Stale VaviableMnaleysts

w
AM

t¬u dyCMpt eM
nmic System i
SHete e a du Cyeteu baued
bayed
keluuout@ul 4e
+eu tut
a s t evavious.
Md
YCseut oeuauiaun qP eut
dyCnbL
mpuu varia6ia utuse beuavu

vanabu lun 6u a s t belan Gu

p
eState ianal uCnbis

Soch
goch
Uarna lous
yanalgLA

S l a t variabos Set o4
u
nimum
mie u e vamablu al0ug
a oug
o
olly
yc be
nn b
COm p l t
COM
tu tnut
t Sygtem.
b e u a i o19

TF Mode o/p
P vaiably
State

e Stae Mooe C p, ofp ,

S ,R, , ]
n+ Sate
UP variab

Note cuooge
curogeu e4
to loo
yiabu
S a kva
w M

lo.
DMinimum
Md vol Fexge
cual matucher
2 Cuoevct Mooqu Ca cou)elLud
a p a fer
aecADSS

Stete

dyl Is-slo)-- Shl/o)

 CLiot)=l o
Vef o ' ) = Vrlo'
aYstem can Jo
and its dervatte `a
aiia
akkL
e .
3Cutpet as State
ceng]Lud
COnSKed sak va
av ia
ia hb
lele
...
a sak
is
an inteqoater
4))Op
4 P

I
Stale ModelM O m o d u - C

Op =
VP
vamabs

Ui
MIMO

v a i a h t

State aNaby

State ve ctOT
Xt)=
ut)= /p vector

m Jynl p pkI
YI+S=P vecto

n sla

=Ca#+D u H
Xe =
Ax4) +uIE)
gbcoT
huld be

vaky
 MQ ic
A,B,C, D cofftc)evd
tyglem Mamx or Atak matix
A
Mabi x
8 Tnput
c upd Mahix
C
Tsansto Mati

Lau

14=9+S
2-v
gpnsri,t 4 baS1nuot

Homogesul s a t
Now
=
PRP PXT
Axt)] +Bul4 : Slale ep
Xt) nxp Px +Dult):p p ep
ep
=C at4)
|9(t) AOdLU.

uO
to do -h.
t A
othjug
a chalta
D Së pta cha
Ata
B,C
eut A
State e p -
R.
AgUy
Stae e g ut n
du
Omoq

+Sae Diaga)-
saphjcal Dupres eutafg
pre euattou
6lodk
6/ok
aqtamis tuT
O SHade o d
Cwnc
Slae ow
S g Chgnal o u
aq m
Co
lock
aacm
laq i t g hOulc
Fes a Clate

qsc at
atleast
Ont
baut
 Sater(a

Slate OiqNAM
State Modtl
Paadul
enonlcal Ser mutuDaa
Phase
m e t u n d

vanaplt Mutuod
Phystcat mutuoel
vanabl meind
gmeHind

Model
SeM
and S at
k/u Tsansfes "
Dfesences
State Modll:
MoQl hoalusis fer
Tsanater Motu Modd APPU ca be
oState
Ppplicabêc ony fer
LTT
S (ualark|
tm doau
modtl u valtd bgtu
requy Ony
TF ama
donain
i n tiw
domain
modu
ef" au nat
o In trans HesCOndi MAed
inital 7oO
H e u e l ,J a e cbBaiid

jncudiod C a n not
upele
lau Can
eQeusu kee odl
Vng C f a k mmacl

muulh va Ma lne
ef. ciu nat ontqeuu
odul
Amalyels TF
A State
mou
ul
Temeul, ontque
Simollow o CD uu Leugu
obltty&Cboer babrltk
o Control be
dofemiuld
oM o t
Pp mootu btt IE
TFI oslu
Ugina idenmiud

Can b
Slale mo du
T
a to 0 b - e
Sc e
Modal ond ala

CMrcknsha huee, Todu

popukaot. hanstate moa
#physial Vonablte Meftunol
caM e
uaiabe aat
Phystcal vanable 0 tuoRe
CuT eut, dyptaee Cuut,velouty
miaiorLd. oHage,

