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Copy of Unit 4 lecture

Uploaded by

Naren Srinivas
Copyright
© © All Rights Reserved
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NLS, UNIT-IV, KARTHIK THIRUMALA

Networks and Linear Systems

Unit – IV
Concepts of state and state variables – state space modeling for
simple electrical and mechanical systems – state transition matrix -
solution of state equations

Dr. Karthik Thirumala


Email: [email protected]

Reference textbooks:
1) D. Roy Choudhury, ‘Networks and Systems’, New Age International Publications, 1st Edition,
2013.
2) I. J. Nagrath, M. Gopal, ‘Control Systems Engineering’, New Age International Publisher, 4th
edition, 2008.
3) A. Nagoor kani, ‘Control Sytems’, RBA Publications, 3rd Edition, 2017.
4) M. Gopal, ‘Control Systems Principles and Design’, 3rd edition, 2009.

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Lecture - 1
Introduction
In many practical applications, circuits consist of numerous energy storage elements. Differential
equations describing such circuits are then generally of high order. A nth order differential equation is
not generally suitable for computer simulation; it is best to obtain a set of n-differential equation from
the given nth order differential equation, using a set of auxiliary variables called state variables. The
transfer function is the classical approach, using frequency domain technique deals with input and
output only and is unable to give any information about the internal state of the system. On the other
hand, modern control theory based on the state variable approach gives all the internal states of the
system. In order to have a perfect design of the feedback control system, all the states may be required
to be fed back with proper weights. The state variable approach is a time-domain technique. The state
of a dynamic system is the minimal amount of information required together with the initial
conditions at t=t0 and input excitation, to completely specify the future behavior of the system for any
time t> t0.

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Example: Write the state variable formulation of the parallel RLC network shown below.

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Lecture - 2
Example: Obtain state space equations of an armature controlled DC motor

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Example: Spring mass damper system

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Example: Translational system

Example: Write the state and output equation of the given mechanical system

Input: fa(t)
Outputs: Tensile force in spring 2 Total momentum of the masses
no of States = no of energy storing elements = 4 (2 springs & 2 masses)
One possible choice of states: x1, x2, v1, v2
Elongation of spring 1= x1; Elongation of spring 2= x2-x1
Velocity of mass 1 =v1; Velocity of mass 2 =v2;

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Example: For the network shown below, obtain the state equation of the system.

Example:

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Example:

Lecture - 3
Conversion of State variable models to Transfer functions
Two of the most powerful (and common) ways to represent systems are the transfer function form and
the state space form.

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Eigen values of the matrix

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Example:

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Lecture - 4
Solution of State Equation

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Solution of Homogeneous State Equation

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Example:

Lecture - 5
Solution of Non-Homogenous State equation

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Example: Determine the State Transition matrix for the network below

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