2

·,agram for G(s) = (s + 2)(s + 4)/(s + 3){s + 2s + 5) .

Fig. 9.10.12. State bl oc k d .

Substitute for X3. from (3) into (2), therefore,

X1 =X2
x2 = - 5x1 - 2x2 - 3x 3 + u + 2x3
i 3 = -3x3 + u
or X1 =X2

x2 = - 5x 1 - 2x2 - x 3 + u
i 3 = - 3x3 + u
The output equation is : y = 4x1 + x 2
The state space representation is given below :

and

Example 9.10.11. Obtain the time response of the system given below :
x=Ax

· where , , A = [- 20 01] ;given x(O) = [1 l]T

and

Solution. The time response is given by

x(t) = cj)(t) x(O)
cj)(t) = L- 1(sl - A)- 1
:~~~---
J>
TO STATE SPACE A NALYSIS OF CONTROL SYSTEMS

(s1 - A)- 1 = ;
[ 1]-l -s

(sl _ At1 is determined below :

J. Arrange for minor of (s1 - A), i.e. [ _\ !]

s -
_ Change to cofactor, i.e. [1
2]
2 8

8 1
3. Interchange rows and columns, i.e. [ ]
- 2 s

8 1
Adj. (sl - A) = [ ]
-2 s

4.
(sI-AJ-' = Adj (s1-A)
I sl - A I
J- 8

2 ~]_ [ - •2 ~]
s - 1 - (s2 + 2)
2 s

s 1
s2 +2 s2 +2
=
2 s
s
2
+2 s2 + 2
cj>(s) = (sl - A)- 1
s 1
s2 +2 s2 +2
cj>(s) =
2 s
s2 +2 s2 +2
The state transition matrix cj>(t) is
s I
s2+2 s2+2
cj>(t) = L- 1 cj>(s) = L- 1
2 s
s + 2 s2 + 2
2

=
cos 1 sin [ cos 1 sin

- ~ sin cos - - sin cos

x(t) = cj>(t) x(O)

Xl (t)] =[ COS ,1 sin

[ X2(t)
- sin cos
 r;; s ill fit
.x/0 : : : cos
In siJl
-t- Tz
fit+ cos ,jit. j\XlS•

.--cz<t) ::::: -

y 72
Y::::: .X1 - .Xz
sill fit . ;U'- •
6

i,;,..,.,ple 9.10.12, For t/ie ,;ystem given beloW: ...

Obtain (i} z ero input ,-esponse (ii) z ero state response (iii)· Total response

~~[_i _:J" +[~]a(t) ,

wMre x/ 0) I, x,(O) 0 and u(O L

Solution, (i ) zero input response is given by
-x.(t) == cp(t) x(O)
(s1 -
q,(t) == L - 1 A)-
1

(s1 - A) == [s0 sO] - [- 0

-lJ
s+l
2

(sl-AY1 == [s2 -+ll ]-1

s

(sI - A)- 1 is determined below :

1. Arrange for minor of (sI - A) , i.e.

. [s-1+ l 2]
s

2
- Change t 0 cofactor, i.e. [s ; l - -.zJ ·
3- Interchange rows and columns, i.e. [ •_+/ :J
Adj, (sI - A)= [•_+21 :1
4. (sI A)-1 = Adj (sI - A)
/sl-A/ =
[s + 11] [ _+/ :J
-2_: =
8

2
152 (s + s + 3)
s+l
s+l 1
s2
+s+3 2
s +s
2
s
 NALYSIS OF CONTROL SYSTEMS
- TO $TATE SPACE A
INTRooucT10N ~ (s) = (sl - A )-1
s +l 1
s2 +s+3 s2 + s+3
2 s
s2 +s+3 s2 +s+3
The state transition matrix ~(t) is
~(t) = .C1 ~(s)
s+l 1
s2 + s + 3 s2 + s + 3
= L- 1
2 s
s2+s + 3 s2 + s+3
x(t) = .c1 ~(s) x (O)
s+l 1 s+l
s2 + s+3 s2 +s + 3 s2 +s+3
= L- 1 [~] = [1
2 s 2
s2 + s + 3 s2 + s+3 s2 + s + 3
(s + 0.5) + 0.5
(s + 0.5)2 + (1.65)2
= _cl
2 1.65
- 1.65 · (s + 0.5)2 + (1.65) 2

