NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

State Space Approach in Modelling

D Bi
Dr.
Bishakh
h kh Bh
Bhattacharya
tt h
Professor, Department of Mechanical Engineering
IIT Kanpur

Joint Initiative of IITs and IISc - Funded by MHRD

Module 1- Lecture 4

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

Answer of the Last Assignment

g
FollowingMasonslaw,therearetwoforwardpathsintheSFG:
T1 =G1 G2 G3 and
T2 =G4
Therearefourloops:
L1 =G1 H1
L2 = G3 H2
L33 = G11 G22 G33 H33
L4 = G4 H3
=1 (L1 +L2 +L3 +L4 )+L1 L2
1 =1
2 =1
Hence,thetransferfunctioncouldbeexpressedas(T
h
f f
i
ld b
d ( 1 +T2 )/
)/
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

The Lecture Contains

StateSpaceModeling

EOMofaSDOFsysteminStateSpaceForm
ResponseofaStateSpaceSystem
ExamplestoSolve

Joint Initiative of IITs and IISc - Funded by MHRD

Module 1- Lecture 4

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

StateSpaceModelling
Thestate ofamodelofadynamicsystemisasetof
independentphysicalquantities,thespecificationofwhich(in
theabsenceofexcitation)completelydeterminesthefuture
positionsofthesystem
Dynamicsdescribeshowthestateevolves. Thedynamics ofa
modelisanupdateruleforthesystemstatethatdescribes
how the state evolves as a function on the current state and
howthestateevolves,asafunctiononthecurrentstateand
anyexternalinputs
.
x.1
x
.
2
X . A X (t ) B U (t )

..
x
n

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

Whenwetalkaboutelectromechanicalsystemsmodeledbydifferential
Wh
t lk b t l t
h i l t
d l d b diff
ti l
equations,suchasmassesandsprings,electriccircuitsorsatellites(rigid
bodies)rotatinginspace,wecanattachsomeadditionalintuition:the
variables in the state should be adequate to specify the energy ofthe
variablesinthestateshouldbeadequatetospecifytheenergy
of the
system.

Forexample,takeaballfreefallingtoearth:wecanspecifytheposition
oftheballbyspecifyingtheheight(h)abovetheground,butwealso
needtoincludethevelocityoftheball(dh/dt)tospecifythetotalenergy
(E=1/2*m*(dh/dt)^2+mgh).Therefore,thestateoftheballis(h,dh/dt).

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

St t Space
State
S
Modelling
M d lli off a Si
Single
l D
Degree off F
Freedom
d
S
System
t

Consider a SDOF system (with mass M, stiffness K and Damping constant C)

such
h that
th t the
th equation
ti
off motion
ti
corresponding
di to
t force
f
excitation
it ti
is
i given
i
by:
b
..

M x C x K x F (t )

The following pair of states or their linear combinations could be considered

for the modelling:

x x
. , .. ,
x x

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.
x
..
x

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

The EOM in State Space

p
Form

Consider for example, the position and velocity as the state coordinates.

The state vector could be written as:

x
X .
x

Based on these states, the EOM could be rewritten as:

1 x 0
d x 0
.

. ( f / m)

dt x k / m c / m x 1
.

X A X BU
1
0
0
A
,
B

, U f / m

k
/
m
c
/
m

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

Output of a State-space System

Many a times states of a system are not directly measurable and hence
Manyatimesstatesofasystemarenotdirectlymeasurableandhence
arenotofdirectinterest.Forexample,ifyouconsider,statespace
representationofafiniteelementmodelpertainingtoaSpacecraft.The
number of states could be as high as three to four thousand! However,
numberofstatescouldbeashighasthreetofourthousand!However,
onecannothavesomanysensorstomeasureallthestates.Insuchcases,
wefixafeasiblenumberofoutputsthatareobservable/measurable.
Supposeforasystemofnstatestherearer
Suppose
o a sys e o s a es e e a e ou
outputsthataremeasurable.
pu s a a e easu ab e
ThentheoutputvectorY(t)ofsizer couldberepresentedasalinear
combinationofinputtothesystemandthestatesasfollows:
y1 (t )
y (t )
2
Y (t ) . C X (t ) D U (t )
.

yr (t )

WhereC&DareconstantsforanLTIVsystem.Formajorityofdynamic
systemsitisobservedthatD=0,meaningoutputsarenotdirectlyaffected
b
d h
d
l ff
d
bythesysteminputs.
8

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

Ti
Time
Domain
D
i Solution
S l ti for
f a Vector
V t State
St t Equation
E
ti

A(t-)
) B U(t) dt
X(t) = eAt Xo + to eA(t
eAt = I + At + (At)2/2! + (At)3/3!
X(s) = (sI-A)-1 B U(s)
Find out the eigen values and eigen vectors of sI A, Obtain
the transformation matrix and convert the state matrix into
diagonal form
Solve using a Discrete Time -Model

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

Special References for this Lecture

Feedback Control of Dynamic Systems Franklin,
Franklin Powell and Naeini
Naeini, Pearson
Education Asia
Control Systems Engineering Norman S Nise, John Wiley & Sons
Modern Control Engineering K. Ogata, Prentice Hall
Control System Design B Friedland, Dover

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10

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 4

Find out the EOM for the following mechanical system in state
space form :

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