1 State Variable Analysis & a 13.1 Introduction In all the previous chapters we used the time-domain methods or frequency domain methods to study the behaviour of linear time invariant control systems, Such an approach for the study is called conventional approach of study. Basically ins these approaches we modelled the given system in the form of a transfer function and obviously faced all the limitations associated with the transfer function approach, Some of its limitations can be stated as : 1) Naturally, significant initial conditions in obtaining precise solution of any system, loose their importance in conventional approach 2) The method is insufficient and troublesome to give complete time domain solution of higher order systems. 3) It is mot very much convenient for the analysis of Multiple Input Multiple Output systems. 4) _ It gives analysis of system for some specific types of inputs like Step, Ramp etc. 5) It is only applicable to Linear Time Invariant Systems. 6) _ The classical methods like Root locus, Bode plot etc. are basically trial and error procedures which fail to give the optimal solution required. Hence it is absolutely necessary to use a method of analysing systems which overcomes most of the above said difficulties. The modern method discussed in this chapter uses the concept of total internal state of the system considering all initial conditions. This technique is called State Space Analysis. This is essentially a time domain approach. Some of the important advantages of this approach can be stated as: 13.1.1 Advantages of State Space Approach 1) __ The method takes into account the effect of all initial conditions. 2) __ It can be applied to nonlinear as well as time varying systems. 3) _ It can be conveniently applied to Multiple Input Multiple Output systems. 4) The system can be designed for the optimal conditions precisely by using this modern method. 5) Any type of the input can be considered for designing the system. (684)685 the method involves matrix algeb: i digital computers. Bebra, can be conveniently sdopted for the ‘The state variables selected need not ne ens ‘cessarily be the physical quantities of the The vector matrix notation greatly simpli : en greatly simplifies the mathematical representation of “432 Concept of State Consider a football match. The score in the football match A | must be updated at avery instant from the knowledge and information of the total score before that jgstant. This: procedure ‘of updating the score continues till the end of the match when we get exact and precise score of the entire match. This updating procedure has main importance in the understating of the concept of state. Consider the network as shown in the Fig, 15.1 To find Voy, the knowledge of the inal capacitor voltage must be known. Only information about Vin will not be sufcient to obtain precisely the Vout at any time t20. Such systems in which the output is not only dependent on the input but also on the initial conditions ‘are called the systems with wienory or dynamic systems. Fig. 13.4 While if in the above network capacitor °C’ is replaced by another resistance “Ry' then output will be dependent only on the input applied Vin | __ Such systems in which the outp' | wplied at t = 0, are called systems with Consider another example of simple mechanical system wton's law of motion, ut of the system depends only on the input ‘zero memory or static systems. s shown in the Fig. 132 Now according to Ne\ F = Ma a = acceleration of mass M 4 v volooty Lx x pisplacement wa [ir] Zero friction Fig. 13.2 F= MS (vo) ie V(t) = x J F(t) dt Now velocity at any time “tis the result Prone osc F applied to he particle in the t, .ics 686 State Variable Analysis & Design 0 t 1 ty 1 t i F(t) dt = 7 ! Moana F(t) dt vit) = M where to = initial time. ut now | RO dt = Vito) t Vit) = V(ty) + J F(t) dt to From the above equation it is clear that for the same input F(t), we get the different values of the velocities V(t) depending upon our choice of parameter tg and the value of V(to). If V(tg) is known and the input vector from ‘tg’ to “ a unique ‘value of the output V(t) at any time t > to. Thus initial conditions ie. memory affects the system characterisation and subsequent behaviour. Thus initial conditions describe the status or state of the system at t = ty. The state can be regarded as a compact and concise representation of the past history of the system. So the state of the system in brief separates the future from, the past so that the state contains all the information concerning the past history of the system necessarily required to determine the response of the system for any given type of input. The state of the system at any time *t’ is actually the combined effect of the values of all the different elements of the system which are associated with the initial conditions of the system. Thus the complete state of the system can be considered to be a vector having components which are the variables of system which are closely associated with initial conditions. So state can be defined as vector X(t) called state vector. This X(t) i.e. state at any time “t' is ‘n' dimensional vector i.e. column matrix nx 1 as indicated below. is known then we can obtain X(t) Xa(t) X(t) = ‘ Xni(t) Now these variables X;(t) , Xp(t) , are called the state variables of the system. If state at t = ty is to be decided then we must know X(to) and knowledge of the input applied between to — t). This new state will be X(t,) which will act as initi# +. Xq(t) which constitute the state vector X00)oe eo 687 State Variable Analysis & Design es find 7 tne Gas 2 ay feat i This is called the updating of the state nit of the = ty will be the function of X(t;) $ Sf ee 1) and the instantaneous ne of the input : t ae : any. The number of the state variables for a system is aly equal to the order of the system. The number of independent state variables | to the number of mally equal 7 energy storing elements (e.g.: tin inductor) contained in the system, 8 nts (e.g.: capacitor voltage, ig nom Definitions + state : The state of a dynamic system is defined as a minimal set of variables such that the knowledge of these variables at t = ty together with the knowledge of the inputs for t > tp, completely determines the behaviour of the system for t> to State Variables = The variables involved in determining the state of a dynamic system X(t), are called the state variables. X;(t) , Xo(t) ‘n(t) are nothing but the'state variables. These are normally the energy storing elements contained in the system. : 3)’ State Vector = The “n’ state variables necessary to describe the complete behaviour of the system can be considered as “n’ components of a vector X(t) called the state vector at time “t. The state vector X(t) is the vector sum of all the state variables. 