100) ay lGae2| lan or ungue Sevemination of tate x0), the matric (9300) mast hav averse and natal e ca | ca? | ‘The matrix (9.101) is known as observability test matrix which can be written into an nx np row matrix form and denoted as V being given below: = (C7: ATCT : (A7? C7 (aty-? C7) (9.102) Example 9.9.1. Check obseroability of the system given below year, tt Solution.Hinemomucnon to:Srarc SrKoe Annus: oF Contr Sesres EG fo a =a} The observability test matrix is aver. |? V=(CT: A707 -2| IV =0%2)-1x02 The observability test matrix Vis singular. The rank of matrix V is not equalto n(n = 2) Therefore, the system is unobservable. Ans, ATCT = frank n, 4 772.102) elie] 2{e] -1 [a Lo} The observability test matrix is aren =|? eae cae 1V|=Gx0-1xC222 ‘The observability test matrix V is nonsingular. The rank of (n= 2), Therefore, the system is observable. Ans. [EEOR sotven Examptes reads Bae CE Rees ‘the matrix V is equal ton Example 9.10.1. For the electrical network shown in Fig. 9.10.1, determine the state model. Consider i, i, and v,as state variables. The output variable are i, and iy.“Linear Conmmox Svstens Fig. 9.10.1 Electrical network and Solution. The differential equations are written below di, Ry +l, Bove di at on rearranging above equations : Rai + Ly Bs ve Example 9.10.2. Deterr mine the state model for the electrical circuit shown in Fig. 9.10.2, Select state and output variables. Fig 9.10.2 Electrical circuitItmocucrion ro State Sbace Anaivass or Contnsu Svstais Solution. The current flow h the capat voltage across the capacitor The differential equations are given below and on rearranging Ei Substitute for where is thera Select (i, + i,) as output variable, therefore, ‘The state model is given below (RyRy + Ry + RyRy) TAR, + Ry) tae, CR, +B, yeti | ans Example 9.10.3. Obiain the state equations for the field controlled D.C. motor shown in Fig. 9.103 peer aoe Fig. 9.103. Field contilied 0.¢, motor. Solution. The differential equations for the field control D.C. motor are given below a Let, i,=x,, 8, be state variables and y =6,, be the output variable. at ‘Therefore, state equations are as written below ag and obtain od Solut The state bi 9.10.4. In Fig the state eq. y } Example 9.10.4, Dra: the state block diagram for the transfer function given below and obtain state equations Solution. (a) The transfer function is composed of two terms 1/(s + 1) and 1s + 8), The state block diagram for individual te! as shown in Fig. 9.10.4, Fig. 9.1044, State block diagram for C(s\/A(s) = 1s + 1)(s +3). In Fig. 9.10.4 the output of each integrator is designated by a state varia the state equations arera Lveaa Cowrnon Stevens (b) The transfer function can be re. Pps, ae = ss shown in ig 9105, The derivate before the In integrator in Fg 8.105 therefore, the state bloc! a transfer function (2s + 1)s? + 1) ts che fe Fig. 810.5. State block diagram for term 3/(s? + 2 Fig. 9.106. State block diagram for Cisl/Als) = (2s + 3)/s* +3, \s per Fig. 9.10.6, the state equations are te equations are ° 1175191 2 ofl | f yell ai] Ans. Example 9.10.5. Obtain state equations for the differential equation Sdy Solution, sumin tial conditions and taking Laplace transform on both sides of ) Be+4 ¥) (9? +85 + 4) = ls) (@ +3) or LE ‘The state block diagram as per above transfer function is shown as draw Fig. 9.10.7.Fig. 8.10.7. State block diagram for Vs\/U(s)= [s+ 3/[s*+ 35 + 4), The output of each integrator is assigned a state variable as shown in Fig, 9.10.7, Therefore, the state equations ar ‘The output equation is giver 3x, +2, + 26s + 24 Determine the state model. Use direct decomposition method. Solution. 26s +24 of +265 424 ‘The state block diagram for the term —;——;~————._ is drawn as shown in Fig, 9.10.8 (a). Fig. 9.10.8 (o) State block diagram for the term 2/(s*+ 9s" + 265 +24)‘The output of each integrator is assigned a state variable as shown in Fig. 9.10.8 la) 1. At the outpat of integrator no. 1 from RHS) the term Sp i available At the output of integrator no. 2 from RHS, the term is available 3. At the output of integrator no. 5 from RHS, the term Saray Bavailable, In view of points (1), (2) and (3) the drawn as shown in Fig, 9.10.8 (6) *9-9+@*[] les Le 35+ 2/124 952+ 265+ 24), )], the state equations are written below Example 9.10.7, scade method elecompose the +3) 7 5 and obtain the state model. 