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9.1 Introduction
based on transfer function and graphical approach such as Bode, Nyquist and root locus.
The mathematical model of the control system is being obtained in frequency domain
function approach, which considers analysis in time domain and over comes the
limitations of transfer function approach. The state space model of a control system takes
Applicable for SISO and Multiple Input and Multiple Output systems (MIMO).
The initial conditions pertaining to the system are taken into account.
The analysis is carried out in time domain and easy amenable to solve through
digital computer.
The modern state space approach need not replace classical transfer function approach.
The transfer function approach gives a physical insight into the system for preliminary
9.2 Definitions
1. State variables
The smallest of variables which determine the state of a dynamic system are
called state variables. It is not necessary that the state variable be physically
2. State
The state of the system is the smallest set of state variables such that the
determine the behaviour of the system for any time t > t0.
3. State vector
If „n‟ state variables are necessary to determine the behaviour of a given system,
4. State space
The „n‟ dimensional state variables are elements of „n‟ dimensional space called
state space.
The state model of linear time invariant system can be written in the matrix form as
X (t) = A X(t) + B U(t) State Equation
(n×1) (n×n) (n×1) (n×m) (m×1)
This section gives an idea of formulating state model for a given physical system
Problem 9.1
Formulate the state equation for the given electrical network shown in Fig 9.1.
R L
E I V C
Fig 9.1
Solution
State variables are chosen as (no of charging elements equal to no of state variables)
x1 = I and x 2 = V
dI dI E R V
E = RI + L +V = - I-
dt dt L L L
E R V
I=x= - I- (a)
L L L
dV 1
But I = C V= I (b)
dt C
From the equation (a) and (b) state equation in matrix form is
R 1
- -
I x1 = L L x1 + 1 V
1
V x 2 x
0 2
L
C 0
x
Y = V = x 2 Y = 0 1 1
x2
Problem 9.2
Obtain the state model for the system shown in Fig 9.2
R V2 R V1
U I1 I2 C
C
Fig 9.2
Solution
Apply Kirchoff‟s current law (nodal method) and write the differential equation
V2 - U dV V - V
At Node V2 + C 2 + 2 1 = 0 and (a)
R dt R
V1 - V2 dV
At Node V1 +C 1 = 0 (b)
R dt
dV2 U - V2 V2 - V1 U - 2V2 + V1
C = - V2 =
dt R R RC
V1 - V2 V V
V1 = - =- 1 + 2
RC RC RC
In matrix form
1 1 V
- 1 0
V1 = RC RC + 1 U
1 2
V 2 - V2 RC
RC RC
Y = V1 = x1
x
Y = 1 0 1
x2
Problem 9.3
Obtain the state model for the system shown in Fig 9.3
R1 L1 L2
I1 VC I2 R2
V C
Fig 9.3
Lecture Notes by N.Selvaganesan, IIST (January – May 2018)
6
Solution
x1 t = I1 t
x 2 t = I2 t
x 3 t = Vc t
Apply Kirchoff‟s law (loop method) and write the differential equation
dI1
V t = R1I1 (t) + L1 + Vc t (a)
dt
dI2
R 2 I 2 t + L2 = Vc t (b)
dt
dVc
C = I1 t - I2 t (c)
dt
R1 1 1
x1 t = - x1 t - x 3 t + V t
L1 L1 L1
R2 1
x2 t = - x 2 t + x3 t
L2 L2
1
x3 t = x t - x 2 t
C 1
R1
x1 - L1 0 - L1 x1 L1
1 1
= 0 - R2
x2 L2 x 2 + 0 V t
1
L2
x 0
1 0 3
1
x 3 C C
x1
y t = 0 R 2 0 x 2
x 3
Problem 9.4
Formulate the state equation for the given mechanical system given in Fig 9.4. Choosing
displacements y1 and y2 of the mass M1 and M2 are state variables as well as output.