(s + 0.5) 0.5 1.65

- - -2- - --2 + - -
(s + 0.5) + (1.65) 1.65 · (s + 0.5)2 + (1.65)2
= .cl
-1.21.
1.65
(s + 0.5) 2 + (1.65)2
Taking inverse Laplace transform, the zero input response is
x(t) = [(e-o.st .cos 1.65 t + 0.3 e- o.st . sin l.65t)l
- 1.21 e- o.st . sin 1.65 t
(ii) Zero state response is given by
x (t) = £- 1 ~(s) BU (s)
1 1
s2 : : 3 s2 +s +3 [OJ.! = [ 1[
2
s(s + s + 3)]
2 ----
s 1 s 1 s
- . - 2 - - --
s2 + s + 3 s2 + s + 3 8
(s + s + 3)

1
2
s(s + s + 3)1
1 =L
_1 [
l
!!cs2 +~ + 3)
1.65
- - 2 2
cs2 + s + 3) 1.65 . (s + 0.5) + (1.65)
 LtN~~
Laplace trans fiorm ' the zero state response is S.
Taking inverse ( r:--....._

x(t) = 3
!{i- ,-'·"
J1 - 0.28
2 . sin l.65t + tan~' vL o.2i,l
-1 . e- o. t . sin (1.65 t)
5

1.65 ·
05
_ [ 0_33 {1 _ 1.04 e- sin (1.65 t + tan - 1 _ ))]
· t .
or x(t) - 0.6 e - 0.5t . sin 1.65t
3 42

The total respon~(t) = Zero input response + Zero state resP<>nse

[
x1 (t)l = [(e- o.st . cos 1.65 t + 6.3 e- 0.5 t . sin 1.65 t)l
x2 (t) - l.21e- 0·5t .sinl.65t

0.33 {1 - 1.04 e- 0-5t . sin (16St

+[ 0 · +tan-I
0.6e- ·5t .sinl.65t J.!
5
x,(t) = 0.33 + ,--0.5 ' [cos l.65t + 0.3 sin l.65t] - 0.34 sin (l.65t +t _
x/t) = - 0.61 e-o. t. sin l.65t. Ans. an 1i-'

Example 9 10.13. Obtain -the state transition matrix in the form eAt and d
the time response•for the system, i = Ax . e1erm
1
1
where A = [ -2O 0 ] and x/0) = 1, xlOJ = 1.

Solution.
"'(t) = eAt = I + At + -At2 + -At3 +
.,, 2! 3 ! · .....

A=[-20 01]

--
3

_[l OJ [ O
- O I + - 2t O +
t] 2t 2
lx2 0 0
- 2t

+
0
--
lx2
2t 2 0
 t.
_§ ~ o~N~TR~O~L ~
S~PA~C~E A~N~A~LY~Sl~S ~OF~ C SY~S~TE~M~S- - ~=--~ - - - - - - ---llliMI
r10N TO STA~
INTRODUC 2 2t3
1 - 2t + ··· t _ - - + ...
2x3
2
= 3 2
4t 2t
- 2t + 2 X 3 - ... 1- 2 + ...

(l _ t: + ...)[ 1z t _ 1: /: 3 + ...]
= -( - 2t: 3 + ···) ( 1- t; + ···]
cos -J2,t .1 sin -J2,tj
= [- ;,/2 sin -J2,t !os -J2,t
\
x(t) = cp(t) x(O)

[
xl (t)l-[ \o. :nv 1r
Xz(t) - - -J2, sin cos

x 1(t) = cos + .1 sin

xz(t) = - sin + cos Ans.

Example 9.10.14.A control system is described as below:

x = Ax + Bu and y = Cx

A= [_\ _ l1\0) = [il B=[~]and C= [ir

where, 4
5
Determine the time response. Use diagonalization process for matrix A.