9+ Te +2)Inamoaucrion 761Stnne Since ANAYeIS oF Connon Sveres Eo Solution. The state block diagram is drawn in tw 3 sei ‘The output of (1) is connected as input to (2). The input u is given to (1). ‘The state jingram is drawn wo Fig. 9.10.9, tate block diagram for Ms\/Us) = (s + 3)/{s + 1)\s+ 2). The output of each integrator in Fig. 9.10.9 is assigned a state variable as shown. ate block diagram, the state equations are formed as below 28x, + £,-2e substituting for % 2 1 The output equation state model Example 9.10. Obtain the state model in canonical form using parallel decomposition method. : as) _ (+8) Solution. eet (+3) s+ Det ‘The coefficients K, and K, can be determined as : K, = 2 and K, = — 1. Therefore, =_Lineani Cournon Svsrens The state block diagram for above transfer function is drawn as shown in Fig, 9.10.10. ! Fig. 9.10.10. State block diagram for parallel decomposition of transfer function Y{s)/U(s)= (s+ 3)/(s + 1)5* 2). ‘The output of each integrator is assigned a state variable as shown in Fig. 9.10.10 and the state equations are written below i=-2n+u and E)fe sll2}-8] yea -n[ | ans Example 9.10.9. Obtain the stale space equations for the transfer function given as, 1oe +1 Gy = “2 era 1o~+) Solution. Let, soot G@+G+2° G5) Gt ‘The coefficients can be determined as ‘Therefore, ‘The state block diagram for the transfer function given above is constructed as shown in Fig. 9.10.11. It is to be noted that the term =a is obtained in the state block diagram by cascading two blocks of the term —1 Fig. 9.11for Gls) = (~-40/9)/s +5) + (40/8)/(s + 2)+ (- 10/3Vs + 2F. The output of each integrator med a state variable and the stat 10.11 are obtained as b Example 9.10.10. Apply cascade decomposing method to obtain state space of 46048 representation of the transfer function given as, Gte) = i m : § 5285) Solution. cateoe (+3) (7 +2845 or drawing state block diagram, the transfer function given above is split into two parts which are joined in cascade, The two parts are (+2) eee and tate block diagram fo e mentioned two parts is drawn and shown in Fig. 9.10.12 are given belowFig, 9.10.22: State biock diagram for Gls) = (s+ 2I\s + 4)/(s +3)(s"# 2s + 5) Substitute for % fi Y into (2), therefore The state spa ntation is given below 1 olf: P| |2|™ -2) rill 0 -3| and Solution. TArrange for minor of (sI~ A), ie. ia Change to cofactor, ie. |} “| esl Interchange rows and columns, i.e. [ a Bt |-5sin V2t cos V2e ft cos V2t x(t) = $(¢) x(0)Ans. ‘Example 9.10.12. For the system given Belo Obtain () Zero input responsé (it) Zend state response Gil) Total response, fod be Lift where £(0) = 1, x{0) = O.and w(t) = 1 Solution. (i) Zero input response is given by xif) = 4) x10) o() = et(sI- Ar ca-a=|) wiarel (eI Ay"1is determined below 1. Arrange for minor of («I~ A), i Aj. (I-A)=The state transition ma ott) = ‘Taking inverse Laplace transform, the zero input respons. at = [O02 -e08165¢ +03 6% sin 1.659)] sin 1.65% Gi) Zero state respon:ca nan CaNrnct Siereus ‘Taking inverse Laplace transform, the zero state response is, J) oi [0-384 104 2° sin (1.654 + tan 3.42) 0.6 sin 1.65¢ | The total response x(t) = Zero input response + Zero state response ay(t)]_[le°®™ . cos 1.651 + 0.3 27° . sin 1.65 0) [nto] ase? in 1.650 | fo.3a 11.04 °° sin (1.65¢ + tan” 3.42) 0.6 sin L65t | x(t) = 0.33 +65" [eos 1.65t + 0.3 sin 1,654] ~ 0.54 sin (1.65¢ + ta“? 3.42 a{t)=-0.6le*, sin 165. Ans. if Example 9.10.18. Obtain the state transition matrix in the form e& and determine the time response for the system, x = Ax and £{(0)=1,x,0 So Th reonsidere Th fequationlrRGoUeTION To State Seuc® ANAS OF CowirnoL Srsret Ea Example 9.10.14.A control ayatem is described as below : x= Ax+Bu and where, Solution. ‘The matrix A given above is a 2 x 2 general matrix as such eigen vector approach is considered for its diagonalization The cigen values of }, and 2, matrix of A are determined by solving followingThus, two di eigen values a1 Determination of eigen vec rs of matrix A is given below Eigen vectors of matrix A are determined by AA Alx,=0 where, 