K2
B y1 y2
K1
M1 y1 K1 M2 F
M1
K2 B
M2 y2
Fig 9.4 Mechanical Network
Fig 9.5
Solution
By applying Newton‟s law of motion to the mechanical network (shown in Fig 9.5), the force
d 2 y1 dy
At node (y1) M1 +B 1 +K1 y1 +K 2 (y1 -y 2 )=0 (1)
dt 2 dt
d2z2
At node (y2) M 2 K 2 ( z 2 z1 ) f ( t ) (2)
dt 2
y1 = x1 y2 = x 3
y1 = x1 = x 2 y2 = x 3 = x 4
.. . .. .
y1 = x 2 y2 = x4
. .. . ..
Substitute above values of z1 , z1 , z1 and z 2 , z 2 , z 2 in equations (1) an (2) to obtain
x1 = x 2
x3 = x 4
.
M1 x 4 +K 2 (x 3 -x1 ) = f(t)
Select displacements of mass M1 and M2 as output variables
c1 = y1 and c2 = y 2
.
x1 0 1 0 0 x
1 0
. 0 0
(K1 +K 2 ) B K2
- -
x2 = M1 M1 M1 x2
+ 0 f(t)
. 0 0 0 1
x3 x3 1
K2 K2
0 M 2
M1
. 0
x 4
M2 x
4
c1 1 0 x 1
and c = 0 1 x
2 2
DC servo motor
Small power ratings are used in computer related equipments such as disc drives,
Medium and large power ratings are used in robot systems and CNC machines.
magnet.
motor”.
Disadvantages
The Fig 9.6 shows the circuit model for the Armature control of dc servomotor.
Ia Ra Rf IF
Lf – MayI 2018)
Lecture Notes by N.Selvaganesan, IIST (January VF
La f
Va Ia
10
From the chapter 3, section 3.7.1, the transfer function of the armature control speed DC
motor is obtained as
θ s kT
=
Va s s La Js 2 + La B + R a J s + R a B + k T k b
θ s Km
= (a)
Va s s Tms +1
where,
kT
km = = Motor gain constant
R a b + kTkb
RaJ
Tm = = Motor time constant
R a B + kTk b
State space representation
1 km
θ+ θ= V
Tm Tm a
x1 = θ = y
x2 = θ
and hence
x1 = θ = x 2
1 k
x2 = θ = - x 2 + m Va
Tm Tm
x1 0 1 x1 0
= 0 1 + K m Va
-
x 2 Tm x 2 Tm
y = θ = x1
x
y = 1 0 1
x2
The Fig 9.7 shows the circuit model for the Field control of dc servomotor.
Rf
Lf M Ia
E If Va
J
Fig 9.7
B
From the chapter 3, section 3.7.2, the transfer function of the field control speed DC
motor is obtained as
θ s Km
= (a)
E s τme τΒs + τmes2 + τ Bs2 + s
3
where,
kT
Km = = Motor gain constant
R FF
LF
τB = = Time constant for field circuit
RF
J
τme = = Mechanical time constant
F
θ τme τΒ + θ τme + τ B + θ = E s K m
θ+θ
τme + τB + θ 1 k
= m E
τme τ Β τ me τ Β τ me τ Β
x1 = θ
x2 = θ
x3 = θ
and hence
x1 = θ = x 2
x 2 = θ = x3
x3 = θ = -
τme + τF θ- 1 km
θ+ E
τ me τ F τ me τ F τ me τ F
x1 0
x1 0 1 0
x 2 = 0 0 1 x 2 + 0 E
τ me + τ F
x 3 0 - km
1
-
τ me τ F τ me τ F x τ me τ F
3
x1
y = 1 0 0 x 2
x 3
phase variables as state variables is discussed. Phase variable are defined as those
particular state variable which are obtained from one of the system variable and its
derivatives. The phase variable state model is easily determined if the model is already
yn + a1yn-1 + a 2 yn-2 +......+ a n-1 y+ a n y = b0u m + b1u m-1 +......+ b m-1 u+ b mu
For time invariant system a i and bi are constant. The transfer function for the above
differential equation is
n = Number of Poles
y s b
Transfer function = n (or)
u s s + a1s +.....+ a n
n-1
yn + a1yn-1 +.....+ a n y = bu
x1 = y
x2 = y
x3 = y
:
:
x n = y n-1
x1 = x 2
x 2 = x3
:
:
x n-1 = x n
x n = -a n x1 - a n-1x 2 -.....- a1x n + bu
0 1 0................0 x1 0
x1
0 0 1................0 x 2 0
x 2 : : :
: = + u
: : :
x
n-1 0 0 0...............1 x n-1 0
-a n - a n-1 - a n-2 ..........a1 x n b
xn
Note
It has all ones in the upper half diagonal, its last row is comprised of the negative
of the co-efficient of the original differential equation and all other elements are zero.
