Ee 422G Notes: Chapter 7 Instructor: Cheung
Ee 422G Notes: Chapter 7 Instructor: Cheung
Ee 422G Notes: Chapter 7 Instructor: Cheung
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NOTE: in this chapter, we will use u(t) (not to be confused with the step function)
to denote the input and use x(t) to denote the state.
2. Derive the “State” and “Output” equations – express the derivatives of the
states and the output in terms of the current state and the input ONLY.
dx1 1
KCL at node a: = x2
dt C
dx 2 1 R 1
KVL: = − x1 − x 2 + u
dt L L L
These two equations can be more compactly written in matrix form:
x&1 0 1 / C x1 0
= + u
x&2 − 1 / L − R / L x2 1 / L
The above matrix equation is called the State Equation because it relates the
change (1st-order derivative) of the state to the current state and input.
Page 7-5
EE 422G Notes: Chapter 7 Instructor: Cheung
Using this approach, we can write the state-variable representation for any circuit.
In general, the state and output equations are always in the following form:
x& = Ax + Bu
y = Cx + Du
v L = ( vc − y ) = (x1 − R2 x2 ) = x1 − 2 x 2
1 1 1 1 R
x& 2 = (2)
L L L L L
Page 7-6
EE 422G Notes: Chapter 7 Instructor: Cheung
To summarize:
For electrical network: select i L and v C as state variables.
Step 1: Select each iL and vc as state variables
diL
Step 2: For each iL , write a KVL ( i&L = will be included)
dt
For each vc , write a KCL ( v&C will be included)
Step 3: Other KCL and KVL, and element relation to eliminate “other”
variables (other than states (iL, vc ) and sources (input).
=>state equation.
Step 4 : Output equation
State Equation => Tell how to realize and simulate (system realization) the systems
N ( s ) bm s m + bm−1s m−1 + ... + b1s + b0
Given H ( s) = = n (Assume m<n ⇒ BIBO)
D(s ) s + an−1s n−1 + ... + a1s + a0
x& = Ax + Bu
Find (u --- scalar, y--- scalar)
y = Cx + Du
−1
Such that C ( sI − A) B + D (the transfer function expression derived directly
from the state equations) equals the given transfer function.
N ( s)
Given a system H ( s) = , we can implement this with the following block
D(s )
diagram:
1 v (t )
u(t ) N (s) y (t )
D(s )
Page 7-7
EE 422G Notes: Chapter 7 Instructor: Cheung
Note that our definition already provide almost the complete form of a state
equation, except that we don’t have an expression for x&n (t ) .
That has to come from the system. In the first part of our system:
1
u(t ) v (t )
D(s )
U ( s ) = D ( s )V ( s )
Or:
= s nV ( s ) + an−1s n −1V ( s ) + K + a1sV ( s ) + a0V ( s )
x&1 0 1 0 0 K 0 x1 0
x&2 0 0 1 0 K 0 x2 0
M = K K K K K K M M
+ u( t )
x&n − a0 − a1 − a2 − a3 K − an−1 xn 1
Page 7-8
EE 422G Notes: Chapter 7 Instructor: Cheung
4 s 2 + 3s − 1
Example/ H ( s ) =
6s3 + 7s2 + s + 5
M
CA n −1
Page 7-9
EE 422G Notes: Chapter 7 Instructor: Cheung
x& = Ax + Bu
To simulate we can follow the procedure below:
y = Cx + Du
This implementation assumes the input is constant and the state vector is
linear within the sample interval [t , t + ∆t ) . While the first assumption is not
too unreasonable, we can improve upon the second one by combining step 2
and 4 together to compute
x(t + ∆t ) = e A∆t x(t ) + (e A∆t − I ) A −1Bu (t )
This involves a matrix exponential which can be computed by using Taylor
Series:
1 2 2 1 33
e At = I + At + A t + A t + ......
2! 3!
But I am afraid we are running out of time. For further reference on the use of
State-Variable Representation, please consult the excellent text “Linear System
Theory and Design” by C.T. Chen.
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