4) State Space : The space whose co-ordinate axes are nothing but the “n’ state variables with time as the implicit variable is called the state space. 5) State Trajectory : It is the locus of the tips of the state vectors, with time as the implicit variable. Definitions can be explained by considering second order system : Order is 2 so number of state variables required is 2 say X,(t) and X(t), State vector will be the matrix of order 2 x 1. X4(0 x) = [ 1(t) Xo(t) ie > 32 > XD = Xy(t)+Xz(t) (vector addition) The state space will be a plane in this case as the number of variables are two. Thus state space can be shown as in the Fig. 13.3. X() x0) 0.9 XW) X(t) Fig. 13.3 Fig. 13.4 idFes 688 Now consider t = t xh) = x1k)+ Xt) X2(b) Fig. 13.5 = Fig. 13.6 Now consider t = ty >. > XG) = Gb) + Xalto) The state trajectory can be shown by joining the tips of the two state vectors ie. X(ty) and X(t), 13.2.1 State Model Consider Multiple Input Multiple Output, nth order system as shown in the Fig. 137. Number of inputs = m Number of outputs = p MIMO SYSTEM Outputs, Xy XQ Xq Xn State variables Fig. 13.7 Uy) _ Paw vat) Uait) Xa(t) Yo(t) Uf xO! , Y(t) = Um(t) X(t) Yp(t) All are column vectors having orders mx 1, n x 1 and p * 1 respectively. For such a system, the state variable representation can be arranged in the form of ‘n first order differential equations. State Variable Analysis & Design naX) _ SO A= 0G dXolt) _ aye aa Xa(t) = XU Uy wea, im 2 (X1,Xq rrooeXq Uy , Uz aXatt) = X,(= 2 nll) = fy (Xp pooXq » Uy Up f f nese {=| |38 the functional operator. fn iepating the above equation, t X4(0) = Xilto) + fff Oa Xp ooo My Uy, Ug sone Up) at to where i = 1, 2, .. ‘Thus ‘n’ state variables and hence state vector at any time “t! can be determined uriuely. Any ‘n’ dimensional time invariant system has state e fom as, ,quations in the functional Xt) = £(%, U) While outputs of such system are depen ‘tanfaneous inputs. dent on the state of system and +: Functional output equation can be written aS, Y() = g(X, U) where °g’ is the an be written as, functional operator. time variant system, the same equations ¢ X(t) = £(X, U, t) .. State equation Y(t) = g(X%,U, Output equation Dagamatically this can be represented a5 in the Fig: 138“a 690 State Variable Anais & Desig, U(t) Instantaneous input Y(t) Output Xitg) Initial state Fig. 13.8 These functional equations can be written in the equation form as below : Xt) = A X(t) + BU(t) Y(t) = CX() + DUH, () for the linear time invarient system, where A, B, C, D are constant matrices and Xt) = AW X(H) + BE) Ult) Y(t) = C(t) X(t) + Dit) UH) w+ (2) for Linear time variant system, where A, B, C, D are time dependent matrices. Orders of matrices : A- nxn called Evolution Matrix B-nxmcalled Control Matrix C+ pxn called Observation Matrix D-pxm called Direct Transmission Matrix. This is called the State Model of the given system. In electrical networks currents through inductors and voltages across the capacitors are the state variables. Ex. 13.1 Obtain the state model of the given electrical network in the standard form. Given att=tg, -ilt) = iltg), and v6(t) = vo(ty) vito o>. je. | | Volt) Sol. : There are two energy storing elements L and C so minimum two state variables are required which are, X;(t) = i(t) and Xp(t) = v g(t) as it is voltage across capacitor C Xlto) = [ a Volto) Now write down the differential we equations for the chosen variables. By KCL and i) = it dit) 1). vi) ORL AF at nitioacasicill691 State Variable Analysis & Desit 3 2 fiw dt = volt ¢€ But v0) = iW R+L sv 0. iF Engr oe it) XW) = TUO-T% Bx ash i foe = volt) dvolt) _ y « SOs dvolt) _ 1, ae = ci . Zz ip Xl) = Ga as 1 ed -{pot pesh | ue) Xi) oF Xt) = AX) +B UH And output v(t) = Xa(t) - ou [™ *] yi) = [ Xp(t) ie, Y(t) = C X(t) + DU) 1 where D = 0. Orders of matrices can be verified as stated earlier. i 13.2 Obtain the state model of the given electrical network in the standard form. | | et) pa: UW = input = e\(t) : Y(t) = output = eo(t) ‘ate Vaviables : Xy(t) = int), Xalt) = ig(®), Xai) = Velros 692 State Variable Analysis & Design | Note : We can assume X(t) = ig(t) and X2(t) = vclt) also. Sequence is not | important. Depending upon it state models obtained will be different and hence we | can say that state model is not the unique property of the system. Writing the equations di,(t) ext) = by BOs vcey 7 dit) | 1 ai ie. SP = [pez ve® x = Luw-+ x30 p =e i Xs ~() Then, vclt) = Lz S20 oR, dig(t) 1 ee wee pve - 7 in(t) 4 1 R. Xa = Xs O- Tera “2 dy (t) 7 and CMCO = (9-900) dy t) 1. te - Fiy-Linw % 1 1 Xa) = EXO -F%2l0 al [x] [° ° aloe . La ae = is ie. X = AX+BU and eo(l) = in(t)Ry Y(t) Xg(t) Ry x1] Y(t) = [0 Ry 0} | Xs i ie. Y =CX+DU where D = 0. This is the required state model.5 state Diagram Representation the pictorial representation of the state model derived for the given system. It * cose relationship amongst the state model, differential equations of the and its solution. It is basically a block diagram type approach which is from the view of programming of a computer. The basic advantage ot state fin is when it is impossible to select the state variables as physical variables. transfer function of system is given then state diagram may be obtained first. then by assigning mathematical state variables therein, standard state model can biained. gate diagram of a linear time invariant continuous system is discussed here for cake of simplicity. It is a proper interconnection of three basic units. i)sclars il) Adders if) Integrators gcalars are nothing but like amplifiers having required gain. x0 —[= }— X(t) =a Xl) nn anil x30) Fig. 13.9 (a) Fig. 13.9 (b) | Adders are nothing but summing points. | Integrators are the elements which actually integrate the differentiation of state vaiable to obtain required state variable. ff Now integrators are denoted as | “YS in laplace transform. So transfer | fincion of any integrator is always | +0 —-{f}— xy = Kat 1)s. With these three | basic units we | mn draw the state diagrams of any . 