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    351 - 27435 - EE419 - 2020 - 1 - 2 - 1 - 0 5 EE419 Lec9 Solution of State Equations

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    youssef hossam
    This document discusses solutions of state equations for control systems. It begins by presenting the general state equation for both forced and unforced responses. It then shows that the solution for the state equation x(t) = Ax(t) is x(t) = eAt x(0), where eAt is the state transition matrix. The document provides an example of finding the state transition matrix for an RLC circuit. It also discusses taking the Laplace transform of the state equation with input u(t) and presents the solution involving the state transition matrix and input function. Finally, it provides an example of using this approach to find the time response of a system.

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    351 - 27435 - EE419 - 2020 - 1 - 2 - 1 - 0 5 EE419 Lec9 Solution of State Equations

    Uploaded by

    youssef hossam
    16 views15 pages
    This document discusses solutions of state equations for control systems. It begins by presenting the general state equation for both forced and unforced responses. It then shows that the solution for the state equation x(t) = Ax(t) is x(t) = eAt x(0), where eAt is the state transition matrix. The document provides an example of finding the state transition matrix for an RLC circuit. It also discusses taking the Laplace transform of the state equation with input u(t) and presents the solution involving the state transition matrix and input function. Finally, it provides an example of using this approach to find the time response of a system.

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    351_27435_EE419_2020_1__2_1_0 5 EE419 Lec9 Solution of state equations

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    This document discusses solutions of state equations for control systems. It begins by presenting the general state equation for both forced and unforced responses. It then shows that the solution for the state equation x(t) = Ax(t) is x(t) = eAt x(0), where eAt is the state transition matrix. The document provides an example of finding the state transition matrix for an RLC circuit. It also discusses taking the Laplace transform of the state equation with input u(t) and presents the solution involving the state transition matrix and input function. Finally, it provides an example of using this approach to find the time response of a system.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    16 views15 pages

    351 - 27435 - EE419 - 2020 - 1 - 2 - 1 - 0 5 EE419 Lec9 Solution of State Equations

    Uploaded by

    youssef hossam
    This document discusses solutions of state equations for control systems. It begins by presenting the general state equation for both forced and unforced responses. It then shows that the solution for the state equation x(t) = Ax(t) is x(t) = eAt x(0), where eAt is the state transition matrix. The document provides an example of finding the state transition matrix for an RLC circuit. It also discusses taking the Laplace transform of the state equation with input u(t) and presents the solution involving the state transition matrix and input function. Finally, it provides an example of using this approach to find the time response of a system.

    Copyright:

    © All Rights Reserved
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    of 15

    MODERN CONTROL SYSTEMS

    Solution of State Equations

    Emam Fathy

    Department of Electrical and Control Engineering

    email: [email protected]

    http://www.aast.edu/cv.php?disp_unit=346&ser=68525
    1
    Solution of State
    Equations

    2
    Forced and Unforced Response
     Forced Response, with u(t) as forcing function

     x1   a11 a12   x1   b1 


     x   a      u(t )
     2   21 a22   x2  b2 

     Unforced Response (response due to initial


    conditions)
     x1   a11 a12   x1 ( 0 )
     x   a   
    a22   x2 ( 0 )
     2   21
    Solution of State Equations
     Consider the state equation given below
    x (t )  Ax(t ) (1)

     Taking Laplace transform of the equation (1)


    sX ( s )  x(0)  AX ( s )
    sX ( s )  AX ( s )  x(0)

    sI  AX ( s)  x(0)


    X ( s )  sI  A x(0)
    1

    1
    X (s)  x ( 0)
    sI  A
    Solution of State Equations
    1
    X (s)  x ( 0)
    sI  A
     Taking inverse Laplace

    x(t )  e At x(0)

     (t )  e At
    State Transition Matrix
    Example
    • Consider RLC Circuit obtain the state transition matrix
    ɸ(t).
     1 iL Vo
    vc   0   v   1  + +
     i    1
    C
     
    c
       C u(t ) Vc
     L  R  iL   
      0 - -
    L L

    R  3, L  1 and C  0.5

    vc  0  2 vc  2


     i   1      u(t )
     3  iL   0 
     L 
    Example
    vc  0  2 vc  2
     i   1      u(t )
     3  iL   0 
     L 
    • State transition matrix can be obtained as

      S 0  0  2  
    1

     (t )   1[( SI  A)1 ]   1       


      0 S  1  3  

    • Which is further simplified as

     S  3 2 
      
    1 ( S  1)( S  2 ) ( S  1)( S  2 )
     (t )    
    1 S
     
     ( S  1)( S  2) ( S  1)( S  2) 
    Example
     S  3 2 
      
    1 ( S  1)( S  2 ) ( S  1)( S  2 )
     (t )    
    1 S
     
     ( S  1)( S  2) ( S  1)( S  2) 
    • Taking the inverse Laplace transform of each element

    ( 2e  e ) ( 2e  2e )
    t 2 t t 2 t
     ( t )   t  2 t t  2t 
     ( e  e ) ( e  2e ) 
    Home Work
    • Compute the state transition matrix if

     1 0 0

    A  0 2 0 
     0 0  3
    Solution

     (t )   [( SI  A) ]
    1 1
    Solution of State Equations
    • Consider the state equation with u(t) as forcing function
    x (t )  Ax(t )  Bu (t ) (1)
    • Taking Laplace transform of the equation (1)

    sX ( s )  x(0)  AX ( s )  BU ( s )
    sX ( s )  AX ( s )  x(0)  BU ( s )

    sI  AX ( s)  x(0)  BU ( s)


    x(0)  BU ( s )
    X (s) 
    sI  A
    Solution of State Equations
    x(0)  BU ( s)
    X (s) 
    sI  A
    x(0) BU ( s )
    X (s)  
    sI  A sI  A
    • Taking the inverse Laplace transform of above equation.
    t
    x(t )   (t ) x(0)    (t   )Bu ( )dt
    0

    Natural Response
    Forced Response
    Example
    • Obtain the time response of the following system:
     x1   0 1   x1  0
     x    2      u (t )
     3  x2  1
     2 
    • Where u(t) is unit step function occurring at t=0.
    consider x(0)=0.
    Solution

    • Calculate the state transition matrix


     (t )   [( SI  A) ]
    1 1
    Example
    • Obtain the state transition equation of the system
    t
    x(t )   (t ) x(0)    (t   )Bu ( )dt
    0
    𝑥 𝑡 = ℒ − 1(𝜑 𝑠 𝑥 0 + 𝜑 𝑠 𝐵𝑢(𝑠))

    20
    End of Lec

    21

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