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State Transition Matrix

The document discusses different methods for obtaining the time response of state transition matrices, including: 1. Using an integrating factor and convolution integral to solve the nonhomogeneous state equation. The solution has a complementary function and particular integral. 2. Using the Laplace transform method, where taking the Laplace transform of the state equation leads to an expression for the Laplace transform of the state vector X(s) in terms of the initial condition x(0) and input U(s). 3. An example problem is worked out in detail to find the time response of a spring-mass-damper system using both the convolution integral method and Laplace transform method.

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athembo george
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435 views

State Transition Matrix

The document discusses different methods for obtaining the time response of state transition matrices, including: 1. Using an integrating factor and convolution integral to solve the nonhomogeneous state equation. The solution has a complementary function and particular integral. 2. Using the Laplace transform method, where taking the Laplace transform of the state equation leads to an expression for the Laplace transform of the state vector X(s) in terms of the initial condition x(0) and input U(s). 3. An example problem is worked out in detail to find the time response of a spring-mass-damper system using both the convolution integral method and Laplace transform method.

Uploaded by

athembo george
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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STATE TRANSITION MATRIX

• They take the form which is similar to ODE of first order if given the
initial condition as

• This is a nonhomogeneous equation whose solution can be obtained by first multiplying


 at
throughout by the integrating factor IF e
CONT….
• The first term of the solution, which corresponds to the solution of the unforced system, is
a complementary function, while the convolution integral constituting the second term,
which is dependent on the forcing function u(t), is a particular integral.
• The same solution would be obtained if x (t) , A and B were matrices i.e

• This method is known as convolution integral method


Properties of state transition matrix
CONT….
EXAMPLE
Obtain the time response of the following systems

 x1   1 0   x1   1 u
   1 1   x2  1
 x2 
Where u(t) is a unit step occurring at t=0 and x(0)  1 0
T

Soln
Solve for et =Φ(t) =
 e t
o
 t 
te et 
hence our convolution eqn above modifies to
t
x(t )  (t ) [ x(0)    ( )Bu d ]
0

And  e  0  1  e  
 ( ) Bu       
1    
 e e    e (1   ) 
1
CONT….
Whose integral is  t  
 e
•
 
t   1  e 
t
e  0
0 e (1   )    t    t 
 e  (1   )   te 
 
0 
• If we substitute back into the modified eqn we get

 et 0   1  1  e  t  
x(t )   t t   
  t  
te e   0   te  
 2et  1
 t 
 2te 
STATE MATRIX SOLUTION BY LAPLACE METHOD
• From the state equation given earlier
• If we transform both sides we get
sX ( s )  x(0)  AX ( s )  BU ( s )
( sI  A) X ( s )  x(0)  BU ( s )
X ( s )  {( sI  A) 1}x(0)  [( sI  A) 1 ]BU ( s )
x(t )  1
{( sI  A) 1}x(0)  [( sI  A) 1 ]BU ( s ) 
x(t )  (t ) x(0)  1[( s ) BU ( s ) ]
CONT….
• Example

A spring , mass and damper system shown below is has the equations .

Given that the m=1 kg C= 3 Ns/m K= 1 N/m , U= unit step and x(0)=(1 0)T , evaluate the
time response for the sytem
CONT….
• Soln

The inverse is

Leading to by partial fractions

Taking the inverse yields Φ(t) as

Which if substituted back to our last eqn we have for the complementary function
CONT….

 x1 (t )   2e  t  e 2t 
 x (t )    2 t 
 2   2(e  e )  ………………(i)
t

• For the particular integral part we have

1
[( s ) BU ( s ) ]
CONT….
• Whose inverse Laplace transform is

……..(ii)
Collecting (i) and (ii) together

 t 2t 1 t 1 2t   1 t 1 2t 


 1   2e  e   e  e    e  e 
x
x    2 2

 2

2
 2 t 2 t t 2 t t 2 t 
 2e  2e  e  e   e  3e 
CONT….

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