Linear Control Systems (EE-333)

Dr. Imtiaz Hussain

Associate Professor (Control Systems),
Department of Electrical Engineering
DHA Suffa University, Karachi, Pakistan
email: [email protected]

6th Semester (BE-EE-6C)

Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogata, Norman S Nise and various other internet sources. 1
 Introduction
• Most classical control techniques were developed for linear constant
coefficient systems with one input and one output(perhaps a few
inputs and outputs).

• The language of classical techniques is the Laplace or Z-transform

and transfer functions.

• When nonlinearities and time variations are present, the very basis
for these classical techniques is removed.

• Some successful techniques such as phase-plane methods,

describing functions, and other methods, have been developed to
alleviate this shortcoming.
 Introduction
• The state variable approach of modern control theory provides a
uniform and powerful methods of representing systems of arbitrary
order, linear or nonlinear, with time-varying or constant coefficients.

• It provides an ideal formulation for computer implementation and is

responsible for much of the progress in optimization theory.

• The advantages of using matrices when dealing with simultaneous

equations of various kinds have long been appreciated in applied
mathematics.

• The field of linear algebra also contributes heavily to modern control

theory.
 Introduction
• Conventional control theory is based on the input–output
relationship, or transfer function approach.

• Modern control theory is based on the description of system

equations in terms of n first-order differential equations, which may
be combined into a first-order vector-matrix differential equation.

• The use of vector-matrix notation greatly simplifies the

mathematical representation of systems of equations.

• The increase in the number of state variables, the number of inputs,

or the number of outputs does not increase the complexity of the
equations.
 State Space Representation
• State of a system: We define the state of a system at time
t0 as the amount of information that must be provided at
time t0, which, together with the input signal u(t) for t  t0,
uniquely determine the output of the system for all t  t0.

• This representation transforms an nth order differential

equation into a set of n 1st order differential equations.

• State Space representation is not unique.

• Provides complete information about all the internal

signals of a system.
5
 State Space Representation

• Suitable for both linear and non-linear systems.

• Software/hardware implementation is easy.

• A time domain approach.

• Suitable for systems with non-zero initial conditions.

• Transformation From Time domain to Frequency

domain and Vice Versa is possible.
6
 Definitions
• State Variable: The state variables of a dynamic system are
the smallest set of variables that determine the state of the
dynamic system.

• State Vector: If n variables are needed to completely

describe the behaviour of the dynamic system then n
variables can be considered as n components of a vector x,
such a vector is called state vector.

• State Space: The state space is defined as the n-

dimensional space in which the components of the state
vector represents its coordinate axes.
7
 Definitions
• Let x1 and x2 are two states variables that define the state
of the system completely .

dx
x2 dt
Velocity State (t=t1)
State (t=t1)

State
Vector
x1 Position
x

Two Dimensional State space State space of a Vehicle

8
 Example-1
• An electrical network is given in following figure, find a
state-space representation if the output is the current
through the resistor.

• Since the network is of second order, two simultaneous,

first-order differential equations are needed to solve for
two state variables.
 Example-1
• Step 1: Label all of the branch currents in the network.
These include iL, iR, and iC, as shown below.
 Example-1
• Step 2: Select the state variables by writing the derivative
equation for all energy storing elements, that is, the
inductor and the capacitor.

𝑑𝑣𝑐 (𝑡)
𝐶 = 𝑖𝑐
𝑑𝑡

𝑑𝑖𝐿 (𝑡)
𝐿 = 𝑣𝐿
𝑑𝑡

v c 
• State Vector  
iL 
 Example-1
• Step 3: Apply network theory, such as Kirchhoff’s voltage
and current laws, to obtain iC and vL in terms of the state
variables, vC and iL.

Applying KCL at Node-1

iL  iR  iC
𝑑𝑣𝑐 (𝑡)
iC  iR  iL 𝐶
𝑑𝑡
= 𝑖𝑐

𝑑𝑖𝐿 (𝑡)
dvC vC 𝐿 = 𝑣𝐿
C   iL (1) 𝑑𝑡
dt R
 Example-1
• Step 3: Apply network theory, such as Kirchhoff’s voltage
and current laws, to obtain iC and vL in terms of the state
variables, vC and iL.

