SYSTEM DYNAMICS & CONTROL

CHAPTER 6
STATE SPACE MODELING

Assoc. Prof. Dr Vo Tuong Quan

HCMUT - 2017
 State Space Modeling

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 State Space Modeling

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 State Space Modeling
Controllability and Observability

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 State Space Modeling

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 State Space Modeling

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 State Space Modeling
State space representation

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 State Space Modeling
State space VS Transfer function

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 State Space Modeling

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
Method for establishing state equations from differential equations

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 State Space Modeling
State space equation in controllable canonical form

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 State Space Modeling
State space equation in controllable canonical form

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 State Space Modeling
State space equation in controllable canonical form

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 State Space Modeling
State space equation in controllable canonical form

Observable canonical form

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 State Space Modeling
State space equation in controllable canonical form

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 State Space Modeling
State space equation in controllable canonical form

Establish the state equations describing the system below:

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 State Space Modeling
State space equation in controllable canonical form

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 State Space Modeling
State space equation in controllable canonical form

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 State Space Modeling
Convert from State Space to Transfer function

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 State Space Modeling
Convert from State Space to Transfer function

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 State Space Modeling
Convert from State Space to Transfer function

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 State Space Modeling
Convert from State Space to Transfer function

Example 2: Find the state-space representation in phase-variable form

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 State Space Modeling
Convert from state equations to transfer functions

Solution:
Step 1: Find the associated differential equation
C s  24
 3
Rs  s  9s 2  26s  24
Cross-multiplying yields

( s 3  9s 2  26s  24)C s   24 Rs 

The corresponding differential equation is found by taking the inverse

c  9c  26c  24c  24r

Select the state variables:

x1  x2
The combined state and output equations are x2  x3
x3  24 x1  26 x2  9 x3  24r
y  c  x1

Vector-matrix form:

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 State Space Modeling
Convert from state equations to transfer functions

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 State Space Modeling
Convert from state equations to transfer functions

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 State Space Modeling
Convert from state equations to transfer functions

Example 4: Find the state-space equation and output equation for the system
defined by
Y ( s) 2s 3  s 2  s  2
 3
U ( s ) s  4 s 2  5s  2

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 State Space Modeling
Convert from state equations to transfer functions

Solution:
From the given transfer function, the differential equation for the system is

Comparing this equation with the standard equation given

We find:

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 State Space Modeling
Convert from state equations to transfer functions

Example 5: Find the state-space model of the system shown in Figure below:

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 State Space Modeling
Convert from state equations to transfer functions

Solution: We obtain

Which can be written as

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 State Space Modeling
Convert from state equations to transfer functions
By taking the inverse Laplace transforms of the previous four equations, we
obtain:
x1  5 x1  10 x2
x2   x3  u
x3  x1  x3
y  x1
A state-space model of the system in the standard form is given by

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