13.9 (c) order system. 133.1 State Diagram of Standard State Model Consider standard state model X(t) = A X(t) + BU(t) and Y(t) = CX(t) + DUC) $0 its state diagram will be as in the Fig. 13.10. a’7c. 7 694 State Variable ANALYSIS & Des, ut) a) Fig. 13.10 State diagram of MIMO system Remarks : 1) To obtain the state model from state diagram, always choose output of each, integrator as a state variable. Number of integrators always equals the order of the system ie. ‘n' 2) Differentiators are not used in the state diagram as they amplify the inevitable noise. Ex. 13.3 Obtain the state diagram of SISO systent represented by equations, XY = ay Xi(t) +b, Ul), Xo) = ag Xi(t) +3 Xgl) + by Ulty and Y(t) = cy Xy(t) + cy Xp(t) Sol. : As there are 2 state variables X,(t) and Xp(t), the two integrators are required. ww x0 i 13.3.2 Non Uniqueness of State Model Consider o standard state model for a system Xt) = AX) + BU) OGg-—— 88 __State Variable analysis & Design yO = CXH+D UW ax M Z where M is a non singular constant matrix, ° matrix whose determinant is nonzero is called no ib st of state variables which is obtained be nonsingular matrix. This means ar combinations of th se e original X = MZ hence X= Mz substituting in a state model M 2) = AM Zit) + BU) 7 Y(t) = CM Z(t) + D UW) oe 4) Premultiplying equation (3) by M~! Zt) = MAMZ(t)+ MB UW where M'M = I ie. Identity matrix : 2 = Azwy+ BU .. (5) where A = M7 aM B= MB and C2(t) + DU() © Where cM Equations (5) and (6) forms a new state model of the system. This shows that state model is not a unique property. Any linear combinations of the original set of state variables results into a valid new set of state variables, 134Derivation of State Model from the Different Representations of a System 134.1 State Model from Differential Equation Representation Consider a SISO system represented by differential equation. WeanY® lean yt 2 +...4a,¥ a9 Y= bo U n _ oY" Qt) whee Y = output, U = input and Y° = S Select the state variables from the lowest order Y(t) term existing in equation. es Y= Xi and then each successive differentiations of y(t) gives the required state variables. Yt) = Xi(t) = X2lb) YQ = X(t) = Xalt) = X30FCS 696 ye") = xt Now as the order of system is “n', n state variables are allow, form minimal set of variables. ed to be “eed Now state equations become X= XQ() Xp(t) = X3() x, 0 = Xa n= Xp(t) = ? X;, (1) can be obtained by actually substituting all selected variables into origina differential equation ie. X(t) + an—1 Xn) + an- 2 Xq-1() +-----F ay XQ(t) + ag Xy(t) = by Ult) Xp(t) =~ ag Xy(t)— a4 Xplt) Anz Xn-1lt)— An-1 Xn ll) + bo Ult) Hence in general the standard state model becomes x0 o 1 rn) | Ae 0 X,() 0 0 Te 0 Xz () | | 0 = : : +0 |Ue) Xai) | [-a0 a1 man ~an-1}] x, | [bo X(t) = A X(t) + B U(t) Matrix A has a special form : i) Upper off diagonal ie. upper parallel row to the main principle diagos! contains all elements as 1. ii) All other elements except last row are zeros. iii) Last row consists of the negatives of the coeffici differential equation. an Such a form of matrix A is éalled Bush Form. The set of state variables which matrix A in Bush form is called set of Phase Variables. Now Y(t) = X4(b) ents contained by the on™ alFi 697 State Variable Analysis & Design. f X(t) | X(t) YO = [10..0]] : LXn(t) | . Y(t) = C X(t) where D = 0 | gis model in the Bush form can be shown in the state diagram as in the fig, 13-11. output of each integrator is a state variable. (0) un Fig. 13.11 State diagram for phase variable form 13.4.2 State Model from Transfer Function i) Signal flow graph approach Consider the SISO system having T-F. Cee Uls) 53 + bys? + bas+by This can be rearranged by dividing both N and D by highest power of ‘s' in denominator. bo 20 UG) bs , bo, ba 14Po4 P24 AE S 3 a deena tg to Mason's gain formula, denominator of T.R. is always system A = 1-[ ZAll individual feed back loop gains } + .... ‘= “isi _ _— 698 tate Variable Analys; . For above example, A= i ie. Li = Lp = ‘ L3 = Fig. 13.12 Now numerator is by alone. According to Mason's gain formula numerator is Ty Ay as k = 1 itis, Ay Now A, =1 . T; = by/s? tis tis 4s This can be shown as in the Fig. 13.13. Fig. 13.13, Now °1/s' is nothing but an integrator. Combining the two, the total signal flow graph is shown in the Fig. 13.14, %3 418 415% 415 7 Sl 4 Fig. 13.14 Assuming output of each integrator as a variable state model can be obtained. X= %, X= X3, X3 = Ult) ~ by Xy —by Xp —b3 Xp and Y(t) = bo Xi(t) X= AX+BU and Y=cx0 -b, ~b2 where C= [by 0 9] rx A obtained in such a case is also in Bush form or phase variable form. a pid Ys) _ _5s+6 Us) 8? +2843 2 : Dividing both N & D by s sh nt Y(s) s_s? Numerator is T) A, +T, Ag Nowk = 2,4 = A9=1 t=Sand = & 7 5 Complete signal flow graph is as follows nin state model using signal flow graph approach of tts Y(t) = 6X1) +5 Xalt) * Model is, X = AX+BU ad Y = CX+DU Where [3 | 3 -2 X, = Ul) - 3X()- Xt) @ system whose TF. is, tis10 State Variable — 701 Analysis & Design c= [6 5), D=0 ii) Method of direct decomposition of transfer function : In this method, denominator of transfer function is requited to be splitted in he rm. Consider an element — proper for ae Now consider simulation for this as an integrator and a scalar of transfer func ‘a’ in its feedback path as shown in the Fig. 13.15, ion Gos) + G(s) Hs) Now if we add this element in the forward path of another such element having feedback path gain as “b' we will get, Fig. 13.15 2G) _ (s+) 1 TCO” |,’ “Serayeb s(5+a) = sl whetex=s+a sX+b If we add this in forward path of next element we will get transfer function as arc where Y = sX+b = s(s + a) + b and c is feedback path gain. So any order denominator can be simulated