Linear Control Systems: Ali Karimpour Associate Professor Ferdowsi University of Mashhad

LINEAR CONTROL
SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
lecture6
Lecture 6
Topics to be covered include:
 State space representation.
 State transition matrix.
 Calculation of state transition matrix for time varying system.
 Significance of state transition matrix and its property.
 State transition equation.
 State transition equation determined by state diagram.
 Eigenvalues of the matrix A in state space form and
poles of transfer function
 Similarity transformation.
2
Dr. Ali Karimpour Feb 2013
lecture6
State Space Models ‫مدل فضای حالت‬
General form of state space model
LTI systems
If initial condition and input are defined, then x(t), y(t) ?

‫ چند است؟‬x(t) ‫ و‬y(t) ‫اگر شرائط اولیه و ورودی مشخص باشد مقدار‬
Start with homogeneous equation .‫با معادله همگن شروع کنید‬

x  Ax x(t0 )  x0 3
lecture6
State transition matrix ‫ماتریس انتقال حالت‬
x  Ax x(t0  0)  x(0)
x(t )   (t ) x(0)
 (t ) : is state transition matrix ‫ماتریس انتقال حالت‬

If t0 is not zero
x(t )   (t  t0 ) x(t0 ) 4
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Determination of state transition matrix

‫تعیین ماتریس انتقال حالت‬
Method I x  Ax x(t0 )  x0 ‫روش اول‬
sx(s)  x0  Ax(s) x( s)  ( sI  A) x0 1
1

x(t )  L ( sI  A) 1
x
0 x(t )   (t ) x0
 (t )  L (sI  A)
1 1

5
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Method II x  Ax x(t0 )  x0 ‫روش دوم‬
x(t )  e x0
At
x(t )   (t ) x0
 (t )  e At
1 2 2 1
e  I  At 
At
At  A t  ...
3 3
1.2 1.2.3 6
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 x1 (t )  11 (t ) 12 (t )   x1 (0)  Method III
 x (t )   (t )  
22 (t )  x2 (0) 
 2   21 ‫روش سوم‬
 x1 (t )  11 (t ) 12 (t )  1  11 (t ) 
 x (t )   (t )    
22 (t ) 0 21 (t ) 
 2   21
 x1 (t )  11 (t ) 12 (t )  0 12 (t )  0 
0  ith
 x (t )   (t )     
  position
22 (t ) 1  22 (t )
. 
 2   21  
. 
1 
 
. 
. 
So ith column of Φ is the response of system to  
0 
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Example 1 State transition matrix and x(t)

.‫ را بیابید‬x(t) ‫ ماتریس انتقال حالت و‬:1 ‫مثال‬
 2 1   2
x    x x(0)   
 0  3 1 

x(t )  L1 ( sI  A) 1 x0 
 1  
  1  
1  1 
1   s  2
 (t )  L1 (sI  A) 1 
 ( s  2)( s  3) 
1  s  2 
L   L  
s  3  

 0  0 1  
   
 s  3  

e 2t e 2 t
e  3t
 x1 (t )  e
2 t
e 2t  e 3t  2 3e 2t  e 3t 
 (t )     x (t )    3t      3t 
 0 e  3t
  2   0 e    
1 e 
8
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Property of state transition matrix for LTI systems

LTI ‫خواص ماتریس انتقال حالت در سیستمهای‬
1- Φ(0) = I
2- Φ-1(t)= Φ(-t)
3- Φ(t2-t1)Φ(t1-t0) = Φ(t2-t0)
4- Φk(t) = Φ(kt)
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State transition matrix for time varying systems

‫ماتریس انتقال حالت برای سیستمهای متغیر با زمان‬
0 0  x1 (t )  0
x    x
t 0  x2 (t )  tx1 (t )
 x1 (0)  1  1 
x(0)      x(t )   2
 x2 (0) 0 0.5t 
 x1 (0)  0 0 
x(0)      x(t )   
 x2 (0) 1  1 
 1 0
 (t )   2 
0.5t 1 10
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State transition equation ‫معادله انتقال حالت‬
x  Ax  Bu x(t0 )  x0
sx(s)  x0  Ax(s)  Bu (s)
1 1
x( s)  ( sI  A) x0  ( sI  A) Bu ( s)
t
x(t )   (t ) x0    (t   )Bu ( )d
Convolution
0 integral
State transition equation 11

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Example‫واحد‬
2 Find state‫فرض‬
‫اعمال پله‬ transition equation
‫حالت را با‬ :2 ‫مثال‬
for unit
‫معادله انتقال‬ step
.‫بیابید‬
  2 1  0   x1 (0) 
x    x   u x(0)   
 0  3 1   x2 (0)
 
x(t )  L1 ( sI  A) 1 x0
 1  
  1  
1  1 
1   s  2
 (t )  L1 (sI  A) 1 
 ( s  2)( s  3) 
1  s  2 
L   L  
s  3  

 0  0 1  
   
 s  3  

e 2t e 2t  e 3t 

 (t )    3t 
 0 e  12
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Example‫واحد‬
2 Find state‫فرض‬
‫اعمال پله‬ transition equation
‫حالت را با‬ :2 ‫مثال‬
for unit
‫معادله انتقال‬ step
.‫بیابید‬
  2 1  0   x1 (0)  e 2t e 2t  e 3t 

x    x   u x(0)   
 (t )    3t 
 0  3 1   2 
x ( 0)  0 e 
t
x(t )   (t ) x0    (t   )bu( )d
0
2 ( t  )
e 2t e 2t  e 3t   x1 (0)  t e e 2 ( t  )  e 3( t  )  0
x(t )    3t     3( t  )   u ( )d
0 e   x2 (0) 0
0 e  1 
e 2t e 2t  e 3t   x1 (0)  t e 2(t  )  e 3(t  )  .....

x(t )    3t        d  
0   x2 (0) 0  
3 ( t )
e e ..... 13
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Example 3 Find x1(s) and x2(s)

.‫را بیابید‬ x2(s) ‫ و‬x1(s) ‫معادله‬ :3 ‫مثال‬
  2 1  0   x1 (0) 
x    x   u x(0)   
 0  3 1   x2 (0)
x(s)  (sI  A) 1 x(0)  (sI  A) 1 Bu (s)
1 1
s  2 1  s  2  1  0
x( s )    x(0)      u (s)
 0 s3   0 s  3  1 
 1 1   1   1 1 1 
x ( 0)  x ( 0)  u ( s )
 x1 ( s)   s  2  
( s  2)( s  3)  x1 (0)  ( s  2)( s  3)  s  2 1
( s  2)( s  3)
2
( s  2)( s  3) 
 x ( s )        u ( s )   
 2   0 1   x2 (0)  1   1 1 
     x2 (0)  u ( s) 
s3   s3   s3 s3 14
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ِExample 4: Derive x1(s) by using state diagram.
  2 1  0 
x    x   u
 0  3 1 
x2 (0) x1 (0)
s -1 s -1
1 x2 s -1 x2 1 x1 s -1 x1
u(s)
-3 x2 -2 x1
1 1 1
x1 ( s)  x1 (0)  x2 (0)  u ( s)
s2 ( s  2)( s  3) ( s  2)( s  3)
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Relation between SS model and TF model.
‫ارتباط بین معادالت فضای حالت و تابع انتقال‬
adj (sI  A)
G( s)  C BD
sI  A
Poles of G(s) ? Eigenvalues of A (modes) ?
‫ ؟‬A ‫ارتباط بین قطبهای تابع انتقال و مقادیر ویژه‬
Poles of G(s)  Eigenvalues of A 16
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Example 5: Find the poles of transfer function

and the eigenvalues of A
 0 1 0  0 
x   0 0 1  x  0u ‫ مطلوبست قطبهای‬:5‫مثال‬
 6  11  6 1 
A ‫تابع انتقال و مقادیر ویژه‬
y  [1 1 0]x
s 1 0
SI  A  0 s  1  s 3  6s 2  11s  6  ( s  1)( s  2)( s  3)
6 11 s  6 eig(A)
s 1 s 1 1
1
g ( s)  d  c( sI  A) b  3  
s  6s  11s  6
2
( s  1)( s  2)( s  3) ( s  2)( s  3)
17
[num,den]=ss2tf(A,b,c,0), g=tf(num,den) , g=minreal(g) Dr. Ali Karimpour Feb 2013
lecture6
Example5: Continue
‫ ادامه‬:5‫مثال‬
 0 1 0  0 
x   0 0 1  x  0u
1
 6  11  6 1  G( s) 
( s  2)( s  3)
y  [1 1 0]x
1  3 p1  3
2  2
p2  2
3  1
Eigenvalues of A Poles of system

A ‫مقادیر ویژه‬ ‫قطبهای سیستم‬
What happened to -1 ??!!?? 18
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Change of variables (Similarity transformation)

)‫تغییر متغیرها ( تبدیالت همانندی‬
x  Ax  bu A is 3  3 b is 3 1
Let
y  cx  du c is 1 3 d is 11
1
w1  x1  x3 1 0  1 1 0  1
w2  x1  2 x2  w  1 2 0  x  Px  x  P 1w  1 2 0  w
w3  x2  x3 0 1 1  0 1 1 
x  Ax  bu 1
P 1w  AP w  bu w P A P 1w  Pbu
y  cx  du  
y  cP 1w  du y  cP 1w  du
w Aˆ w  bû Â b̂ ĉ d̂
y  cˆw  dû 19
lecture6
Example 6: A similarity transformation example