1 4
Solution. A- [ ]
- -2 - 5
. The matrix A given above is a 2 x 2 general matrix as such eigen vector approach is
considered for its diagonalization .
.The eigen values of ).,1 and ).,2 matrix of A are determined by solving following
equation:

IAI-Al=O

I Al-Al={[~ ~]-[_~ _:]}=[A;l -4] A.+5

I Al -A I = (A - 1) (A+ 5) - (2) (- 4)
Put = ).,2 + 411, + 3 =(A+ 1) (i + 3)
(). + 1) (A+ 3) = 0
 Thus , two distinct eigenvalues are :
A. 1 = - 1 and A2 = - 3
D etermination of eigen vectors of mat rix A i s give n b 1
· A d t . d e ow.
Eigen vectors of matnx are e ermine by solvin th ·
{A I - A } x . = 0 g e followi-..
i i ~g e
where , ,._i_and x i. are res pectively the e igenvalue and cor res Pond· Cl.l.l. at1·,"l:i .
(i) The eigen vector x 1 associated with ei g en values A . Ing eige11 v ·
equation given below : 1 Is detel'll:J.inectol' of
{A. 1 - A } x i= 0 ed by. ill~i~
1 ooiv~i
1 4
A1 =- 1 and A= [
-2 -5
]

{ (- 1{ ] - [_ _ : ]} x, o

Let ,
[- 2 - 4 ]["½.1 ] == O
2 . ,4 m21
- 2m 11 - 4m 21 = 0
or 2m 11 + 4m 21 = 0
p ut m 11 == 1 m21 =- 0 .5

Th er efore, X1= 1 ]
[rni1] [
0 .5
~1
-
-

( ii) The eigenvector x 2 associated with eigen value A · d .

equat ion given below : _ ._ 2 is etenmned by solving
P.21 - A} X2 = 0

A2 =- 3 and A - [_ _:]

Let,
[
- 4
2
- 41[rni2]
2J m 22
= 0

-4m12-4m22= 0
or 2m12 + 2m22 = 0
p ut m 12 = 1 m22 = -1

Therefore, x _
2-
[rni2]-[
m22 -
1]
- 1
Thus, the modal matrix is giv en b y :

M = [ ::: : :: ] - [ _ o.! -~]

 SPACE ANALYSIS OF CONTROL SYSTEMS
TRODUCTION TO STATE .•
IN f dal matrix ·can be determmed as
The inverse o mo

M-1 _ Adj[_ ~.5

- 1 1
_\L [ 2 -1 - 2
2]
-0.5 - 1
The state equation for the system is given as :
x =Ax+ Bu
x = Mz in the state equation given above,
put Mz = AMz + Bu
z = M-1 AMz + M-1 Bu
or
Taking Laplace transform on both sides :
sZ(s) - z(0) = M-1 AMZ(s) + M- 1 BU(s)

or {s I - M-1 AM} Z(s) = z(0) + M-1 BU .(s)

Z(s) = {sl - M- 1 AM}- 1 z(0) + {sl - M- 1 AMJ- 1 M-1 BU(s )

M-'AM = [ _~ _ :][_ ~ _:J[-o.~-~H-~-~]

x = Mz

z(0) = M- x(0) = [ -12 - 22][01]=

1
I 2]
- -1:--- 1
· -~ -

M-l B _ [ 2 2][0] -[- 2]2

-1 - 2 1
--
substituting the values of M- 1 AM, z(0) and M- 1 B in equation for Z(s),- the equation given
below is obtained : ·

=
s+1
2 l+ I s(s + 1)
2 1=[ _+21
s1
+ [2
i - +1
2j s

1
- s+3
1 2
- s(s + 3)
1_
- s+3
-~+ - 2-
3s s+3

3
 or

X (s) [~ ~.5

2 2 -- 1
-;- 3s 3 (s + 3)
r- 1 1 . I 1
x ==-'-' 1 2 --+ ~
- -s + -3s + 3 (s + 3) 3s 3 (s + 3)

Ans.

or

or Ans.

Alternative solution
As already determined,

M = [_ O.: :] ;M~1 = [ _:]

A = M-1 AM= [ 2 2] [ 1
. · 4] [ 1 11
- 1 - 2 - 2 - 5 - 0.5 - 1

= r-10 -3OJ

e" le:' e~']

=

eAt == MeAt M-1

1 1] re O][ 2 2]
- o.5 -1 l o
== [ -t
-1 - 2 e-3t