Applying KVL at input loop

diL
v(t )  L  vR 𝑑𝑣𝑐 (𝑡)
dt 𝐶 = 𝑖𝑐
𝑑𝑡
𝑑𝑖𝐿 (𝑡)
diL 𝐿 = 𝑣𝐿
L  vC  v(t ) (2) 𝑑𝑡
dt
 Example-1
dvC vC diL
C   iL (1) L  vC  v(t ) (2)
dt R dt
Write equation (1) & (2) in standard form.

dvC 1 1
 vC  i L
dt RC C
State Equations

diL 1 1
  vC  v(t )
dt L L
 Example-1
dvC 1 1 diL 1 1
 vC  i L   vC  v(t )
dt RC C dt L L

 1 1
d vc   RC  v  0
C c   1 v(t )
  1  
dt iL   0  iL   L 
 L 

 1 1
vc   RC  v  0
C c   1 v(t )
    1  
 iL   0  iL   L 
 L 
 Example-1
Step-4: The output is current through the resistor therefore, the
output equation is

1
iR  vC
R

1  v c 
iR   0  
R  iL 
 Example-1
 1 1
vc   RC  v  0
C c   1 v(t )
    1  
 iL   0  iL   L 
 L  Where,
x(t) --------------- State Vector
x(t )  Ax(t )  Bu(t ) A (nxn) ---------------- System Matrix
B (nxp) ----------------- Input Matrix
u(t) --------------- Input Vector

1  v c 
iR   0  
R  iL  Where,
y(t) -------------- Output Vector
C (qxn) ---------------- Output Matrix
y(t )  Cx(t )  Du (t ) D ----------------- Feed forward Matrix
 Example-2
• Consider RLC Circuit shown below. Represent the system in Sate
Space and find (if L=1H, R=3Ω and C=0.5 F):
– State Vector
iL
– System Matrix
+ +
– Input Matrix & Input Vector Vc Vo
– Output Matrix & Output Vector - -

dvc diL
C  u ( t )  iL L   Ri L  vc Vo  Ri L
dt dt
• Choosing vc and iL as state variables

1 1 diL 1 R
dvc
  iL  u(t )  vc  iL
dt C C dt L L
 Example-2
dvc 1 1 diL 1 R
  iL  u(t )  vc  iL
dt C C dt L L

 1
vc   0   v   1 
 i    1
C
 
c
   C u(t ) State Equation
 L  R  iL   
  0
L L

Vo  Ri L

vc 
Vo  0 R   Output Equation
iL 
 Example-3
• State Space Representation of Series RLC circuit

• Writing the loop equation yields

𝑑𝑖(𝑡) 1
𝑣 𝑡 =𝑖 𝑡 𝑅+𝐿 + න 𝑖(𝑡) 𝑑𝑡
𝑑𝑡 𝐶
𝑑𝑞(𝑡)
Converting to charge, using, 𝑖 𝑡 = , we get
𝑑𝑡

𝑑𝑞(𝑡) 𝑑 2 𝑞(𝑡) 1
𝑣 𝑡 = 𝑅+𝐿 2
+ 𝑞(𝑡)
𝑑𝑡 𝑑𝑡 𝐶
 Example-3
𝑑𝑞(𝑡) 𝑑2 𝑞(𝑡) 1
𝑣 𝑡 = 𝑅+𝐿 2
+ 𝑞(𝑡)
𝑑𝑡 𝑑𝑡 𝐶
• We can convert above equation into two simultaneous, first-
order differential equations in terms of i(t) and q(t).

• The first equation can be

𝑑𝑞(𝑡)
= 𝑖(𝑡)
𝑑𝑡
• The second equation can be formed as
𝑑𝑖(𝑡) 𝑅 1 1
=− 𝑖 𝑡 − 𝑞 𝑡 + 𝑣 𝑡
𝑑𝑡 𝐿 𝐿𝐶 𝐿
 Example-3
𝑑𝑞(𝑡) 𝑑𝑖(𝑡) 𝑅 1 1
= 𝑖(𝑡) =− 𝑖 𝑡 − 𝑞 𝑡 + 𝑣 𝑡
𝑑𝑡 𝑑𝑡 𝐿 𝐿𝐶 𝐿

q   0 1  q   0 
 i    1 R      1  v(t )
  i   
   LC L L
• If capacitor Voltage 𝑣𝑐 𝑡 is the output then
1 1
𝑣𝑐 𝑡 = න 𝑖(𝑡) 𝑑𝑡 = 𝑞(𝑡)
𝐶 𝐶

1  q 
vc   0  
C  i 
 Example-4: Home Work
• Find the state-space representation of the electrical
network shown in following Figure. The output is vo(t).
 Example-5
• Represent the electrical network shown in following
figure in state space, where iR(t) is the output.
Example-5
 Example-5

