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System Theory

1) State variable analysis uses state variables to define the condition of a system at any time, allowing prediction of future behavior given initial conditions and inputs. 2) For linear systems, state variables are defined as the minimum set of variables fully describing the system. These are arranged in a state vector and define the system's state space. 3) Examples show defining state variables for an RLC circuit (current and charge) and mechanical system (positions and velocities). The systems are represented by state-space models in matrix form.

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Michael Campbell
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66 views

System Theory

1) State variable analysis uses state variables to define the condition of a system at any time, allowing prediction of future behavior given initial conditions and inputs. 2) For linear systems, state variables are defined as the minimum set of variables fully describing the system. These are arranged in a state vector and define the system's state space. 3) Examples show defining state variables for an RLC circuit (current and charge) and mechanical system (positions and velocities). The systems are represented by state-space models in matrix form.

Uploaded by

Michael Campbell
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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State Variable Analysis

Need Of State Variable Analysis


 Modern control theory is contrasted with conventional
control theory. It is applicable to MIMO (Multiple Input
Multiple Output) systems, which may be linear or non linear,
time variant or time varying systems.

 Conventional control theory, is applicable only to linear time


invariant SISO (Single Input Single Output) systems.
State Variable Analysis
 In state variable analysis, with the help of
state variables, the condition of the system Input Signals Output Signals
can be defined at any instant of time.
u1(t)

 A simple practical example of a state u2(t) System


variable is the state of an on-off light switch.

 The switch can be in either the on or the off x(0) Initial conditions
position, and thus the state of the switch can
assume one of two possible values.
u(t) y(t)
 Thus, if we know the present state (position) System
of the switch at t0 and if an input is applied, Input Output
we are able to determine the future value of
the state of the element.
State
 The state of a dynamic system is the smallest set of variables
such that the knowledge of these variables a t = t0, with the
knowledge of input for t≥t0 completely determines the
behavior of the system for any time t≥t0.

 In other words, the state of a system represents the minimum


amount of information that we need to know about at system
at t0 such that its future behavior can be determined without
reference to the input before t0.
State Variables
 The state variables of a dynamic system are the variable
which make up the smallest set of variables that determine
the state of the dynamic system.

 If at least n variables are needed to completely describe the


behavior of a dynamic system, then such n variables are a set
of state variables.
State Vector
 If n state variables are needed to completely describe the
behavior of a given system, then these n state variables can be
considered the n components of a vector x. Such a vector is
called a state vector.

 A state vector is a vector that determines uniquely, the


system state x (t) for any time t≤t0 once the state at t = t0 is
given and the input u (t) fo t≥t0 is specified.
State Space
 The n dimensional space where x1 axis, x2 axis, …. , xn
axis, where x1, x2, …. , xn are state cariables, is called the
state space.

 Any state can be represented by a point in the state space.


State Space Representation
 A continuous linear time invariant state space model takes
the following form:

A = System Matrix B = Input Matrix


C = Output Matrix D = Feedforward Matrix
For an RLC Circuit
For an RLC Circuit
 The state variables are i(t)
and q (t).

 Ri   idt  vt 
di 1
L
dt C

But , it   dq dt
d 2q
 L 2  R  q  vt 
dq 1
dt dt C

dq
And , i
dt

q  i  vt 
di 1 R 1
 
dt LC L L
For an RLC Circuit
 The state variables are i(t)
and q (t).

vL t    qt   Ri t   vt 
1
C
For an RLC Circuit
 The state variables are i(t)  In Matrix Form:
and q (t).

x  Ax  Bu
dq dt  q 
x    x 
 di dt  i 

 0 1   0 
A  B 
 1 / LC  R / L 1 L 

y  Cx  Du
y  vL t 
C  1 C  R D 1
u  vt 
For an RLC Circuit
 The state variables are i(t)  In Matrix Equation Form:
and q (t).

x  Ax  Bu
y  Cx  Du
 State Space Model:

dq dt   0 1  q   0 
 di dt    1 / LC  R / L  i   1 L v(t )
      
q 
vL t    1 C  R   1v(t )
i 
For a Mechanical Circuit

y2 K
y1

M2 M1 f (t )
B3 B1

B2
For a Mechanical Circuit

y2 y1
K
M2 M1 f (t )

B3 B1
B2

M 1 y1  B1 y1  B2 ( y1  y 2 )  K ( y1  y 2 )  f (t )


M 2 y2  B3 y 2  B2 ( y 2  y1 )  K ( y 2  y1 )  0
For a Mechanical Circuit

y2 y1
K
M2 M1 f (t )

B3 B1
B2

 
 
x1  y1  y 2  x1   0 1 1   x1   0 
 x    K ( B  B2 ) B2   x    1  f (t )
let x 2  y1  2  M  1
M1 M1  2   M1 
 x3    
( B2  B3 )   x3   0 
1
x3  y 2 
K B2
 
 M 2 M2 M 2 

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