ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Chapter 3

State Variable Models

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Outline

Introduction
The state variables
The state differential equations
Signal flow graphs

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Introduction
So far:
Dynamic models of systems
In time domain (t-domain)
In Laplace domain (s-domain)

In s-domain (for linear time-invariant ODEs/systems)

Transfer functions
Block diagram models
Signal flow graphs

In this chapter
Write time domain models in state variable models

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

State Variable Models

State variable model
Model of a system in the time domain with state variables

Usage:
Modern control systems
Analysis and design of control system through computer
Can be used for nonlinear, and time-varying systems

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

State Variables
The state variables of a dynamic system
Those variables that determine the future behavior of a
system WHEN
the present state of the system and the excitation signals are known

State of a system
The condition of a system that is described in terms of a set
of state variables

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

State Variable Models Example

Two rolling carts attached with spring and dampers

p, q: position of carts
u: external force
Write down the state variable model
ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

State Variable Models Example

The dynamic model in time domain
Free body diagrams:

Newtons second law of motion:

p

k1

M1
q

k1

k1

M1
p

k1 k 2

M2
ME464-Sys Dyn & Ctrl Spring-2013

M2

b1

M1
q

b1
M1

b1
M2

M1
b1 b 2

M2
Dr. Shaukat Ali

State Variable Models Example

State variables:
x1 p

x2 q
x
x3
p

x q
4

Equations of motion in terms of state variables:

x 3

x 4

k1
M1
k1
M2

x1

x1

k1
M1

x2

k1 k 2
M2

ME464-Sys Dyn & Ctrl Spring-2013

b1
M1

x2

x3
b1
M2

b1
M1
x3

x4

1
M1

b1 b 2
M2

x4

Dr. Shaukat Ali

State Variable Models Transfer Function

Transfer Function of state variable model:
x t Ax t Bu t
y t Cx t Du t

Take the Laplace Transform:

sI A X s BU s
Y s C BU s DU s
Transfer function:
G s

Y s
U s

CB D

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

State Variable Model

Example: Transfer function of an RLC circuit

0
x
1

y 0

G s

1
1

C x u
C
R

R x

Y s
U s

R LC

s
2

R
L

ME464-Sys Dyn & Ctrl Spring-2013

1
LC

Dr. Shaukat Ali

Exercises Chapter 03
E3.2:
A robot arm drive system for one joint can be represented by
the differential equation:
dv t

k 1 v t k 2 y t k 3 i t

dt
Where
v(t) = velocity
y(t) = position
i(t) = control motor current (input)
Required:
1. Put the equation in the state variable form
2. Setup the matrix form for k1=k2=k3=1 and find the state
transition matrix
ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Exercises Chapter 03
E3.13
A system is described by the following two differential
equations:
dy

y 2u a 0

dt
d

by 4 u 0

dt

Where y and are functions of time, and u is an input.

Required:
a) Select a set of state variables
b) Write the state differential equation
ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Exercises Chapter 03
E3.19
A system has the following state variable model:
0
x
3
y 10

1
x
4

0
u
1

0 x

Determine the transfer function:

G s

Y s
U s

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali