Farzad A.

Shirazi, PhD
[email protected]
School of Mechanical
Engineering
ME 228‐01:
University of Tehran
Advanced (Modern) Control

Spring 2024
Chapter 2:
Mathematical
Descriptions of
Systems
Outline

• Introduction
• Causality and Lumpedness
• Linear Systems
• Linear Time‐Invariant (LTI) Systems
• Input‐output, Transfer Matrix and State‐space Descriptions
• Rational Transfer Functions, Zeros and Poles
• Linearization
• Examples
• Summary
[1] C. T. Chen, Linear system theory and design, Chapter 2, Oxford University press, 3rd Ed., 1999.
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Introduction

SISO, MIMO, SIMO and MISO Systems

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Continuous‐time and Discrete‐time Systems

• Continuous‐time system: a system that accepts continuous‐time signals

as its input and generates continuous‐time signals as its output.

• Discrete‐time system: a system that accepts discrete‐time signals as its

input and generates discrete‐time signals as its output.

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 Causality

• A system is called memoryless system if its output y(t0) depends

only on the input applied at t0; it is independent of the input
applied before or after t0. Example: Resistor and spring
• All dynamic systems have memory and their output can depend on
past, current and future inputs.
• A system is called a causal or non‐anticipatory system if its current
output depends on past and current inputs but not on future input.
Ex.: All physical systems
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 Causality and System State

• The entries of state vector x(t), at each time t, are called state variables.

Input and output of a system:

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 Lumpedness: Lumped vs. Distributed Systems

• A system is said to be lumped if its number of state variables is finite or its state is a
finite vector.
• A system is called a distributed system if its state has infinitely many state variables.

Ex. 1:
𝑦
Ex. 2:
Lumped 𝑦
𝒙 𝑡 𝑦
Distributed
system system
𝑦

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Linear Systems

• A system is called a linear system if for every t0 and any two state‐
input–output pairs

for i = 1, 2, we have

and

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 Linearity and Superposition Property

Superposition Property:

• A system is called a nonlinear system if the superposition property

does not hold.

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Linearity: Example

𝑦 𝑡 𝑒 ?

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 Linear System Response

Zero‐input Response:

Zero‐state Response:

or

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Example: Zero Input + Zero State (Ramp) Responses

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Superposition Property for Linear System Response

• If a system is linear, then the additivity and homogeneity properties

apply to zero‐input and zero‐state responses.

and

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Input–output Description

• SISO system with zero initial state

∆→ 0

15
 Input–output Description (Cont’d)

For MIMO systems:

where,

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State‐Space Description

Linear Time‐Invariant (LTI) Systems:

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Linear Time-Invariant (LTI) Systems

If the initial state and the input are the same, no matter at what time they are
applied, the output waveform will always be the same.
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LTI System: Examples

• 1st and 2nd Order Linear Systems

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Time Invariance

• Time invariance is defined for systems, not for signals. Signals are
mostly time varying.
• The characteristics of time‐invariant systems must be independent
of time. Ex. Mass‐damper‐spring with constant mass, damping or
stiffness.

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 LTI System Input–output Description

Time‐invariance in output impulse response:

Convolution
integral

For a causal LTI system:

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LTI System Transfer Function Matrix

Laplace Transform:

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Transfer Function Matrix (Cont’d)

or

where, Transfer function

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 Transfer Matrix

For a p‐input q‐output system:

or

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Rational Transfer Functions

Rational vs. irrational transfer functions

𝑁 𝑠
g
𝐷 𝑠

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Zeros and Poles

MATLAB Function:

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LTI System State‐space Equation

Laplace Transform

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Transfer Matrix from State‐space Description

MATLAB Function: [num, den]=ss2tf(a,b,c,d,1)

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 Nonlinear Systems and Linearization

For a solution xo(t),

and for a small

perturbation, we have

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 Linearization (Cont’d)

Jacobian Matrices:

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 Linearization: Output Function

For a solution yo(t),

𝐲 𝑡 𝐂 𝑡 𝐱 𝑡 𝐃 𝑡 𝐮 𝑡

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 How to Select State Variables?

• State variables are not unique.

• State variable can be physical
variables that store energy in
dynamic systems.

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Example 1: Mass‐Spring‐Damper

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 Example 1 (Cont’d)

State variables:

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Example 2: Two Degree‐of‐Freedom Vibrating System

State variables:

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 Example 2 (Cont’d): Transfer Matrix

Laplace Transform

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 Example 3: Inverted Pendulum on Moving Cart

Deriving the dynamic equations of motion using Lagrange’s

method:
𝑑 𝜕𝐿 𝜕𝐿
𝑄
𝑑𝑡 𝜕𝑞 𝜕𝑞
Where qi’s are generalized coordinates, Qi’s are external forces
and L denotes the Lagrange‐function L = T −V with T and V
being the kinetic and potential energy, respectively. F=u

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By defining state variables
as follows, we have

or

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Example 3 (Cont’d): Linearization

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Example 3 (Cont’d): State‐space Representation

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Example 4: RLC Circuit

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 Example 4 (Cont’d): State‐space Representation

Output:

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Summary: Mathematical Equations

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Summary

• Linear Systems Response

• LTI Systems Descriptions
• Input‐output, state‐space descriptions and transfer functions
• Linearization of nonlinear systems
• Defining state variables and deriving state‐space matrices

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