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Transfer Function: FOR Discrete Lti System

The document discusses state-space modeling of discrete-time linear time-invariant (LTI) systems. It describes how state-space models represent system dynamics using state variables and matrices, allowing modeling of multi-input multi-output systems. The state-space models comprise state equations describing how the state evolves over time, and output equations relating the outputs to the states and inputs. Modeling involves determining the A, B, C, and D matrices that define the state-space model.

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Krishn Limbachiya
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31 views38 pages

Transfer Function: FOR Discrete Lti System

The document discusses state-space modeling of discrete-time linear time-invariant (LTI) systems. It describes how state-space models represent system dynamics using state variables and matrices, allowing modeling of multi-input multi-output systems. The state-space models comprise state equations describing how the state evolves over time, and output equations relating the outputs to the states and inputs. Modeling involves determining the A, B, C, and D matrices that define the state-space model.

Uploaded by

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

FUNCTION
FOR
DISCRETE LTI
SYSTEM
The classical control theory and methods (such as root locus) that we
have been using in class to date are based on a simple input-output
description of the plant, usually expressed as a transfer function.

These methods do not use any knowledge of the interior structure of


the plant, and limit us to single-input single-output (SISO) systems
and as we have seen allows only limited control of the closed-loop
behavior when feedback control is used.
Modern control theory solves many of the limitations by using a
much “richer” description of the plant dynamics.

The so-called state-space description provide the dynamics as a set of


coupled first-order differential equations in a set of internal variables
known as state variables, together with a set of algebraic equations
that combine the state variables into physical output variables.
The system shown in Fig. 1 has two inputs u1(t) and u2(t), and four output
variables y1(t), . . . , y4(t). If the system is state-determined, knowledge of
its state variables (x1(t0), x2(t0), . . . , xn(t0)) and the inputs u1(t) and u2(t)
is sufficient to determine all future behavior of the system.

The state variables are an internal description of the system which


completely characterize the system state at any time t, and from which any
output variables yi(t) may be computed
In the standard form the mathematical description of the system is
expressed as a set of n coupled first-order ordinary differential
equations, known as the state equations.

where x˙i = dxi/dt and eachof the functions fi (x, u, t), (i = 1, . . . , n) may be a
general nonlinear, time varying function of the state variables, the system
inputs, and time.
The State Equations

For an LTI system of order n, and with r inputs, Eqs. (1) become a set
of n coupled first-order linear differential equations with constan t
coefficients:

x˙1 = a11x1 + a12x2 + . . . + a1nxn + b11u1 + . . . + b1rur


x˙2 = a21x1 + a22x2 + . . . + a2nxn + b21u1 + . . . + b2rur
...
...
x˙n = an1x1 + an2x2 + . . . + annxn + bn1u1 + . . . + bnrur
Equations may be written compactly in a matrix form:

which may be summarized as:


x˙ = Ax + Bu

where the state vector x is a column vector of length n, the input vector u
is a column vector of length r, A is an n × n square matrix of the constant
coefficients aij, and B is an n × r matrix of the coefficients bij that weight
the inputs.
Output Equations

An arbitrary output variable in a system of order n with r inputs may be


written:
y(t) = c1x1 + c2x2 + . . . + cnxn + d1u1 + . . . + drur

where the ci and di are constants. If a total of m system variables are


defined as outputs, the m suchequations may be written as:

y1 = c11x1 + c12x2 + . . . + c1nxn + d11u1 + . . . + d1rur


y2 = c21x1 + c22x2 + . . . + c2nxn + d21u1 + . . . + d2rur
...
...
ym = cm1x1 + cm2x2 + . . . + cmnxn + dm1u1 + . . . + dmrur
in matrix form:

The output equations, are commonly written in the compact form:


y = Cx + Du

where y is a column vector of the output variables yi(t), C is an m×n matrix of the
constant coefficients cij that weight the state variables, and D is an m × r matrix of
the constant coefficients dij that weight the system inputs. For many physical
systems the matrix D is the null matrix.
State Equation Based Modeling Procedure

The complete system model for a linear time-invariant system consists of


(i) a set of n state equations, defined in terms of the matrices A and B

(ii) (ii) a set of output equations that relate any output variables of
interest to the state variables and inputs, and expressed in terms of the
C and D matrices.

(iii) The task of modeling the system is to derive the elements of the
matrices, and to write the system model in the form:
x˙ = Ax + Bu
y = Cx + Du.
Discrete-time LTI state-space models have the following form:

x[k + 1] = Ax[k] + Bu[k]


y[k] = Cx[k] + Du[k],

where u[k] is the input, y[k] is the output, and x[k] is the state vector.
Block Diagram Representation of Linear Systems
Described by State Equations
This general block diagram shows the matrix operations from input to
output in terms of the A, B, C, D matrices.
EXAMPLE 1

X1= a11x1+ a12 x2+ b1u(t)


X2=a21x1+a22x2+b2u(t)

Y=c1x1+du(t)
Y=c2x2+du(t)
Solution 1

X1= a11x1+ a12 x2+ b1u(t)


X2=a21x1+a22x2+b2u(t)

Y=c1x1+du(t)
Y=c2x2+du(t)
EXAMPLE 2
Solution 2
EXAMPLE 3
Solution 3
Solution
THEORY: State-space to transfer function
EXAMPLE
Sampling
And
Holding Operation
The Sample and Hold circuit is an electronic circuit which creates
the samples of voltage given to it as input, and after that, it holds
these samples for the definite time.

The time during which sample and hold circuit generates the sample
of the input signal is called sampling time. 

The time duration of the circuit during which it holds the sampled
value is called holding time.
Sampling time is generally between 1µs to 14 µs.

The holding time we can assume any value as required in the


application.

Q: It will not be wrong to say that capacitor is the heart of sample


and hold circuit.

Ans: This is because the capacitor present in it charges to its peak


value when the switch is closed during sampling, it holds the sampled
voltage when the switch is opened.
The diagram shows the circuit of the sample and hold circuit with
the help of an Operational Amplifier.

It is evident from the circuit diagram that two OP-AMPS are


connected via a switch. When the switch is closed sampling
process will come into the picture and when the switch is opened
holding effect will be there.
The working of sample and hold circuit easily understood by
working of its components.

The main components are:


• An N-channel Enhancement type MOSFET,
• A capacitor to store and hold the electric charge and
• A high precision operational amplifier.
The N-channel Enhancement MOSFET will be used as a switching
element. The input voltage is applied through its drain terminal and
control voltage will be applied through its gate terminal.

When the control voltage is applied, the MOSFET will be switched to


ON state. And it acts as a closed switch. when the control voltage is zero
then the MOSFET will be switched to OFF state and acts as the open
switch.
When the MOSFET acts as a closed switch, then the analogue signal
applied to it through the drain terminal will be fed to the capacitor.
The capacitor will then charge to its peak value.

When the MOSFET switch is opened, then the capacitor stops


charging because the capacitor will experience high impedance and it
cannot get discharged.

This leads to the holding of the charge by the capacitor for the definite
amount of time.
Application of Sample and Hold Circuit

1.Sampling Oscilloscopes
2.Data Conversion System
3.Digital Voltmeters
4.Analog Signal Processing
5.Signal Constructional Filters

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