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EEN-305 01A IntroSS

Advanced Control System

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24 views12 pages

EEN-305 01A IntroSS

Advanced Control System

Uploaded by

Brock Lesnar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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EEN-305

EED, IITR
Dr. Sohom Chakrabarty

Lecture 1A – Introduction to State Space Realizations


Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Transfer Function is not enough
Features Limitations

• Simple design and analysis tools • Defined under zero initial


conditions
• Deep insight into the system
• For LTI systems only
• Greatly aids in preliminary
system design • MIMO is cumbersome for use
• No information of internal states
• System response can be
predicted with knowledge of • Only output based controller
response of few basic input design
signals • Different transforms for
continuous and discrete time
systems
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Advantages of State Space Realizations
State Space Realization Transfer Function
• Not restricted to zero initial • Defined under zero initial
conditions conditions
• For linear, nonlinear, time
invariant, time varying, all classes • For LTI systems only
of systems • MIMO is cumbersome for use
• Generalized representation for • No information of internal states
SISO or MIMO
• Internal dynamics are revealed • Only output based controller
• Both state or output based design
controller design possible • Different transforms for
• Same representation for continuous and discrete time
continuous or discrete time systems
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Advantages of State Space Realizations
State Space Realization Additional Features
• Not restricted to zero initial • Direct time domain approach,
conditions
not needing any inverse
• For linear, nonlinear, time
invariant, time varying, all classes transforms to obtain response
of systems • Easily lends itself for computer
• Generalized representation for based numerical calculations.
SISO or MIMO
• Internal dynamics are revealed
• Both state or output based
controller design possible
• Same representation for
continuous or discrete time
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
The Mathematical Structure
Transfer Function State Space Realization

𝑌(𝑠) 𝑥ሶ 1 𝑓1 (𝑥1 , … , 𝑥𝑛 , 𝑢1 , … , 𝑢𝑚 )
=𝐺 𝑠 ⋮ = ⋮
𝑈(𝑠)
𝑚 𝑚−1 𝑥ሶ 𝑛 𝑓𝑛 (𝑥1 , … , 𝑥𝑛 , 𝑢1 , … , 𝑢𝑚 )
𝑏0 𝑠 + 𝑏1 𝑠 + ⋯ + 𝑏𝑚
=
𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛
𝑦1 ℎ1 (𝑥1 , … , 𝑥𝑛 , 𝑢1 , … , 𝑢𝑚 )
𝑘 𝑠 + 𝑧1 … (𝑠 + 𝑧𝑚 )
= ⋮ = ⋮
𝑠 + 𝑝1 … (𝑠 + 𝑝𝑛 ) 𝑦𝑝 ℎ𝑝 (𝑥1 , … , 𝑥𝑛 , 𝑢1 , … , 𝑢𝑚 )
where 𝑚 ≤ 𝑛.
where 𝑝 ≤ 𝑛.
➢Output response can be predicted ➢Each internal state dynamics can be
based on input signal predicted
➢For LTI systems only ➢A generalized system representation
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Block Diagram
Transfer Function (SISO case) State Space Realization (LTI SISO case)

𝑌(𝑠) 𝑥ሶ = 𝐴𝑥 + 𝐵𝑢
=𝐺 𝑠 𝑦 = 𝐶𝑥 + 𝐷𝑢
𝑈(𝑠)

𝑢 𝑥ሶ 𝑥 𝑦
𝑈 𝑠 𝑌 𝑠 𝐵 +
+ න 𝐶 +
+
𝐺 𝑠

𝐷
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
Obtaining State Space Realization (SSR)
Definition of State:
It is the minimum information at 𝑡0 which is needed together with knowledge
of input ∀𝑡 > 𝑡0 to predict the behaviour of the output of a dynamical system
∀𝑡 > 𝑡0 .

State Space
Realization

System Dynamics Transfer Function Block Diagram


(LTI Systems)
Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25
End of Lecture
Thanks for your Attention !!!

Dr. Sohom Chakrabarty, EED, IITR, Autumn 2024-25

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