by using this logic. ie sttastb > ise + a) +b} S4ast+bsre (([s + a]s +b) s +c] s'+as? + bs? + td {ls +a)s+b]s+c)s+d} The numerator is now can be added to complete the state diagram.F 7 “8 01 State Variable Analysis & Design enumerator is 218+ 22, its actual simulation will be as i put differentiators are to be ee ee voided in state diagrams so shift je =a aveatt point “t| before block of rego While shifting gecording 0 rules of block diagram reduction rules, multiply ap by 1/5. Therefore eliminating giferentiator from the circuit. Fig. 13.18 For s? terms in numerator, take-off point must be shifted twice before the integrators. By assigning output to each integrator as a state variable, state model can be obtained. e135 Obtain state model by direct decomposition method of a system whose transfer function is Om 6548 US) 5343s? +7549 Sol. : Decompose denominator as below, 343s? +75+9= {([s+3]8+7)5+9} Its simulation starts from (s + 3) in denominator tice for To simulate numerator, shift take-off point once for 6s and shift twice for Therefore complete state diagram can be obtained as follows.702 State Variable Analysis & pg, Fes 8 yey xX = X, = X3 X; = Ult) - 9 Xi) - 7 Xa (t) - 3 X5(t) While output, Y(t) = 8 Xy(t) + 6 X(t) + 5 X(t) ". state model is, X(t) = AX) + BUH and YW) = CX) +D UW) og 0 where A=/0 0 il, B=lo -9 7 =| 1 C- [8 65, D=0 The matrix ‘A’ obtained is in the Bush form or Phase Variable form, 13.4.3 State Model by Cascade Programming Also called Pole-Zero Form or Gullemin's Form. This can be effectively used when both numerator and denominator can be factorised. In such form, group a pole and zero together and arrange given transfer function as the product of all such 8roups. Then simulate each group separately and Cee all such simulations in cascade to get complete simulation. Then assigning output each integrator as a state variable obtain a state model in standard form. Simulation of group ; Consider 5+ 3+ sed First simulate denominator a as in the Fig, 13.19 (a) and then as discuss St earlier simulate the numerator “s+a' as shown in the Fig. 13.19 (b).703 ; State Variable Analysis & Design (o) 2 Fig. 13.19 Simulation of a group of pole-zero 336 Obtain the state model of a system by cascade programming whose transfer function és Ys) S (s+2)(6+4) U(s) s(s+1)(s+3) sql: Arrange the given T.F. as below Ye) _ 6+2 +4 1 U(s) (s+1) (s+3) + + 4 = Group 1 Group2 Group 3 Now simulate each group as discussed and connect all of them in series to obtain ‘Onplete simulation as below X= Kt AXp, Xp = BX + 2XS AN ad X, = U-X3 Substituting X, into X, equation, x. xX) = = 3Xq +2Xz + Ult)-Xq = Ult)~ 3X2 # 3 Subsituts : ‘stung X, into X, equation, x K, = Ult)— 3 X_+X3 + 4X2 = Ult) + Xo +¥3 Mott becomes,704 State Variable Analysis & FCS “us Design x, 0.107%) ft | = Jo -3 1]/%] + ]1] UH 0 0-1) (Xs) Lf 3 and Y(t) = Xi) X ie. Yt) = [1 0 O1)X2 X3 | eteal 1 So A=|0-3 1 B= {1 oo «| 1 c= flog D=0 Feature of Matrix A is its principle diagonal contains gains of all feedback paths associated with all integrators ie. 0, -3, -1 in above problem. All terms below principle diagonal are zero. This method is also known as Iterative programming. 13.4.4 State Model by Parallel Programming or Canonical Form or Foster's Form This method is basically based on Partial Fraction Approach. Express the given transfer function in partial fraction form and then simulate each group separately. As all groups are to be added to get complete simulation, all of them must be connected in parallel. Then assigning output of each integrator as a state variable, obtain the state model. bog! | aye) = XO) _ bos +b 1+ Us) (s+a)(5+az)....84 ay) = 4 ye Stay stap S+aq Now each group contains term like S1_ which can be simulated as Stay shown in the Fig. 13.20. Fig. 13.20 And all such groups to be connected in parallel as shown in the Fig. 13.21. Fe.Fig. 13.21 Foster's form simulation In such case matrix A has following features : ) Itis purely diagonal one. ints which are gains of all feedback paths associated with i) Diagonal contains eleme! all integrators. As diagonal form is most suitable for matrix algebra this form is most important m modern system analysis point of view: The pure diagonal form is possible only when the roots of denominator are non repeated roots. 5.137 Obtain the slate model by Foster's form of # system whose TF. is stad (4 G+H643) "+Find out partial fraction expansion of it Se Gee+QGr3) stl st? +3 * Total state diagram is as follows, = Uy xy(9), Ky = UU) ~ 2X20) Xs = VO = ; Y(t) = 25 X(t) -8X2(t) + 65X30 3 X3(t)FCs . State model is, X and where Ex. 13.8. Combination of Direct Decom Y A ¢ the given TF. Ts) Solving Ts) = A+B C- >ar 706 State Variable Analysis & Design A X + BU CX + DU -1 0 0 [2. 020 003 5 -8 6.5] 2 (s+3)(s? +25 42) Sol. : Obtain partial fractions as, @ 0 2 A +3)(52 42842) 843 A(s? +28 +2) + (Bs+C)(s+3) = 2 As? +2As+2A +Bs? +Cs43Bs+3C = 2 2A+C+3B=0 2A +C-3A =0 D=0 Bs+C s? +2842 2A + 3C © 2A 4 3A sign iposition and Foster's Form. Obtain the state model for a707 Stat le Vi : . fariable Analysis & Design FLL i “3d 6+3)° 3 “Sat state diagram is as follows, complete ut) XK, = U)-3X) X, = X3 X, = U(t) - 2X) -2X3 and _2 2 2 Y(t) = Sxl + X00 Fe X3(t) ; State model is, X = AX +BU and Y = CX a -3.0 0 1 re A=|0 0 1), B= |0 0 -2 -2. 