Scribd
Upload
68 views13 pages

Lecture 5: Control Systems Analysis in State Space

The document discusses stability, controllability, and observability of state-space models in control systems. It defines stability as bounded responses for bounded inputs, and describes how eigenvalues determine stability. Controllability means any final state can be reached from initial conditions using inputs. Observability means initial states can be determined from known inputs and outputs. An example analyzes a system's stability, controllability, and observability based on eigenvalues and matrix ranks.

Uploaded by

ORK BUNSOKRAKMUNY
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
68 views13 pages

Lecture 5: Control Systems Analysis in State Space

The document discusses stability, controllability, and observability of state-space models in control systems. It defines stability as bounded responses for bounded inputs, and describes how eigenvalues determine stability. Controllability means any final state can be reached from initial conditions using inputs. Observability means initial states can be determined from known inputs and outputs. An example analyzes a system's stability, controllability, and observability based on eigenvalues and matrix ranks.

Uploaded by

ORK BUNSOKRAKMUNY
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
You are on page 1/ 13

Lecture 5 : Control Systems Analysis in State Space

Modern Control systems

It Chivorn

Institute of Technology of Cambodia

I4GEE-EA, 2023

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 1 / 13
Stability of State-Space Models

Table of Contents

1. Stability of State-Space Models

2. State Controllability

3. State Observability

4. Example

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 2 / 13
Stability of State-Space Models

Stability of continuous time linear systems

Figure 1: State Stability

▶ A state-space model is said to be stable if the response x(t) is bounded for all
u(t) that is bounded.
▶ Stability criterion for state-space model
The state-space model will exhibit a bounded response x(t) for all bounded u(t),
if and only if all of the eigenvalues of A have negative real parts (the stability is
independent matrices B and C)

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 3 / 13
Stability of State-Space Models

Stability of State-Space Models

Example
▶ Single variable equation ẋ = ax has the solution

x(t) = eat x(0) ⇒ stable if a < 0


▶ The solution of ẋ = Ax is ẋ = eat x(0)
▶ Stable if all of the eigenvalues of A are less than zero
▶ The response x(t) is oscillatory if the eigenvalues are complex

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 4 / 13
State Controllability

Table of Contents

1. Stability of State-Space Models

2. State Controllability

3. State Observability

4. Example

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 5 / 13
State Controllability

State Controllability

The question of how we can (and if there is possible to) find a suitable control input
u(t) that will take the system from an initial state x(t0 ) to any desired final state x(t1 )
in a finite (often very small) time, is answered by the theory of state controllability.
Definition
A system described by a state space model ẋ = Ax + Bu with initial state x(t0 ) given
is controllable if there, for an arbitrarily finite time t1 > t0 exist a control function u(t)
defined over the time interval t0 < t < t1 , such that the final state, x(t1 ), can be
arbitrarily specified.
Controllability: In order to be able to do what ever we want with the given dynamic
system under control input,the system must be controllable.
Theorem
A system described by a state space model ẋ = Ax + Bu is state controllable if the
controllability matrix

Cn = B AB A2 B . . . An−1 B
 

has full rank, i.e.,


rank(Cn ) = n
It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 6 / 13
State Controllability

State Controllability

Figure 2: Example of State Controllability.

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 7 / 13
State Observability

Table of Contents

1. Stability of State-Space Models

2. State Controllability

3. State Observability

4. Example

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 8 / 13
State Observability

State Observability

Theorem
A system described by a state space model ẋ = Ax + Bu and y = Cx + Du with
initial state x(t0 ) is observable if there, from knowledge of known inputs, u(t), and
outputs, y(t), over a time interval t0 < t < t1 , is possible to compute the (initial)
state vector, x(t0 ).

Figure 3: Example of State Observability


It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 9 / 13
State Observability

State Observability

Theorem
Define the observability matrix
 
C
 CA 
 2 
On =  CA 
 
 . 
 .. 
CAn−1

The linear continuous-time system with measurements is observable if and only if the
observability matrix hasfull rank, i.e.,

rank(On ) = n

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 10 / 13
Example

Table of Contents

1. Stability of State-Space Models

2. State Controllability

3. State Observability

4. Example

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 11 / 13
Example

Example

Consider the linear continuous-time system

ẋ = Ax + Bu, x ∈ R2 , u ∈ R1
y = Cx + Du, y ∈ R1

where,    
1 2 −1    
A= ,B= ,C= 1 0 ,D= 0
−1 0 2
▶ Stability - Eigenvalue: det(A − λI) = 0 ⇒ λ = 0.5 ± 1.32i
The system is unstable.
▶ State Controllability
 
  −1 3
Controllability matrix: Cn = B AB , ⇒ Cn =
2 1
Since, rank(Cn ) = 2 is full rank, Then the system is controllable.
▶ State observability
 
 T 1 0
observability matrix: On = C CA , ⇒ On =
1 2
rank(On ) = 2 is full rank, Then the system is also Observable.

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 12 / 13
Example

THANK YOU ...

It Chivorn (ITC - GEE Department) Modern Control systems Oct, 22, 2023 13 / 13

You might also like