4, and x, are respectively the eigen vai solving the following equa (@ The eigen vector x, associa! equation given below 41 Alx,=0 Therefore, (ii). The eigen vector x, associated with eigen value A, is determined by equation given below gI— Ax, are 2m, Therefore, ‘Thus, the modal matri hy is determined by solinrmooieriel no StATe Seace Anniv O° Conn ESor Alternative solution As already determined,GAYS State Sond ANALvais OF Contos SvsrENS.ros oF Conrace Svstes sform on bLuivena Contino: Sverens or Alternative solution As already determined,iemopUehon to Stare Seace Analvsis or Conrnot Svovens fo © [-6e 460% — 26% + 30 xit)= 910) x10) + [' 9(¢-) Bude and B= ° = 1+ 100% - 5e*Lens Conrno: Stare Example 9.10.16. The coefficient mniin Conrace Sveres Iago. @sDerd) Determine te tramsfer matrix for the system given *below tnd draw the block diagram ¥ ) id wan = y ‘The transfer matrix is given by Ge) = C@I-Ay?B+D Ge) =C@l-AyB fat 1 D=0 ay_fs - t-arr=[® (6I— A)'is determined below (@) Interchatige rows and columns, to obtain Adj GIA), ie. ager-ve [2 3] Adela) (t-ap= =eFig. 9.10.18. lock diagram for example 9.20.18 Example 9.10.19. The state equations of « control system are g given below : Examine for complete state controllabilityLives Conrnon Svsre Solution. Controllabilit ExampleInnnobicrioh To State Srace ANALHSS GF Connor Syste Solution. Controllability test matrix is given by U=[B:AB: AB] U Collect the columns bnatrix as given below ‘Therefore, the rank of U is equal to 3 (n = 8), hence the system is comp controllable. Ans, xample 9.10.21. Check for controllability and observability of a sy | B=|0| ahdSolution, (a) Controllability test 1 0 0 6-11 Olea illol= -6)|1] 0] 1| -6|[-22 Controllability test matrix is given by U=[B: AB: A'B] fi v=o la 2 yoyeaf P22), 2 1] jul 20 Therefore, the rank of U is ea ial to its order ie, 2(n =) indicating that the syst controllable: Ans. (6) Observability test Observability test matrix is given by ValCT: ATCT -(AT2 C7] flo -6 6] 5B -15 an Obsorvalil pmpletely obser Example Check fors Solution.Ira oucTioN To Stave Seace Aunurss or Cowrmon SvsTENs Ee 14 |p -1 -15 1 5|*°|a-al 10 (1) 5-5 CH) +6 (5x5—5 1) +6 (6X D-CA) =10x0+6x20+6x(-4)=96 Observability matrix V0, hence its rank Ze, $ equals order Le. 3, therefore system's ‘completely observable. Iv’ Example 9.10.22. The transfer function of @ control systent is given bs, vis) st Ute)” 37495" + 268+ 24 Check for controllability and-observability. —— ~ Solution. The state block diagram is drawn as shown in Fig. 9.10.15. Fig. 940.3. State block diagram for sV/Uts = (+ 2/* + 95+ 265+ 24. ‘The state equations are written below : Ba ig =~ 2r, — 26 Br + yada +5 say erenonrtes ag ] [0 zl-| 0 0 4][m)/+}o]u |i] [24 -26 -9}ln] 22 ee Xs ‘The coefficient matrices are po Abe fe A 0 o 1|,B=|0|,c=(2 1 o a 26-0)» Ltlability test B atrix is given b; AB: AB] 0+0+110x 0 ‘Thus, the rank of Uis 8 and o (b) Observability test The observability test matr cr wre its rank +8, } he ayatent ia not obecrvable,STATE VARIABLE FEEDBACK State variable f t-single- Bu The characteristic polynomial of the system is I-A) ‘The eigen values of the system-matrix A are the roots of the cha: stic polynomia m. On 1 state variable eigen values of the For the p ‘ing state variable f system matrices A and B shoi a controllable pair. state variable fe 6 a Fig. 9.1.1, State variable feeaback dback is, As per the block diagram equations are obtained Due to state variable matrix (A — BK) can be m matrix is (A ~ BK). Th in matrix K. acteristic polynomial is e eigen values of ack gain matrix K is determined such that the desired y = BK) satisfy the character equation |sI - (A - BK) | = 0. ck gain matrix Kis di -acteristie poly -loop pole locations. characteristic polynomial in terms of feedback gain matrix K. nts of chai Js as determined in step (1) ) Direct decomposition ©456 Solution. (a) The transfer function can be written as © 1-58") 1-45 The state signal flow graph for the above transfer funetion is drawn as shown in Fig. 9.11.2 ste 1 ety ~ “ Fig. 9.1.2. State signa flow graph : W(s)/U(s) = 54/11 =(- 55-4}. 