This form of matrix „A‟ is known as “BUSH FORM (OR) COMPANION FORM”.
Output equation
y = x1
x1
x2
y = 1 0.........0 :
:
x
n
Y s b0s3 + b1s 2 + b 2s + b3
Let us consider the T.F (proper system m = n =3) T s = = 3
U s s + a1s 2 + a 2s + a 3
Method: 1
Y S X1 S Y S 1 b0s3 + b1s 2 + b 2s + b3
= =
U S U S X1 S s3 + a1s 2 + a 2s + a 3 1
X1 S 1
= x + a x+ a x+ a3 = u
U S s3 + a1s 2 + a 2s + a 3 1 2
x1 0 1 0 x1 0
x 2 = 0 0 1 x 2 + 0 u
-a - a - a x 1
x3 3 2 1 3
Y S
and = b0s3 + b1s 2 + b 2s + b3
X1 S
y = b0 x1 + b1 x1 + b 2 x1 + b3
x1 = y
x2 = y
x3 = y
x1 = y = x 2
x1 = y = x 3
x 1 = y = u - a 1 x1 - a 2 x 1 - a 3 x 1
y = b0 u - a1x 3 - a 2 x 2 - a 3 x1 + b1x 3 + b 2 x 2 + b 3x
= x1 b3 - a 3b 0 + x 2 b 2 - a 2 b 0 + x 3 b1 - a 1b 0 + b 0u
x1
y = b3 - a 3 b 0 b 2 - a 2 b 0 b1 - a1b 0 x 2 + b 0 u
x 3
x1 0 1 0...........0 x1 0
x 2 0 0 1...........0 x 2 0
: = : : + :u
: : : :
-a - a 1
xn n n-1 - a n-2 .......- a 1 x n
x1
x
y = b n - a n b0 b n-1 - a n-1b0 ...... b1 - a1b0 2 + b0 u
:
xn
Method: 2
y S 1
Let us consider the transfer function T S = = PK Δ K
u S Δ K
where,
Δ = 1-Sum of gain product of non-touching loops + Sum of gain products of two non-
b 0s3 + b1s 2 + b 2s + b 3
Consider the transfer function T s =
s3 + a1s 2 + a 2s + a 3
Choose the state variable as x1, x2 and x3 (third order system). By rearranging the above
b1 b2 b3
s3 = y s
b0 + + +
equation T s =
2
s s
1- - 1 - 2 2 - 3 3 u s
a a a
s s s
From the signal flow graph (given in Fig 9.10) the following state equation is written.
x1 = b1u + x 2 - a1 x1 + b 0 u
= -a1x1 + x 2 + b1 - a1b 0 u
x 2 = x 3 - a 2 x1 + b 0 u + b 2 u
= -a 2 x1 + x 3 + b 2 - a 2 b 0 u
x 3 = -a 3 b 0 u + x1 + b3u
= -a 3 x1 + b3 - a 3b 0 u
b0
b1
b2
1 1 1
x3 x3 x2 x2 x1 s x1
s s
u 1 b3 1 y
-a1
-a2
Fig 9.10 -a3
(or)
x1 -a1 1 0 x1 b1 - a1b0
x 2 = -a 2 0 1 x 2 + b 2 - a 2 b 0 u
-a 0 0 x b - a b
x3 3 3 3 3 0
y = x1 + b 0 u
x1
y = 1 0 0 x 2 + b0 u
x 3
x1 -a1 1 0.....0 x1 b1 - a1b0
x 2 -a 2 0 1.....0 x 2 b 2 - a 2 b0
: =: : + : u
: : : :
-a 0 0.....0 x b - a b
xn n n n n 0
x1
x
y = 1 0.......0 2 + b 0 u
:
xn
CV represents of a system; the matrix A turns out to be a diagonal matrix. This form of
y s n
c
= T s = b0 + i
u s i=1 s - λ i
The block diagram model for the transfer function is shown in Fig 9.11.
u x1 x1 y
1
+ C1 +
- s
λ1
x2 1 x2
+ C2
- s
λ2
xn 1 xn
+ Cn
- s
λ3
bo
Fig 9.11
Lecture Notes by N.Selvaganesan, IIST (January – May 2018)
21
From the block diagram the following state and output equation are written.
x1 = λ1x1 + u
x 2 = λ2x 2 + u
:
:
x n = λn x n + u
y = c1x1 + c2 x 2 +...... + cn x n + b0 u
x1 λ1 0 0........0 x1 1
x 2 0 λ 2 0........0 x 2 1
: = : : + : u
: : : :
0 .................... λ x 1
xn n n
x1
x
y = c1 c2 ...... cn 2 + b0 u
:
xn
Note
It is observed that for the canonical model, the system matrix A is a diagonal
matrix with the poles of T(s) as its diagonal elements. It is also observed that the
elements of column vector B of the model are all unity and the elements of the row vector
x1 λ1 0 0........0 x1 c1
x c x1
x 2 0 λ 2 0........0
2 2 x
: =: : + : u „; y = 1 1......1 2 + b 0 u
:
: :
: :
0 .................... λ x c xn
xn n n n
ii) With repeated pole at λ1 with multiplicity ‘y’ and remaining poles at λ r+1....λ n are
distinct.
y s r
ci n
ci
T s = = b0 + +
u s i=1 s - λ i
r-i+1
i=r+1 s - λ i
u xr 1 xr x2 1 x2 x1 x1
+ 1
+
- s - s - s
λr λ2 λ1
Cr C2 C1
+ y
x r 1 1 x r 1
+ Cr+1
- s
λr
xn 1 xn
+ Cn
- s
λn Fig 9.12
Lecture Notes by N.Selvaganesan, IIST (January – May 2018)
23
x = Jx + Bu
y = Cx + b0 u
where,
λ1 1 0.....0 0 0 0..... 0
0 λ 2 1.....0 0 0 0..... 0
: : : : : : : :
0 0 0.....λ r-1 1 0 0 0
J = 0 0 0.....0 λr 0 0 0
0 0 0.....0 0 λ r+1 ...... 0
: : : : : : : :
: : : : : : : :
0 0 0.....0 0 0.........λ n
B = 0 0 0 1 1.....1
T
C = c1 c2 .......cr
Note
Matrix J is called Jordan canonical matrix and has the following properties:
principal diagonal when the adjacent elements in the principal diagonal are equal
Problem 9.5
Consider the given equation defined by y + 6 y+11y+ 6y = 6u where „y‟ is output and
„u‟ is input of the system. Obtain the state space representation of the system and draw
Solution
x1 = y
x2 = y
x3 = y
x1 = y = x 2
x 2 = y = x3
x3 = y = 6u - 6 y-11 y- 6y x 3 = 6u - 6x1 -11x 2 - 6x 3
State space representation of the system and its block diagram is given in Fig 9.13.