‫ یک مثال از تبدیل همانندی‬:6 ‫مثال‬
  3  6  4  6 
1  2
x   1 2 2  x   3u Eigenvalues of A
2  4 A ‫مقادیر ویژه‬
 1  6  6   4 
3  1
y  [2 2  1]x
 2 - 1 2   2 0 0  4.9 cˆ  cP 1  [  0.4 0.6 0]
P 1   1 1 - 1 Aˆ  PAP1   0  1 0 bˆ  Pb   0 
 - 1 - 1 2   0 0  4  3  dˆ  d  0
Eigenvector corresponding to -2
 2 0  0 4.9
1  2
w   0 1  w   0 u
 0 
Eigenvalues of Â
2  4 Â ‫مقادیر ویژه‬
 0 0  4  3 
3  1
y  [ 0.4 0.6 0]w
20
New system is very simpler than older Dr. Ali Karimpour Feb 2013
lecture6
Similarity transformation and eigenvalues
‫تغییر متغیرها و مقادیر ویژه‬
x Ax  bu Eigenvalues of A
 sI  A  0
y  cx  du A ‫مقادیر ویژه‬
z Aˆ z  bû Eigenvalues of Â  sI  Aˆ  0

y  cˆz  dû Â ‫مقادیر ویژه‬
sI  Aˆ  sI  PAP1  PsP  PAP  P sI  A P 1 

1 1
sI  A
Similarity transformation
 sI  Aˆ  sI  A does not affect the
21
eigenvalues of the systemDr. Ali Karimpour Feb 2013
lecture6
Exercise
1- Find the state diagram of the following system

 2 1 3 0
x   0  3 2 x  1 u
 1 4  1  0
2- Find the transfer function of the following system.
a) By use of the formula between the two representation.
b) By use of state diagram  2 1 3 0 
 
x   0  3 2 x  1 u
 1 4  1  0
y  [1 2 0]x
3- Find y(t) for initial condition [1 3 -1]T and the unit step as
 2 1 3 0
input. x   0  3 2 x  1 u
   
 1 4  1 22 0
y  [1 2 Dr.0Ali
]x Karimpour Feb 2013
lecture6
Exercise (cont.)
4- The state transition matrix and state transition equation

of following system.  1 3  1 
X (t )    X (t )  2 r (t )
 0  4   
 1 3 
Answer is:  (t )  L1 ( sI  A) 1 
 
 L1  
s  1  3 
1
  2 
  L1  s  1 s  5s  4   e
t
e t  e  4 t 
  0 s  4  
   0 1  0 e  4t 
 s  4 
 ( t  )
e  t e  t  e 4t  t e e  (t  )  e 4 (t  )  1 
X (t )  
0 e  4t 
 X ( 0)  0 0    R( )dt
e  4( t  )  2

5- Suppose x1(0)=1, x2(0)=3 and x3(0)=2 and r(t)=u(t) . Find x(t)

and c(t) for t≥0
 1 4 0  1 
X (t )   2  2 1  X (t )  1  r (t ) c(t )  [1 0 0] X (t )
 0 0  3 0 23

Linear Control Systems: Ali Karimpour Associate Professor Ferdowsi University of Mashhad

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Linear Control Systems: Ali Karimpour Associate Professor Ferdowsi University of Mashhad

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LINEAR CONTROL

State Space Models ‫مدل فضای حالت‬

General form of state space model

If initial condition and input are defined, then x(t), y(t) ?

Start with homogeneous equation .‫با معادله همگن شروع کنید‬

State transition matrix ‫ماتریس انتقال حالت‬

 (t ) : is state transition matrix ‫ماتریس انتقال حالت‬

Determination of state transition matrix

Method I x  Ax x(t0 )  x0 ‫روش اول‬

Determination of state transition matrix

Method II x  Ax x(t0 )  x0 ‫روش دوم‬

Determination of state transition matrix

Example 1 State transition matrix and x(t)

Property of state transition matrix for LTI systems

State transition matrix for time varying systems

State transition equation ‫معادله انتقال حالت‬

sx(s)  x0  Ax(s)  Bu (s)

State transition equation 11

e 2t e 2t  e 3t 

  2 1  0   x1 (0)  e 2t e 2t  e 3t 

e 2t e 2t  e 3t   x1 (0)  t e 2(t  )  e 3(t  )  .....

Example 3 Find x1(s) and x2(s)

ِExample 4: Derive x1(s) by using state diagram.

‫ارتباط بین معادالت فضای حالت و تابع انتقال‬

Example 5: Find the poles of transfer function

Eigenvalues of A Poles of system

Change of variables (Similarity transformation)

Example 6: A similarity transformation example

z Aˆ z  bˆu Eigenvalues of Â  sI  Aˆ  0

sI  Aˆ  sI  PAP1  PsP  PAP  P sI  A P 1 

1- Find the state diagram of the following system

4- The state transition matrix and state transition equation

5- Suppose x1(0)=1, x2(0)=3 and x3(0)=2 and r(t)=u(t) . Find x(t)

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