1/1 = 4s") ‘The state equations are yo es ‘Thus, the matrix A is controllable, Hence, the state variable feedback can be applied. -4 1] fo A-BK a A a A a} 07 iy | ~ (6+ hy (1) The desired characteristic equation is (o+1+j2) (641 s?420+5=0The charaeteristie equati [sI- (A- BED] =0 (e+ 4s st+ (9+ ks Comparing coefficients in (1) ar 94k Fig. 9.423, (b) Direct: decomp Fig, 9.12.4. sta MU) = 5311-95205 ‘The transfer function given above is re as below YG) _ Te) 1-C os The signal flow graph for the transfer function is shown in Fig. 9.11.4.ca eeean Contos Svstens As per the state signal flow graph state equations are = 20x, — 9x, 2 Ick ae The system matrix A is in controllable canonical form. Thus, the state variable feedback can be applied. The state equation with state variable feedback is x=(A-BK) x+Br lees A-BH=| 99 —9| |-@20+k) -@+k)) (1) The desired characteristic equation is 2 428+5=0 (3 (2) Since, the matrix (A - BK) is in controllable canonical form the characterist equation (with state variable feedback can be written by inspection as +@+h)s+Q0+k)=0 a Fig. 9.115. State variable feedback for Ms\/U\s) = 1/(s? + 95+ 20), On comparing coeffi (94h) =2PROBLEMS, 9.1. Obtain state space representation for the electrical network shown in Fig. 9-P-1 Select the i and voltage across the capacity v, as state variables. 9.2. Write state equ for the electrical network given below (F as state variables and { as output variable Fig. 9-P-2. Electrical network for problem 8.2. 9.8, In Fig. 9P-3, consider #,, 7, and voltage across the capacitor as state variables, and also i, and i, as output Variables. Obtain the state model Fig. 9-3. Electrical network for problem 9.3 9.4. Obtain state space representation of the ele ctrical netwrok shown in Fig, 9P-4. Fig. 9-7-4. Electrical network for problem 9.4 Select suitable state variables ai put variableRr go | oiniiilionl i. Represent the equations for the armature controlled D.C. motor (Fig. 9P-5) in state 9.10. For the diffe A ax tate vile an 9 ax outat viable space form. Consider i,, 8 and ——m 9.11. Consider the ropresentatis 9.12. Use parallel function give Fig. P-5. Armature controlled di, motor s 9.18. A system is # 9.6. A mechanical system is shown in Fig. 9P-6 choose x(f) and 2(¢) as state variables and represent system equations in state space form. . foamy Determine (@ ‘it K E response ford a} aim ie A 9.14, Use Laplace! Fig, 9-7-6. Mechanical system for robles 96. 9.7. Write state space equations for the ‘em shown in Fig. 9P-7, i] 1 hey ty) 5. Show that thy Fig. 9-9-7. System for problem 9.7. 9.8. Obtain state model for the transfer functions given below z Cs)_ (6 +2) © Ris) G++) 9.16. Determine th +2 ‘ = Bos 7 ps - Determine the state model.9.10. Fort 6s___ obtain a state variable ef + Ls +6 9.11. Consider the system given representation for the system 9.12. Use parallel decomposition method to determine the state model for the transfer function given below tem is represented by the equations given below i Of eweere Ose +? u.Given x)= (0 17 Dee) iL : Determine (a) state transition matrix 9(¢), (6) Zero input respo response for w = 1 and (d) Total respons 9.14. Use Laplace transform method to determine the time response given that (0) = 0; 3,10) x,(0)=0;2,(0)=0 an 9.15. Show that the state transition matrix state equations 9.16, Determ a n matrix and the output time response, given thatLeweasiCowrnon Sverens 9.17. Represent the following differential equation in state variable form @y, gay ae dt and show that the state transition matrix is | given that x,(0} = 0: x,(0) = 0 and 9.19. (a) A system is described by equations u=1 and x(0)= Determine the time response x(t) and y(¢) (b) Diagonalise the matrix A. 9.20, Obtain the state model for a system whose transfer function is given as, Determine the time response for unit step input. Assume initial conditions as nil 9.21. Show that the transfer function for the system having given 1 =f is Glo = 9.22. Obtain transfer matrix from the followin, 51), |-6 0} C=(2 1) andWrite state equations fo: ate block diagram shown in Fig. 9P-8 and determine rransfer matrix Fig. 99-8. 5t smmine the transfer matrix from a given below and D=0. 9.25. Check the controllability and obs: y of the system given below Comment on the controllabilit ing coefficients n is unobservable and if C =