1 c = [FG 2], 55 5. m of Representing the State Model lenominator of a transfer = ¢ and other non 5Jordan's Canonical For is f pavallel programming for fod t denominator of T(s) has toots. T(s) can be written as, ny A aan qa * je re @tei) the repeated roots of de 3 a root of order “1 at $ = Te) = = i+ ¢1) Te) 2. ues er 6r36+s) —Variable At FCS 708 State Variable Analysi & Design then it can be expressed as, aL a2 a3 aq as ; G+2? +2) +3) G4) Now instead of using ‘five’ integrators in parallel we can simulate 1, (+23 FY cascade simulation and output can be taken from various integrators to simulate terms like a ‘ rh while for all other nontepeated roots, programming must py according to Foster's form. ie. in general = Must be simulated and outputs of various integrators wi (+ cy) 1 1 = simulate terms like peo (s#eq)h7 1” (s+ ey)F> (s+) Then by assigning output of each integrator as state variable, state model can be obtained, State diagram will be as in the Fig, 13.22. oe 1 1 a Le (roy) me vw) Fig. 13.22.estate motel, matrix A takes form as, [ 'M for (t-1) times { | — ey for a r times Jordan _| block Matrix *A' has following features : Principle diagonal contains all feedback path gains ie. ~ ¢y for r times and all nonrepeated gains. Upper off diagonal contains (r - 1) elements as 1 if state variables are named starting from right to left as shown above. All remaining elements are zero. 139 Obtain the state model in Jordan's canonical form of @ system whose T.F. is 1 (+2? (s+1) Si: Finding partial fraction expansion, Ts) — (+2) AG + 1) + Bis + 2) G+ 1 +cs+2" =1 B+C = A+3B+4C = Shing A+2B+4C = we get, A Tis) = aS * GQ G+)Fes 710 State Variable Analysis & Design x, Xy uth Oy 2 +s y(t) Ky % OY >F-L Total simulation is, Xp = -2X+X. ky = UY- 2%. = UX, Y(t) = —Xj(t)-— Xq()+ X34) +, State model is, X= AX + BU and Y=CX+DU Contains Jordan Block fo] = , B= W 1) C= D=0 Solved Problems on Representation Ex.13.10 Obtain the state model of the given uetivork int the standard form. Assume Tol |G; =5F =270 ¢,-iF Ry +o. Input Ut \ ee 0 Output Sol. : Selecting state variables as voltages across capi Xp e2 = Xft) acitors Cy andC, ie. ey and e ey| m1 St ty . ate Variable Analysis & Design +o wh | Cc. "OPE, itt) 7 ' yi 2S ia’ cy ‘ ; Ee Agplying Kirchhoff’ laws, ' ul) - in Ri er ~ Ro (iy ~in) = 0 wo) = ip Rite) + Ry (iy ~ig) for second loop, a e iz Rg -€2 ~ (ig - i) Ry = 0 d : e) = Rg +e2 + (in ~ i) Ry 2) Solving simultaneously equations (1) and (2) : Ul) = iy (Ry +R) iy Ry te e, =~ i) Rp tin (RF Ry) te Substituting the values, U(t) = i, (1+2)-2i9 +e) ie U(t) = 311 -2in #e1 ~» @) e1 =~ 21, +5i2 +e2 (4) multiply equation (3) by 2. and equation (4) by 3 2 Ult) = 61, -4in +2€) Be, = - 6i;+15ig +3e2 and adding 3 U(t) + 3e, = 1iz+3e2+2e1 3 1 3 3 ore 6) ig = FUE ae 6) Now from equation (3) he U() = 3i-2in +21 stituting i. from equation (5) 5, =< ue Duwi Zer-e- 2 3i, = Ult) tl no it . Syp-2et Lerten Ut) = 34a er? . -2uy-2e-£e ol q i = ZUM- Betas? : dey : dey. iy -i CG = inkFCs 712 State Variable Anais & Dey esign de, SG 6 iG 1 =~ uit)-Sey-e2-S Ui)- ey += ae oo do ng a i 3 ser 2 Syp-Eey+e it as ene coet cage 8 a0 x, = Suy-2x +2 % aoe 0 and 2 = hy as 6 and Y(t) =e = X2 State model is, X = AX +BU and Y = CX + DU oe where A= . ay C=[0 a] D= [0] a) nod 1 displacements ant Ex. 13.11 Consider the mechanical system shown velocities obtain the state model in stan Assume velocity of Mz as output few My Na Mi Sol. : Select the state variables as energy storing elements ie. spring and friction: : Xi) = Yy(t) X3 = Vil) X(t) = Yolt) Xq = Voit) Ui) = R) Y(t) = V2)13 State Variable Analysis & Design yaw the equivalent mechanical system, Ky SOS ql 8, Atnode Yy, By dy, dt Atnode Y2, a’. dYy B, d(¥> - Y;) =M) 2 4 Ky Yy + By <2+ Kj, (¥p -Y))+# 2 ¥ oo (2) qe Ke Yo + Ba Get ka Ye Q Substituting all values in terms of variables PY, Fe My SSK ~Y2)+ () ay, | SX ay _ 7 dt | i dy, Xp, <2 = 7 dt «. Substituting in equation (1) and equation (2) U(t) = My Xq + Ky [Xy -X2]+ By IX3 - Xa] -- (3) 0 = Mz Xq + Ky Xp + Bo Xq + Ky [Xo ~ Xa] Bi Ky -X3] . @) fom equation (3) and equation (4) we can write 1 X35 = — [Ult)— Ky (% - Xq)-BiXg -X4)] 6) Bey = Lp Ky Xp - Ba Xs Ki Oa -%1)-B1 OG - XI] 6) 2 { ad xX, = Xz, X =X Y(t) = Vo(t) = Xy(b) * Slate model can be constructed in the standard form = AX+BU Y = CX+DU fi EEE sid aFes 714 State Variable Analysis & Design 0 0 1 0 0 0 0 1 K, K B By where A = |-—t i came + M M M M Sr OSE) Br Bie) M; Mp, M2 M2 0 a.| 2 ’ “| 7 My 0 C=fooy Ex. 13.12 For the given T-F. of a system obtain the state model by i) Direct decomposition T(s) ii) Gullemin’s Form iii) Foster's Form (+3643) s(s+1)(s? +95 +20) Sol. : i) Direct decomposition 2 ae T%) = s?+5s+6 . s?+5s+6 8(8°+10s* +29s+20) {([s+10]s+29)s+20}s State diagram is as follows. . % Xe «State model is =X, k= Xs, Xs =X, = U-20X,-29x3-10x,, = 6X, +5Xp +X,° = AX + BU and Y = CX+DU715 State Variable Analysis & Design. O 1 0 oo 0 OO 0 0 A= = Oe 08 OF Gl we atlo 0 -20 -29 -10! 1 c=[6510) D= [0] i) Gullemin's Form (s+2)(6+3) (s+2) +3) 1 1 Tis) = = : - State diagram is, s(s+1)(s+4)(s+5) (S+1) (+4) (8+5) 5X2 +3X3+X3 U(s) - Xy X= X X3 = —4X34+2XytXy, Xy = Substituting X4 back in X3 Xg = - 4X3 +2Xq + Uls)—Xq = - 4X3 + Xq + UGS) Cc =[1000] Substituting X5 back in Xp % = = 5Xz + 3X3 - 4X3 + Xq + US) = -5X_-X3+X4+U(s) = Y=% * State model becomes x = AX+BU and Y = CX D1 0 0 0 Where ae 35-1 1,c/! “lo 0 4 1 1 0 0 0-1 1—=ag FCS 716 State Variable Analysis & Design n iii) For Foster's form : Find out partial fraction expansion of T(s) Tj] =A, 8, C.D s+1 s+4 0 545 s =1/6 , 1/63/10 , 3/10 s+] S+4 545 s 0} | | yy X= U)-Xx, X2_ = Ult)- 4x, X3_ = Ult)-5x, X_ = Ul) State model is, X = AX+BU and ¥Y we cx { -1 0 00 fy where A={9 -4 00 _ |i 534452 +5542a" State Variable Anal ‘sis & Design 717 1 1 Te) = =—,——__ -—_1__ a 8344s? +5542 (s+1)? (s+2) -A_, BY aan? bel he e As +2)+ Bs + 1) (s+ 2) + C(s41)? =1 ie AG As + 2A + Bs? + 3Bs+2B+Cs?42Cs+C =1 B+C =0, A+3B42C= 0, 2A+2B4+C = 1 C=1,B=-1,A Now : 1 = Gp en ea State diagram is ,RY res 718 State Variable Anaiys 14 Obtain the state model of system whose T.F. is jae 3 2s Ts) = +35 428 by Foster's form +125? 4475 + 60 s? +35? +425 Sol. : Ts) = 334125? +47 5460 As numerator and denominator are of same order we cannot directly fing ind oy partial fractions. a For partial fraction, numerator degree must be less than denomtinater.S gy divide N(s) by D(s) and find partial fractions of the remainder. relly 5° 412s? 4475460) s3+3s?+2s a s?+12s? +47 s+60 ~ 9s? — 45-60 Ts) = % +47 s+ 60 9s? +4554 60 | A B 2430 s+30 std 545 8 State diagram : wnState Variable Analysis & Design = U5 3%, Xp = Ul) - 4X, = Ult) - 5X3 = 3X1 + 24 Xz - 30 X3 + Uls) State X = AX+BU and Y = cx+DU 3 0 0 1 cepere A=|0-4 0 B= {1 0 0-5 1 c =[-3 24 -30] D= fi) when Nis) and D(s) are having same order, or degree of N(s) > D(s) then, there nays direct transmission matrix D present in the model. 