Beruflich Dokumente
Kultur Dokumente
Systems with more than one input and/or more than one output are known as MultiInput Multi-Output systems, or they are frequently known by the abbreviation MIMO. This is in contrast to systems that have only a single input and a single output (SISO), like we have been discussing previously.
now, we can assign our state variables as such, and produce our first-order differential equations:
Where X(0) is the initial conditions of the system state vector in the time domain. If the system is relaxed, we can ignore this term, but for completeness we will continue the derivation with it. We can separate out the variables in the state equation as follows:
And then we can multiply both sides by the inverse of [sI - A] to give us our state equation:
Now, if we plug in this value for X(s) into our output equation, above, we get a more complicated equation:
Now, if the system is relaxed, and therefore X(0) is 0, the first term of this equation becomes 0. In this case, we can factor out a U(s) from the remaining two terms:
We can make the following substitution to obtain the Transfer Function Matrix, or more simply, the Transfer Matrix, H(s):
[Transfer Matrix]
And rewrite our output equation in terms of the transfer matrix as follows:
If Y(s) and X(s) are 1 1 vectors (a SISO system), then we have our external description:
Now, since X(s) = X(s), and Y(s) = Y(s), then H(s) must be equal to H(s). These are simply two different ways to describe the same exact equation, the same exact system.
[edit] Dimensions
If our system has q inputs, and r outputs, our transfer function matrix will be an r q matrix.
Through this derivation of the transfer function matrix, we have shown the equivalency between the Laplace methods and the State-Space method for representing systems. Also, we have shown how the Laplace method can be generalized to account for MIMO systems. Through the rest of this book, we will use the Laplace and State Space methods interchangeably, opting to use one or the other where appropriate.
These are named because if there is no input to the system (zero-input), then the output is the response of the system to the initial system state. If there is no state to the system, then the output is the response of the system to the system input. The complete response is the sum of the system with no input, and the input with no state.
If X(0) is zero, that term drops out, and we can derive a Transfer Function Matrix in the Z domain as well:
[Transfer Matrix]
We can combine these two equations into a single difference equation using the coefficient matrices A, B, C, and D. To do this, we find the ratio of the system output vector, Y[n], to the system input vector, U[n]:
So the system response to a digital system can be derived from the pulse response equation by:
And we can set U(z) to a step input through the following Z transform:
Plugging this into our pulse response we get our step response: