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State Variable Project

This document discusses control systems and provides examples of state space modeling for continuous and discrete time linear models, as well as nonlinear and time-varying systems. It covers topics like controllability, observability, linear state variable feedback control, and observer-based control. Real-world examples of controlling a magnetic levitation system and coupled tank system in real-time are presented. Assignments are given to obtain state space models for nonlinear and linearised systems.

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Shovan Dey
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54 views17 pages

State Variable Project

This document discusses control systems and provides examples of state space modeling for continuous and discrete time linear models, as well as nonlinear and time-varying systems. It covers topics like controllability, observability, linear state variable feedback control, and observer-based control. Real-world examples of controlling a magnetic levitation system and coupled tank system in real-time are presented. Assignments are given to obtain state space models for nonlinear and linearised systems.

Uploaded by

Shovan Dey
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Control Systems

– A journey

Dr. Aparajita Sengupta

Professor, E.E.,
Indian Institute of Engineering Science
and Technology, Shibpur
Modern Control…………….

7/25/2019 2
Modern Control:
State Space Modelling
Continuous time Discrete time

Linear Models
Nonlinear Systems?
Time Varying ones?
Multivariable Systems?

7/25/2019 3
Controllability:
A system is completely controllable if there exists a control u(t)
that can transfer any initial state x(t0) to any other desired
state x(t) in a finite time, t0≤t≤T.

Test : rankB AB A2 B  An1B  n


Observability:
A system is completely observable if and only if there exists
a finite time T such that the initial state x(0) can be
determined from the observation y(t) and control u(t).
 C 
 CA 
Test : rank  n
  
 n 1 
7/25/2019 C A  4
Linear State Variable Feedback Control

u(t )   K x(t )  r (t )

System Model
r(t) u
x  A x  B u

x
Control Law

-K

back
System should be fully Controllable.
What if all states are not measurable?...
7/25/2019 5
Observer based Linear State Variable Feedback
xˆ  A xˆ  B u  L  y  C xˆ 
System model
u x y
x  A x  B u C

Observer
Conrol Law ~y  y  C x̂ +
x̂
-K x̂  A x̂  B u  L~y
-

C
Compensator

Prev
System should be fully Controllable and Observable
7/25/2019 6
Real Time Applications…..

7/25/2019 7
Most controllers designed on-
Linearised Models

prev
7/25/2019 8
REAL TIME CONTROL OF A MAGNETIC
LEVITATION SYSTEM

7/25/2019 9
Interfacing Arrangement:

Physical System PC

7/25/2019 10
System Equations

Linearised model about operating point

State space model – linearised:


Assignment 1: Obtain a state space model of: i) the
nonlinear system and ii) the system linearised about
an operating point
20

7/25/2019 11
Observer based
CLOSED LSVFTRACKING
LOOP Control : Simulink Simulation
OBSERVER
SIMULINK MODEL RESPONSE

BLOCK DIAGRAM

7/25/2019 12
REAL TIME CONTROL OF A COUPLED TANK
SYSTEM (CTS)

7/25/2019
7/25/2019 14
Coupled Tank System
• State Space Model :

• Linearised System equations :

7/25/2019 15
Assignment 2: Obtain a state space model of: i) the
nonlinear system and ii) the system linearised about
an operating point

7/25/2019 16
• Open Loop system response :

7/25/2019

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