35Derivation of T.F. from the State Model sometimes it is necessary to determine the TF. of the system from the state model iavecor matrix form. This can be derived as below. “Consider a general standard state model, Xt) = AX) + BUH > and yy = CX) + DUH Taking Laplace transform of both sides and neglecting initial conditions sX(5) = AX(s)+ BUG), X(0)=0 Ys) = C X(s) + D Us) Initial conditions are assumed to be zero as TF. de! tion. s X(s) - A X(s) = B U(s) [sI- A] X(s) = BUG) Premultiplying by [sl - AT” X(s) = [sl- AI" BUG) finition is based on the same Substituting in equation for Y(S) Ys) = C [sl AJ? BUS) +P UG) MO) _ cjst-ay'B + D Us) er tay = ‘Adj{sI~ A] py formula of inverse of matrix sI-A | 1 = Us)Fes 720 State Variable Analysis & Design = CAdi[sI- AB 7 rey It may be remembered that the state model of a system is not unique but whatever may be the state model the TF. obtained from ‘it has to be unique. From the above formula it is clear that denominator of T(s) is nothing but D | sl - A | = 0. The roots of sl! — A|= 0 are called Figen values of matrix A while as these are roots of denominator polynomial of T(s) are also closed loop poles of the system. Isl = A |= 0 is called characteristic equation while Eigen values are the closed loop poles of the system. Ex. 13.15 Consider a system having state model fel-E2 3] Ge} + Ble mererr Be with D = 0 obtain its TF. Sol. : TF. = C[sl- ay’ B {stay = Adilst-Al IsI- A] 1 0) _/-2 -3]_[s 0] s-2 -3 . ‘(5 i af al | Bt2 3 |e | Cu Cy]_fs-2 477 2 aq = [Cx Ce] '_[s _fs-2 -3 Ca Co] [=3 22] “| 4 542 IsI- A] = (+2) (6-2)+12= 2 4412 = 52 48 ee a 4 2 stay? = LAS *Ad 5748 a la =| fl [rez] 4 s+2} [5 TR = — 27 _S*7) (5) 5, 1) er22 a8 748 _ [s+] 748Pye we cms 721 State Variable Analysis & Design é 8s+1 348 nd Determine the transfer matrix for MIMO system given by, Hf? V7] of ye aye aps lle be 1 ajluz)’ ly} [1 offx, For MIMO. system, we cannot find transfer function but we can calculate transfer utrix giving relation between each input and each output mathematically. “10 3 fia 21 oh | e-[ i} c-[; al ow TM. = C[sl- AJ} B+D AS I-A] = : ] ; aval Adjtal—al = [= ee -[? JRE 3} Ca Coo 3 os -2 s |sI-A| = s?+5s+6= (s +2) (6 +3) s+5 3 Is-apt = Adi tsl-Al_ [ 2 ‘I Isl-A] 6 +2)(6+3) f2 al: alt i] tm. = qa-aptee lt lL-2 slit 4} (+2) (+3) [i alee a [eset ne _ 1 0}[s-2 s-2]_|s+8 s+8 bea 38414 3s+14 (+2) @+3) (8+2) +3) et coe (s+2) (s+3) (s+2) (8+3) Ys) = TM. UG) 3s+14 3s+14 | ne _ |@+2) +3) +2) G+3) |[U1ls) Y5(s)| ~ s+8 s+8 Un(s) Bae @96ra|Fes 722 State Variable Analysis & Design 13.6 Solution of State Equations The state equation for any system (time invariant is considered in this book) is XW) = AX + BUG To obtain output response of any system means to obtain solution of state cquation ie. X(t) at any time “t’ which can be used in output equation to determine Tesponse of the system Now this state equation can be classified into two types. 1) Homogeneous and _ ii) Nonhomogeneous equation Tf (A is constant matrix and matrix U is zero vector i.e. no control forces are applied, then equation is called homogeneous equation. ©, If capacitor is charged at some voltage say Vc and allowed to discharge through resistance “R' then there is no control force U. Under the influence of initel capacitor voltage system works and hence called homogeneous system. Tf A’ is constant matrix and matrix U is non-zero vector then equation is called nonhomogeneous equation So total response or value of X(t) at any time “t' depends on the behaviour of X(t) under the influence of initial condition X(tg) and behaviour of X(t) under the influence of control vector U(t). So behaviour of X(t) under initial conditions without considering U(t) is called zero input response (Homogeneous solution ) while change in X(t) under control force U(t) alone is called zero state response. Zero input response is called as free, natural or unforced response. “+ X(t) = Zero input response component + zero state response component 13.6.1 Review of Classical Method of Solution Consider scalar differential equation = ax where x(0) = xp dt Now assume the solution as XQ = bo tbr tt by P+ ey ek att=0, X(0) = Xo =bg Substituting in equation by + 2b t+ 3b3 t? + +kb, th! a[bo +b, t+by t+, sot by AK] For validity of assumed solution, coefficients of dit ifferent powers of *t’ must match on both sides.é 723 State Variable Analysis & Design 2 js by = aby, bp = jabra 4a? bo, | bs = dab, = ap, (32 ace. 2 1 by = tbo and XO) = bo substituting all these values in assumed solution 1 akp ek gakbot x) = bo rabo t+ a? by 2 +.. 2 1 1. [rsated atts wot pate] X(0)_ as X(0) = by X(t) = e* X(0) BP tects ak Ki k s e* = 1+atria t 2! Now applying same to the vector matrix equation X(t) = A X(t) can write the solution as X(t) = et X(0) isis zero input response component where e** is a matrix of order n xn. is is called matrix exponential . From this equation it is clear that the initial at t = 0 drives state X(t) at any time *t. This transition is carried out by “ponential et. Because of this it is called state transition matrix denoted by 4) = At id of t = 0 as initial time, it is chosen as t = to then, 4) = eAl-to) ~ 2er0 input response component Solution of Nonhomogeneous Equation’ “sider vector equation | X() = AX() + BU, X(0) = 0 X)- Ax = BUM) sera; Ping both sides by e7* Be AX] = et BUC) Oa elt a d -At Rye 49 ax = 4 [e* xo]Fes. 724 State Variable Analysis & Design .. Substituting in above equation G pi-at _ eA a [e xo] = eo BUH Assuming to = 0 and integrating both sides, At € t At e x |, = If BU(t) dt £ e** x()-X(0) = fe7AT BU) de 0 Premultiplying both sides by e“*, : x(t) = eAt x) + fe*A@— 9) BU(a) de 0 ZIR ZSR ZSR = Zero state response If initial time is to then, t X(t) = eAl-to) x) + feA— 9) BU(t) de fo is the required solution. 13.6.3 Properties of State Transition Matrix 4(t) = et = State transition matrix 1) 900) = eA*°=1 (identity matrix) 2) ot) = eM aCe MOE H ot = -8 3) $ (ty tty) = eAltitt2) = oAtr (pate = 2 eAN= 6 (t)-6(41) Olt +2) = (ty) - (ta) = blte) - (ty) 4) eAttts) 2 QAt As 5) fF Bt = At cB Only if AB = BA 6) wor = [eM] =e" <9 an 2 (tz — tr) » O(t1 - to) = O(tz ~ tp)725 State Variable Anal, | Transform Method to Find Solution ‘most convenient method and popularly used to obtain the solution of equations. consider vector matrix state equation Xt) = A X(t) +B UW) ‘eking Laplace transform of both sides, sX(s) - X(0) = A X(s) + BUGS) sI X(s) -A X(s) = X(0) + B UGS) (l- A) X(s) = X(0) + B Us) Premultiplying by (sI- A)", X(s)_ = [sl- A] X(0)+[sl- AJ? BUG) Comparing zero input response already obtained with above equation . [sI-AT! = 66) L7 [sl-ar? = 0 Taking Laplace inverse of above equation. x = Lt {ist- art} X(0)+ L™ {H(s) BU(s)} At : ‘ Now L7 4F(s) Fo(s)} = [F(t-t) Fa(e) de a 5y convolution theorem, t 1 (4) BUG} = f ot-YBUMd 0 * Complete solution is, t X(t) = Ot) X) + [o(E- D BUC) de 0 t X(t) = eA X+f eAf- 9 BUG) de Advanta, ° a a Wore of this method is zero state response can be easily calculated by K3)}} once §(t) is known. Soit 's necessary to see how to calculate state transition matrix.Fes 726 State Variable Analysis & Design 13.8 Computation ofe® Method 1 : Laplace approach ot) = eM = 77 stay" Method 2: Power series method A 2, Are 2 3! Ae ose At [Irate But this method is time consuming and not that accurate as we have to calculate A7,A3, and we have to stop somewhere because it is not practicable to calculate higher power of A. Hence rarely this method is used to calculate et Method 3 : By use of Caley-Hamilton theorem. Method 4 : By use of Similarity Transformation method. Consider transformation X = Mz Where M is modal matrix. Refer to appendix on Matrix Algebra for calculation of “M’. X = Mz substituting in X= AX we get Mz = AMz premultiply by M7. z = M7 AMz Now MAM is always diagonal matrix denoted by A. This is the property of | modal matrix that M7!AM is always A. Solution of this is, z(t) = et 20) Substituting X(t) back ie. X = Mz z= MX 20) = M7 X(0) M7 X(t) ‘= e4tM™ x(Q) + Preimuldyng by M, X(t) = Me“! M! x(ay Comparing with standard homogeneous equationay 727 Stale Variable Analysis & Design eM = Me*t mt “out of all these methods, Laplace method is ver ence generally used to compute et, 317 Obtain the complete time response of system given by, . a7 wwe] al Xi) where xo =[ a 1| Y much suitable and convenient and Y(t) =[1 ~ 1] X(t) :Given system is homogeneous whose solution is X(t) = et x(0) Now “st {ol- ay} Oe (0 ah fei I-A] = - = maeef)-Ead-b 3] gi-ay? = Adii-A) |sI-A| ~ ot 1 _ [On Ca] fs 2} fst Adj (I~ A) -{e Cal “ht «| [26 |sI- A] = s? +2 s 2 240 = Gee oe Gl-ayt =|) itr ees s 1 242 g2+2 At pals May :Fes 728 State Variable Analysis & Design a 1. Ate cos V2 t qpoinvae -v2sin V2t cosv2t B X(t) = eAt x) =e [ cos v2 t- V2 sin v2 t 1) [cos /2t+ sin v2t |= 2 1) --output response Y(t) = [1 - 1] X(t) Af en cos 2t+ Ze sin vB cos V2 t- v2 sin V2t 34, Ssinv2t 2 y(t) = 2sinJ2t — is the required response. v2 Ex. 13.18 Find out the time response for unit step input of a system given by - o1 0 0 1 1 x-[5 ‘J x) “ UW) and Y(y = (5 4] X(t) and X(0) = (I sO} 70 1] fs 2 ee (c He cl: wal Cy CT? ot Adj[-st- A] = es | fy sl [3 ? a C22 1 os 2 s Sol. : |sl- A] = s?+35+2= (5 41) (s +2) eAt = 17 [gl-A)"] : s+3 1 (6+1)@+2) G+1)G+2 Ss 2) 246 (+1)G+2) (G+I)G+2) Finding partial fractions, ee 11 cet = 1 @%@) = S+1. s+2 stl s+2 2 2 -1 2 2y2 ay 2 S+1 842 sel s¥2 bes i729 State Variable Analysis & Design _[retae 2 etne™ ~2e"t +2¢°?* te 2e72 1 -t _g-2t : = eM x) = eM (al de -e 0} | -20* +2e-?* = L* { o(8) BUG) } = Unit step -.U(s) = 1/s s+3 = pt GrDG+2) (s+1)($+2) F 8 2 \erhera (s+1)(s+2) 5 28 ro sG+DE+2) s 5 st? G6+)6+2) 25-5e"*+25e7?t : [ set Set | X() = ZIR +Z5R ae we | | Beat -3e = Y(t) EB 3) Y(t) 0 1) [2s—set+a5e7*] _ 3e"t -3e7* lsc [2 3et-3e77* -5+6e"* -3e! yy) = 3(et-e"™) Y(t) = 5 +3(2e% -e*) are the outputs for unit step input applied. 2 = 819 Fora system X = AX, xo | 7 '2| when xo =[ | -2 = 1 and X(t) -| “le x0) -[4] -e ; Determine the system matrix A. is homogeneous so ZSR = 0 uFes 730 X(t) = et xo) State Variable Analysis & Design = [Ar Az Let A= Fe a ent [2¢-2t Now x() = hence Xt) =|“ -2e%t 4e~?t | andatt=0 X(t) = [| ‘ -2 fi So Xx) = [ when x) =| ; Similarly x) = ; 1 +1] So X00) = [ri] X(0) = “1 Substituting in X(t) = A X(t) 2] _ far Ag] fay CI- fs] L) = A1-2A) = -2 A3-2Ay = +4 +A,-Ay = -1 A3-Ay = 1 Solving these 4 equations simultaneously, Ap=1,A,=0, Ag=-3, Ay =-2 ae oo1 eee F.18.20 Obtain the state model for system represented by ay, 6 fy +n 410, = 3U(t) a 8 a Tae Y= SOW) Sol. : System is 3 rd order, n = 3 “ [-1 att=0 X(t) -fa] fI-b: IL 1} [As Agi lH ~~ () » Q@ .- @) ~ @ 3 integrators and variables are required. Select y = X1 and then successive differentiation of y as next variable, z X= X2 = dy/dt ~@ 2) al731 State Variable Analysis & Design | are defined, X;_# X4 but X3 must be obtained by substituting - variables in original differential equation. 3 Xq +6X5+11Xp+10X, = 3U as X, =oy . oct E X3 = 3U - 10X, -11X, - 6X3 (3) y=X which is output equation. + ate model can be written as, X = AX +BU and yx ot £ 0 | where A={ 0 0 11], Belols €-[10 0] -10 -11 -6 3 Sate diagram : Us) Find the state transition Matrix of the state equation. c PED. uy X| [a affix. |" [2 Using the irrverse transform method. (Dec.-96) io 11 Ate i lyst- ay! 1 o} fi o I-A = = | [i i] (i H| _fs-1 0 “| -1 s-1 Adj {sl- A] |sl-A | 2, u [sl-ay? =Fes 732 State Variable Analysis & Design Adjoint [sl - A] = [cofactor matrix]" i -1 0 7 CS | Isl- Al = (8-1) 6-1) s-1 0 [ 1 ll (s=1)(6-1) {sl- ay 0 ot) = Ex. 13.22 Write a set of state equations for the network shown in the Fig. Choose iy, iz and Ve as state variables, Ry —h EM) Sol. : Let E(t) = Input Voltage across Rp = E(t) = output i) = x(t) ig(t) = x2(t) Velt) = xs(t) Let i(t) and in(t) are the loop currents. Applying KVL to the loops. di BW) = Ri + Lib +Vo diy ay, Ge 7 TER Ver EO] : 1 x = bm X)-x3 + EO] on dip | Then, Vet) = La F2+ig ReState Variable Analysis & Des! 1 = pb iaka*¥e] = EE R2%2+%3] a = iy-i2 dt aVc dt o @) e EQ) a) the state model is, Py Em 9 11") \ | a] + ‘| E(t) 0 L x1] and E(t) = 0 Ro 0] *2 a Considering Ve and 1; as state variables and I as the output variables in the circuit shown below, obtain the state model PO) inputs, E(t) and Ig(t) Sutput, T(t) %reFes. 734 State Variable Analysis & Design Variables, Ve = x (t) and Ij = x(t) Let I, (t) and L;(t) be the loop currents. Applying KVL to the two loops, Loop 1, -Iy Ri - Ve + E(t) = 0 . I. Ry = EW) -Ve = deo-t vw Ri Ri - Org Output equation Loop 2, -L S41, Ry -1, Rp + Ve dt 8 di, 1 Ro, RB ML Ly Bey, -& at DCO Te R, Ry Me Fito 82 sate Se State equation and current through capacitor, = cae dt We os Ana) asc Substituting I, from output equation, 1 1 1 X= ey- xy -1 a 1 Gl ger Ex Stee equation 5 a 1 %] 2) Rc ~¢ |[m] |R, 0 |rEw Xp 1 _B]le®] "| _R|[Ro L ir a - [2 olfaO) fa. yew Y =/-— 0 = bi eee} [z fic] | Ex.13.24 Obtain a state space model of the system with transfer function j we. us) +65? 411846 (May-s8) X@) 6 Sol. : T he TF. is Us) 89 +6s? +115+6 Using factotisation of denominator,Yoo Uls) Kin 1 Ys) ue) us) 6 (s+1) (+2) 8 partial fractions, s ce the state diagram is as shown in the Fig, State Variable Analysis & Design x, Xo rs me Y(s) ince the state space x ' Y Where _ B is Faster's from of representation From above fig we get = Us) = U(s) - 2X2 Uls) - 3X3 = 3X) — 6X2 + 3X3 model is, = AX+BU = CX -1 0 °| = 0 2 0 o 0 | ny = H = B -6 3] vis)736 State Variable Analysis & Design FCs sm shown in Fig. input i tt) and output is y(t). Obtain Ex.13.25 For the mechanical syste Represent the system by block diagram, state equation and output equation. (May-2001) B ou pu K Sol. : The equivalent mechanical system is shown in the Fig. below uy om 2 Kyy + BIO dt t ye Let X, = yit) dy (t) dt oO Bl ge B® =X) Substituting in above, u () = M Xp + KX) + BXy 1 M ‘The output equation is, yt) = X Ye qx 0 A= | .737 State Variable Analysis & Design ‘The block diagram representation of the system is Questions Explain the following terms : j) State variables (ii) State transition matrix (iii) State transition equation 2} Give properties of state transistion matrix. 3) Explain advantages of state variable method over conventional one 4) Discuss the derivation of the state model using following methods of programming. i) Bush form ii) Gullemin's form iil) Foster's form iv) Jordan's form wing the state transition matrix, derive the total solution for a “Ron-homogeneous system equation. ‘Discuss with suitable ilJustrations; the various methods of finding the state-transistion matrix of a system. Elaborate upon the basis of selecting suitable state variables for a system. A linear time invariant system is described by x 0 1 OFFX 0 x l=|0 0 1 x] {alu x3} [6 -11-6]|%3) 2 xX) P4Y=11 00] |X. X3, Ri ‘i At "d explicit solution for state vector ie. & 0 (0) =| 0 2 aed hence output when control force is unit step. Assume XFes 738 State Variable Analysis & Design , 10 0 9) Find state transition matrix for the system X(t) = [ _ ke * (i ow 10) A linear time invariant system is described by Y(t) + 3 Y(t) +3 YH) + YO = UW Define the state variables and state model. Given c(0) = 1, &(0) = 0, ¢ (0) = 0 Find unit step response of the given system. 11) Obtain the state model for the block diagram shown... Hence calculate its state transition matrix. Ug) Ye) 12) Voltage across capacitor is Vc. With Vc andiz, as a set of state variables derive the state model. 13) Consider the permanent magnet moving coil instrument as shown, Here, e = Voltage to be measured, R = Armature Resistance, L = Armature Inductance , Ky= Back e.m-f. constant relating i = Current through armature coil , J = MLL of rotating part , K, = Spring constant Ky = Torque constant relating i and T , Coit | Derive its state model. AX4+ BU Y=CX+DU . <<< — |fc 7 ET 739 State Variable Analysis & Design. K ou. as L/L where A =| 0 0 1 B= = Ky kK 0 C=[0 1 0] — --s 0 0 , 4 | a mechanical system shown below obtain its state model in standard form. output as V(t). « Fi) Yet) a Tt, ns. : X= AX+BD, Y = CX E | fim] C201 where A=|_K _B|B= =(01 M M nM Obtain the state model in standard Bush form of a system shown in figure. AX +BU, Y=CX p01 0 0 ool a } whereA=| 9 4g = (72 96 24 0} | -288 -176 -98 -19 Ll ‘mine the transfer matrix for MIMO system given by, CLs SIRI AE bel ole]Fes 740 State Variable Analysis & Design For MIMO system, we can not find transfer function but we can calculate transfer matrix giving relation between each input and each output mathematically. 35414 3s +14 st14 Ss +14 Ans. [20] =| *296+3) +2) 63) lee mS “I yo(s)||_8*8 _8+8 A) +2) 643) +2) +3) Find out the unit step response of the system given by, P ) 1) X(t) = (S ‘I X(t) + k |U(t) and Y(t) = [1 1] X(t) and X(0) = ( Ans. : Y(t) = £+4e°*cos 1.323 t= 0.878e°5 'sint.323 ¢ 17) 18) A series R-L-C circuit consists of R=1Q, L=1HandC =1F Itis excited by a voltage source V = 10 volts. aoe] =f 2]E89] {9]0 X&} Ll 0} Paw} Lo Write state equations for the network. University Questions 1) State whether the following statement is True or False. Justify your answer The analysis of MIMO system is studied by state space apparoach. (Dec.-98) 2) Define the terms : i) State ii) State variables iii) State vector iv) State space (Dec.-98, May-2001) 3) What are the advantages of state space analysis over conventional control system analysis method ? (Dec.-98) 4), Obtain the state transition matrix for system (Dec.-98) my] [-3 fy] bal “Lo a} ps] 05e' ~05e°% ko et 5) Obtain a state space modét of the syste Y(s [ Hint : Refer Ex. 13.21 'm with transfer function US) 53465? <11s46 (May-99) 8) Obtain the state transition matrix ofthe folowing system (May-99) —dState Variable Analysis & Design Qetiet gt _g2t Qe 4207 ent 4 29 2 [ Hint : Refer Ex. 13.18 Ans. [ sate whether the following statement is True or False with reasons : the stale space approach of the system analysis is a frequency domain analysis. (Dec.-99, May-2000) paplin the following, terms ry 9 State ii) State variables ii) State equations iv) State transition matrix. (Dec.-99, May-2000) Compare classical control theory with state variable theory. (Dec.-99, May-2000) Write the derivation of the transfer function from the state equation. (May-2000) State whether the following, statement is True or False with reason. ‘The state space approach of the system analy: s is a time domain analysis. (Dec.-2000) Write a short note on Advantages and limitations of state variable approach. (Dec.-2000) Distinguish between conventional control theory and modern control theory. (May-2001) for the mechanical system shown in Fig. input is u(t) and output is y(t). Obtain state equation and output equation. Represent the system by block diagram. 8 u(t co {vt (May-2001) Write a short note on Salient features of state variable method. (Dec.-2001) goa