Background

.
Classic control theory transferfunction

→ For lineat and input and single output

insgle
-

Modern control theory- state-

space approach
.

→ Deal with differential eq .

directly
→ Can be utilized for time variant ,
Monlinear ,
and multiple input
_
-

( MIMO )
mutiple output systems
-
Fire
Representation of System I
-

以 SMD 為例 ;
在 **
k
t
input =
u

䍿 m ,
output =
c
必
frictionless surface

( ) Differential mytcyeky
eq
=
u
.

Y( s ) 1
( 21 Transfer function G(s) =
=

U (S ) ms
2
+ cs + k note I C,.
s
=

L
(3)
Impulse response u( t )
=δ ( t ) Uis ) =
1

Y ( s) =
G ( s) U ( s )
… ecstk
( 4) State -

space Note ;

rd
output y X =
A 3 order
sys
= 1 -

与 =
x 2
= x Zinputs
2 outputs
y 可 + 可 uxc xr
yixi
y x +
= 可
y 可 +
m

λ :
3 × 1

莊 : [ ][ "
⼼ ……
品 ]
化 :
2 × 1

丽 Y :
Ix 1
A 2x 2
BIx 1

yx ,
=
[ 1 0
] [* ] , [o ] u A : 3x 3

Lixx
區品
Cx22 1
×
Dx 1

λ= Ax + Bu A
、

B
B
cx Du
[
…
-
; 。

?
]
…

D 2×2
g c
= + :
?
(5)
Signal flowgraph
_

=
Y x

与 =
X2 =
xi

与⼀的 y 可 yt + 的 u
=成 x 2
的
+ kxt 的 u

i) (x2 ] ( xi ) (x )
1
|

成 ㄎ
xZ
| 5 …
×
U ,
~
了 → } '

⼀品

k
⼀的

) Diff
(1
eqi
.

(4 ) state -

space TF
0
07 ( 2 )

Masom ' s Formula

SFG
0

( 5 ) ( 3 ) IR .
Five Representations of a
bystem 4
-

以 RLCcircuit 為例 :

input =
U

output
=
U 。

( Differential eq .

ic = Cd莊 =
u (t ) -

iv 0

( 莊 =
O .
-

iR ②

U0 = i、 R ③

( 2) State -

space
Set x, =
Uc xa =
ii

ic = Cd莊 =
u (t ) -

iv ⑤

( 昆 =
v .
-

iR ②

V0 = icR ③

↓[ ] Iu , z = [ oRI 谈]
.

針對⼀個系統 選擇不同的 State , 就會有不同的 ( ,

A
, , CD) 和 SFGO
B

但 Transfer function 和 IR , 為唯⼀表達 。

(3 )
signal _
flow
graph
( xi ) (X 1 ) ( xi ) [ xz )

公 5 X 1 1
X如
ㄎ
.

τ
U ,
_ →
⼀
R
τ

(4 ) Transfer function

d
From ① u ( t) =
ic ic + =
( 莊 tio
②
=
C 莊 “ 莊 ) + ii
triR

=
Cli + Riieic
③
RL
V
CepVv
。
。

=
+ L

o: |
G
asptcstk
=

δ
R

( 5)
Impulse response 1
R |

S |
LC S
V 0
=
GU =
G 0 >
⼀ R
, > 3 V 。

π
仿 SMDexample 中 state 架構所得出之 SFG
Yolving Differential eq I
-

variable
Single
.

X =
ax + Du IsX , (s) -
X(0 ) =
a λ ( s) + bU ( s )

X(0) b
λ ( s) :

S a
才
S
Uls )
- -

t
。

占 eact
τ'
eatx (
-

x (t ) = 0
) + bu ( τ ) d [

L [
"
Note :
F (3) G (s ) ] =
f (t ) *
g (t )

Multiple variables

x =
Ax + BuIsX ( s) -
x (0) =
AX ( S ) + BU ( s )
矩以要 XI
nx 1 mxm nx 1 nxmmx 1

→ ( SI A ] X ( s )
- =
X ( 0) + BU ( s )
⼀

"
"

X (s) =
[ SI A ] -

x (0 ] + ( SI -

A ] BUES }

=
① (s) x ( o ) + ψ ( s) BULS )

以
x (t ) =φ ( t ) x ( 0 ) +
f。 d (t τ )
-

Bu ( t ) d [

f占 e
^ ^ lt τ '
tx ( 0)
-

= e + Bu ( τ ) d [

State transition matrix

⼀
"
d (t ) d(s)
<±
“ "

et [ SI A 51
-

"

Asts
^
t
I + At + Ai + ⼗
2: ∵
.

State -

space to Transfer Function -

。
义 =
Ax + Bu

Cx + Du
Y
=

"Diff
( 1
10
.

eq

由前⼀⾴公式 ;
(4 ) State -

space .

)
. ( 23 T, F

"

X (s) =
( SI A ) BU ( s )
-

Y (s) = Cλ (s) + DU ( S )
" 15 ) SFG .
( 33 I R

DU ( S )
.

=
C ( SI A ) BU ( S )
-

"
=

[ C ( SI A ] B - +
DIU (s ]

=
G ( s) U ( s )
"

G (s) = C ( SI -
A) B + D
.

State -

space to Transter Function -

Revisit the RLC circait

[ ]
∵τ R
B : [] C = [ O RI D
:

[ 踏]
⼀

τ M
Note : :

- [ bcda]
|
s M

[ ]
=
τ ad
sI -

A =

、 ⼝
⼀

τ S+[

「
φ ( s) = ( SI A )-
"
=

^+π>+π 式 !
G以 =
[ ORIda) ] — ricc "
結果相同
.
Evaluation of the State Transition Matrix -

Revisit the RLC circuit

R s =
L =| c =÷ :
A =

「 ∵ 号]
" + ,]
3 ∵
"
φ (s) =
( SI -

A ) =

( st ) s + [

z ) ls + z
ψ.
"
- 州< s +
3

) =
+s + , 同理可得 2 φ ① . zz

] etirettert ]
L zet ezt [
= " [ dus
_

dlt 1

-
etirene

.
Revisit the RLC circuit

Amother method :
Cigen decomposition

ieili↑[ :[
]
eigenvectors
∴
!
AV VI
igmoaa . [ :
=

" ,

A =
VIV )

eat Vertv
-

1
=

let _
=

[ } ! ] [ ∵ ] i[ ! i] [ :

e _ erereteretezen]
和前息結果相同
.
Transfer Function to state -

space
⼀

'
b3 s + b
2 s =+ B, s + bo
-

Ex :
G (s ) =

s
4
+ ass
'
+ Qz }
'
+ G sta
, 。

3 +
P3 S + bs ' b , stbo Z (S ) Y( S )
= =
' '
54 + a3 s + a: s + a stao
, Zcs ) Uis )

3
Y ( s) D S bo ) ZCS )
'
=
[ bsS + D25 +
,
+
1" Diff .
[
q ,

Y (t )
=
b3 Z
3)
+ b -
tBI EtboZ (4 ) State -

space <
. T .
/
F

ω (s) =
( S 4 + Gss ' + a= s=+ a s , + a 0 ] Z ( s)
( 4)
U {t ) = Z + G3 E
(
31 , t
+ ar Q
Z +Q 0 Z (
幽
.

(5 )
SFG ( 33 I R
,

Z Xi
Assign x .
=
Z X 3 = =

x2 = Z =
x X4 =
Z
141
=
义3