L
Vc C Vo
Vi

oblain slate Moe

A= mahix estae mai

f Dut
YIt)= Cx( Inpeumahmx
eaor
u le) = lnpet

U V C Output moMX

emMoLY
= Vo O ToanSmí ssi

X
Ve

siate vaxicabl0 owm

i = E iL-Ve L

Ve

V
VoVc
 -P
Y Vc
L
N

Vo

No +

I=+ê cdg
Cp++ic
X

=Vp

X Vc
Ve L C
Ve Ve

VVe
 C V¢

2 Vo
V

U=

L, +4i +V¢=o
-U4

V+1t +Rz tO2 =o

X
Vc

C
=

V
P t
PVL
x -2/-Rz/

O
x+
 W-

V TV

Phose Voxialbde Method

eat ai
tLoCe yaiable
and its
Phase vanable
+e yanabe
vmabe and 1
bdain ed hem
dauvaH y .
voiable cwosen ts p g
USvall
USvally tee

COn gid u (4)

+ 6 dylt + 3q(t) =

ds 5 d
Uanabu ndu 3 z
=
glate
NO uMabl Jo4,
Let teu Stae
Tuy wI Mdec
hstla(s (s
Sye e ((o

-54 -6-3g+
3X -6
 X

3 -G5 1
COmhellake {o

o L o JU
CEq" ui
c u au
able t sec cot cueut
cOholta ku
Tf tou au agt sBo gee cofic auf e ct5"

Celom uat 4 o 6 c e o l e Aun

CF oF

T
B
C

Ob sewatle fowM
O

o o1
HDiret Method Stale Dfaqam-

S3 SS2f6s+3
Ulg)

wt Htgut Pou
Pou xX
Pat OnaU 2e TF 6 9 o Safe

1)
i) ol to7
b h bui
nteg ycter
BiM ba b a le Ken
to n
dlamem
X
SS
s) S3s+6s+3

t o
S3Io)
-
- C-Ss-6c-3s - 3 t d
343=
=
du
Nodu= 3
No
od
Magens

TF
Vs Vs

rem Slat duaoun

S4ale m ocl
Slae vayiabto au
gdown-
no
.Assqmtug a4 w aisive,
Cwe Com a ssigm
Obc e n aMd.

-2S+

7
=3- 6Y S

3Xt G

I-6
S3

Drseet Matod
blain Lete dagsaw Apm
a Stak Mode

TF 24

2 S+1
s-2
Uls +S+9
2 S+S

2 S +S
1-C2si - S s ]

Nodl 3+2S

ys Vs
X

Ye
Tulfeut-ftui
uo skta
 emomlou,
o
Pewowu f aH
a n f (eQ
(e0fs clouldbt
Cuo
n fonuoud
matcm

t2

X L
-
y=L1 2¥ +lo]u
Canonical Vomable Metuod-
OneMianeni ca
cal
abl ds
Hu o/P r a d b ack
Cameni ca Vam closedJeop
callid
also
Sgstem 7-0eeuus uteprcater

Vs
E Cgmobniça
vavab.

CEStak vonabt
H
heuC
is inteqtctor heuc
integseter
canonical Sly plat gtate /eÝake.
tate v e a b
vayiab0 4
canonial

S+
TF
(SH2)s+3)
k
St2
St3

U =02 =v = X,+X
 XL
8+2

=-2 u

U St 3

S X2 3 X2= 24
+2
X=
* 3 L
Co]b
L

o SHale Model
bkauned
ustng
egeuveluy
canoniCol
om
yamalki

caje
mekuo A. wI e in daenMal anguo
taHguor
t
vau er
eigen egen
case
Case
A S t H n a t
oecplad

State IaaytN-
diaqsam
Method
Pasallel
S+1
TF
TS+2)(S+3)

S+3

Vs 1u)+ Vs (2u)
+VS)

an oni col S
vapabM (X;)
Canoni cal
 2

L
S+I S+1

Vs Vs
.14C
 State Model. T P Modil ==9
X' Axt BU
LTo T
S Xs)-X/o) =AXIs)1 Buls)Y1s) =C x1s) + Do/s)
XISs-A = B u(s) )- sT -AJB] +D
DIS)
XIs)= C ST-A B Uld
Tf-CCAdjlsI A)B
+| SI- A| D
SI-A
611s)
T1/s)H/e

Se. chalertshe ep "-:

1ST-Al=Fo
9Is)=I tGtl)HI) =
Peots Is)=CLP= Eeu
vou
domai COneopt xot
CeMeept nat
fime domaiu
Modelsppexte uly
o Sleate doma covpt
PH Cxiternq

RLD gam
State modl iis
Skte modl s
Stabilif AnaySis USina
3tabrty avalysis
us
ustug
ine demain modl.
evM
toanser fonctt
RASP e S
BU
=
Ax +
x C X tDU
ouquiseg gU
Finc
 SxIs) 1 0 ) AXIS) + BUls)

[sI A) (o)+ Ru/c)

X(s)
A]to) + (ST-AY'BUIS)
XSST-
'rs1- A' BUIs
4S "[tsT- Ay'| xro+
e"o) t e
* Rurt)
4 e.0(4-)dk
14= et toyr
2IR
tew.
oStae Stspouse quu u

X(== A o)
:State tsansitlon?
eAt+ ST-A)":S Mahiy
Stak usoluout
Maips

t ) = 226
go/uH e
gpfeaH M Of Homo
Ot Homo0-
oStak toonei ten mma
wnich dsOnbu 4e mauu
gemou. Slate
(ziR).
Pupene
teo Dput
4 = er(o)

lo) I (o)

SR= e-t =

to

S R = -2e
=
4
 ) clo) =T

)ch4 cpt) gmpote

onto| |abilit ,0bservabili

Rs

ts 4s

Hee Sheady
Steady Skae
gkae
a System SSO
ee
o
Stabiltty uA pouAe
duLTed
but ot clasacteist d cam
and Obgenatiuke
obgenaMlUke
oDessed

wit conho llab1ltty

assos eol

Cemtolabil-
o be
comhw.Anbl if
Suid
Is e extsttug
extsttuq
A Sy sBem chamge
chaMge H
Possibo to aMy duKed
+ o te
Stede a System M A t witiu n
QLate dpe
obcewa ote i
o b c e v a (ole
Obsevauty do Hut ckae
au C ale
i gud
o A Sus temn to ObgeYR
Obgeu wHun
Poscio S Slu
in
o/p
vanalu

trl
finihe
 oservaailiy ko wped Se Mat Latb n
Se matlah uli
COuho llabrlrk ko
al OtiL
moperti

CWp U X/sahe

cOwhollab+l kg ebsewabil| t
rdiFn
Kamaws test C

CA
8 AB AB CA
vemk = 9
elto Contollabla

ltabte
couhho
c 0 S U n

d Qlt
o obsevabilik
m-) o b n obevable

(n

A-I
Ac=[B B 8
UM c o u h r a l l a b l i
C
deu H
cal Shatey
o jg mm gakte.
Joceaux

A state
o koet e st ambrgu . wmcouhrallalgte.
Tuu wiu dutict
Laus 4ea
C a t för
d o u n ' t aus uoucouuue d A u t a
Ths
Stetts
aMd obgenasle
gtets
S a du Jo
LALPAe
molo0t amblgeu
Cquasubloc
o Solve
cel c
 + 2 22
3
12
 Con toliabiliky-* om o
He Stafe
pend! on

amd p in case multi-vp e

S
mod
O) om tCr Cfate
bservabillty dcponds m u l l y a r i ag
bS y s e m
Case e
gmd P

X
-3 G
Couholalo
=L C 1 o o]xt [ o]

SJ

cbsevable.

-2-
-3
x t [o]u
obgevvalbl

Den CasLA
+
X°= x Cenrolt a a l
1x [ou

L o Ix+Co]o
0b Sevuabk/
Den'

Ca
 Dontast

T Fo
O

Cx Lo1
Cas y #0
+atn cOuhrltaklG

4Con ObgevvaoLl,
 Aa ytlem desci ked y at State cquaton
Fe6

1f4e centmd Simal w u

1
gjienby
4hen
uos -3 - S+
Ergenvatues e tee
cloged R00p uslem JolLl
A o, -2
o,-3 c) -,2
CI 999 IT Brmby)

Conpt Eigen velul o tatent seotk es Potes ercha01achHO e Poa

o fom Slae ariabe epres etat on.

Jex
u Cconbe stqnall = - o S 33