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Complete Lecture Chapter 3

Chapter 3 discusses two primary approaches for control system analysis and design: transfer functions in the frequency domain and state equations in the time domain. The chapter emphasizes the flexibility of state space representation, which can model a variety of systems, including non-linear and time-varying systems, and outlines the process for selecting state variables and deriving state equations. It also covers the conversion between state space and transfer function representations, providing examples for clarity.

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Awais Jutt
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10 views30 pages

Complete Lecture Chapter 3

Chapter 3 discusses two primary approaches for control system analysis and design: transfer functions in the frequency domain and state equations in the time domain. The chapter emphasizes the flexibility of state space representation, which can model a variety of systems, including non-linear and time-varying systems, and outlines the process for selecting state variables and deriving state equations. It also covers the conversion between state space and transfer function representations, providing examples for clarity.

Uploaded by

Awais Jutt
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Chapter 3

 Two approaches are available for analysis and


design of control systems
▪ Transfer function in frequency domain (chap 2)
▪ Differential Equation Transfer Function
▪ Simplifies modeling of interconnected subsystems
▪ Provides stability and transient response information
▪ Limited Applicability: For only LTI systems
▪ State equation in time domain (chap 3)
▪ Conversion between Transfer Function & State
Space Model
 An alternate technique for modeling ,
analyzing and designing a wide range of
systems
 Can be used to represent
▪ non-linear systems such as saturation, dead zone
▪ Systems with non-zero initial conditions
▪ Time Varying Systems
▪ MIMO Systems
 Focus is on LTI systems
 Some observations
▪ State variables
▪ Inductor Voltage, Resistor Voltage, Capacitor Current
▪ State Equations
▪ Output Equations
▪ State Space Representations
Slide 6 Solution Pdf
State
Equations
State Space
Representation
Output
Equation
 State Space Representation consists of
▪ Simultaneous 1st order differential equations from
which state variables can be solved
▪ Algebraic output equation from which all other
system variables can be solved
 Is there any restriction on choice of state
variables?
▪ No of state variables required to describe a
system = no. of differential equations
▪ Linearly Independent
 Set of State Variables in Electrical system are
[ VR(t), VL(t), VC(t), iR(t),iL(t), iC(t)]
But can’t choose linearly dependent state
variables (i. e. VR(t) = R iR(t) ) simultaneously
 Usual practice is to choose derivative of
energy storage elements as state variables
because they are linearly independent
 State vector is chosen by considering

State space Representation is not unique . Different choice of


state variables yields different state space of same system
 No. of state variables = no. of independent
storage elements
 No. of independent storage elements = order
of differential equation
 If too few state variables are selected then it
may not be possible to write particular output
equation
 Write differential equation for each energy
storage element
 Solve for each derivative term as a linear
combination of any of system variables and i/p
that are present in equation
 Select differentiated variable as a state variable
 Express all other state variables in terms of state
variables and i/p
 Finally write o/p variables as linear combination of
state variable
 Example 3.1 : Find State space representation
if the o/p is current through resistor.

Slide 15 Solution Pdf


 Example 3.1 : Find State space representation
if the o/p is Vo(t).

Slide 16 Solution Pdf


 Set of State Variables in Mechanical system
are [X,V] of each linearly independent motion
 State Space can directly be obtained from
equation of motion rather than energy
storage elements
 (Energy storage elements like spring does not
contain derivative term (i.e. F=Kx )
 Example 3.3 : Find State space representation
for the mechanical system if o/p is X2(t)

Slide 18 Solution Pdf


 State space is used for simulation of physical
systems on digital computer. (Simulink)
 To simulate a system that is represented by
transfer function, it is first converted into state
space
 Select a set of state variables called as “ Phase
Variables” where each subsequent variable is
defined to be derivative of previous state
variable
 A convenient way is to choose the o/p y(t) and its (n-1)
derivatives as state variable. This choice is called
Phase Variable choice

Slide 20 Solution Pdf


 Example 3.4 : Find State space representation of
following transfer function with constant term in
numerator ?
 Given a system is represented in state space
in terms of state and output equations
𝑥ሶ = 𝐴𝑥 + 𝐵𝑢
𝑦 = 𝐶𝑥 + 𝐷𝑢

 Transform given system into transfer


function
𝑌(𝑠) −1
𝐺 𝑠 = = 𝐶 𝑠𝐼 − 𝐴 𝐵+𝐷
𝑈(𝑠)
 Example 3.6: Convert given state space into
transfer function
0 1 0 10
𝑥ሶ = 0 0 1 𝑥+ 0 𝑢
−1 −2 −3 0

𝑦= 1 0 0 𝑥

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