𝑑𝑣1 1 𝑑𝑖3 1
= 𝑖2 = 𝑣𝐿
𝑑𝑡 3 𝑑𝑡 2

• Therefore the state vector is

𝑣1
𝒙= 𝑖
3
 Example-5
𝑑𝑖3 1 𝑑𝑣1 1 𝑣1
= 𝑣𝐿 = 𝑖2 𝒙= 𝑖
𝑑𝑡 2 𝑑𝑡 3 3

• Now obtain 𝑣𝐿 and 𝑖2 in terms of state variables

𝑣𝐿 = 𝑣1 − 𝑣2

𝑣𝐿 = 𝑣1 − 3(𝑖3 + 4𝑣1 )
𝑣𝐿 = −11𝑣1 − 3𝑖3

• State equation can now be written as

𝑑𝑖3 1
= (−11𝑣1 − 3𝑖3 )
𝑑𝑡 2
𝑑𝑖3 11 3
= − 𝑣1 − 𝑖3
𝑑𝑡 2 2
 Example-5
𝑑𝑖3 1 𝑑𝑣1 1 𝑣1
= 𝑣𝐿 = 𝑖2 𝒙= 𝑖
𝑑𝑡 2 𝑑𝑡 3 3

• Now obtain 𝑣𝐿 and 𝑖2 in terms of state variables

𝑖2 = 𝑖1 − 𝑖3
1
𝑖2 = 𝑣𝑖 − 𝑣1 − 𝑖3
3

• State equation can now be written as

𝑑𝑣1 1 1
= [ 𝑣𝑖 − 𝑣1 − 𝑖3 ]
𝑑𝑡 3 3

𝑑𝑣1 1 1 1
= − 𝑣1 − 𝑖3 + 𝑣𝑖
𝑑𝑡 9 3 9
 Example-5
𝑑𝑣1 1 1 1 𝑑𝑖3 11 3
= − 𝑣1 − 𝑖3 + 𝑣𝑖 = − 𝑣1 − 𝑖3
𝑑𝑡 9 3 9 𝑑𝑡 2 2
• Writing state equations in vector matrix form

1 1
𝑣1ሶ − − 𝑣 1
= 9 3 1
+ 9 𝑣𝑖
𝑖3ሶ 11 3 𝑖3
− − 0
2 2

• The output equation is

𝑖𝑅 = 4𝑣1 +𝑖3

𝑣1
𝑖𝑅 = 4 1 𝑖
3
 Example-6
• Consider the following system
K
x(t)
M
f(t)
B
Differential equation of the system is:

d 2 x(t ) dx(t )
M 2
B  Kx(t )  f (t )
dt dt

30
 Example-6
• As we know
dx
v d 2x dv

dt dt 2 dt
• Choosing x and v as state variables
d 2 x(t ) dx(t )
dx M B  Kx(t )  f (t )
v dt 2 dt
dt
dv B K 1
 v x f (t )
dt M M M

 x   0 1   x  0 
     K B      1  f (t )
  v   
 v   M M M 
 Example-6

 x   0 1   x  0 
     K B      1  f (t )
  v   
 v   M M M 
• If velocity v is the out of the system then output equation is given as

 x
y (t )  0 1 
v 
 Example-7
• Find the state equations of following mechanical translational
system.

• System equations are:

d 2 x1 dx1 d 2 x2
M1 2
D  Kx1  Kx2  0 f (t )  M 2 2
 Kx2  Kx1
dt dt dt
 Example-7
• Now dx1 d 2 x1 dv1
 v1 
dt dt 2 dt
dx2 2
 v2 d x2 dv2
2

dt dt dt
• Choosing x1, v1, x2, v2 as state variables
dx1
 v1
dt
dv1
M1  Dv1  Kx1  Kx2  0
dt
dx2
 v2
dt
dv2
f (t )  M 2  Kx2  Kx1
dt
 Example-7
• In Standard form
dx1
 v1
dt
dv1 D K K
 v1  x1  x2
dt M1 M1 M1
dx2
 v2
dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
 Example-7
dx1 dv1 D K K dx2
 v1  v1  x1  x2  v2
dt dt M1 M1 M1 dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
• In Vector-Matrix form

 0 1 0 0  0 
 x1   K  1 x 
0    0 
D K
    
 v1    M 1 M1 M1  v1   
   0  f (t )
 x 2   0 0 0 1  x2 
   K    1 
0  v 2  
K
 v2   M 0  
 2 M2  M2 
 Example-7
 0 1 0 0  0 
 x1   K  1 x 
0    0 
D K
    
 v1    M 1 M1 M1  v1   
   0  f (t )
 x 2   0 0 0 1  x2 
   K    1 
0  v 2  
K
 v2   M 0  
 2 M2  M2 
• If x1 and v2 are the outputs of the system then

 x1 
1 0 0 0  v
 1

y (t )  
0 0 0 1
  x2 
 
 v2 
 Example-8 (Home Work)
• Represent the translational mechanical system shown in
following figure in state space, where x3(t) is the output.
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END OF LECTURE-9