x1 0 1 0 x1 0 x1
x 2 = 0 0 1 x 2 + 0 and y = x1 = 1 0 0 x 2
-6 -11 - 6 x 6 x 3
x3 3
x 2 x3 x1 x 2 x1 y
u x3 1 1 1
+
- s s s
-6
-11
-6
Fig 9.13
y s 6 6
G s = = 3 =
u s s + 6s +11s + 6 s +1 s + 2 s + 3
2
A B C
= + +
s +1 s + 2 s + 3
Taking partial fraction
6 = A s + 2 s + 3 + B s +1 s + 3 + C s +1 s + 2
A=3
B = -6
C=3
3 -6 3
y s = u s + u s + u s
s +1 s+2 s +3
= x1 s + x 2 s + x 3 s
where,
3 -6 3
x1 s = u s , x 2 s = u s and x 3 s = u s
s +1 s+2 s +3
x1 s + x1 s = 3u t x1 s = -x1 s + 3u t
x 2 s = -6u s - 2x 2 s
x 3 s = 3u s - sx 3
State space representation of the system and its block diagram is given in Fig 9.14
x1 -1 0 0 x1 3
x2 = 0 - 2 0 x 2 + -6 u t
0 0 - 3 x 3 3
x3
x1
y(t) = 1 1 1 x 2
x 3
Note
u x1 x1 y
1
+ 3 +
- s
-1
x2 1 x2
+ -6
- s
-2
x3 1 x3
+ 3
- s
-3
Fig 9.14
Problem 9.6
y s 10 s + 4
A Feed back system has a closed loop transfer function = Construct
u s s s +1 s + 3
different state model for this system and give block diagram representation for each state
model.
Solution
10 s + 4 A B C
= + +
s s +1 s + 3 s s +1 s + 3
10 s + 4 = A s +1 s + 3 + B s s + 3 + C s s +1
0 0 0 x1 1
x = 0 -1 0 x 2 + 1 u
x1
y = 13.33 -15 1.67 x 2
x 3
y s x1 s y s 1
T s = = = 3 10s + 40
u s u s x1 s s + 4s 2 + 3s
x1 s 1
= 3
u s s + 4s 2 + 3s
x1 = x 2
x 2 = x3
x 1 + 4 x1 + 3 x 1 + 0 x 1 = u 1
x1 0 1 0 x 1 0
x 2 = 0 0 1 x 2 + 0 u
0 - 3 - 4 x 1
x3 3
Output equation
y s
= 10s + 40
x1 s
y s = 10sx1 s + 40x1 s
= 10x1 + 40x1
= 10x 2 + 40x1
x
y = 40 10 1
x2
Problem 9.7
Draw a suitable signal flow graph and from that deduce a state model of the system
10s + 40
T s =
s + 4s2 + 3s
3
Solution
10 + 40 s3 10 + 40
T s =
s2 2
s3
= s
1 + 4 s + 3 s2 1 - ( 4 s - 3 s2 )
A signal flow graph configuration which satisfies the above requirements is show in Fig
10
9.15.
1 1 1
x3 x3 x2 s x2 x1 s x1
s
1 y
u 1 40
-4
-3
Fig 9.15
From the flow graph, we have
x1 = x 2 - 4x1
x 2 = 10u + x 3 - 3x1
x 3 = 40u
and y = x1
-4 1 0 x1 0
x = -3 0 1 x 2 + 10 u
0 0 0 x 3 40
x1
y = 1 0 0 x 2
x 3
Problem 9.8
s 2 + 2s + 3
A Feedback system characterized by closed loop T.F. T s = 3 . Draw the
s + 2s2 + 3s +1
suitable signal flow graph and therefore construct state model of the system.
Solution
+ 2 s 2 + 3 s3
1
T s =
s
1 - - 2 s - 3 s2 - 1s3
1
1 1 1
x3 x3 x2 s x2 x1 s x1
s
1 y
u 1 3
-2
-3
Fig 9.16
-1
x1 = u + x 2 - 2x1
x 2 = 2u - 3x1 + x 3
x 3 = 3u - x1
and y = x1
-2 1 0 x1 1
x = -3 0 1 x 2 + 2 u
x1
y = 1 0 0 x 2
x 3
x = AX + BU (1)
y = CX + DU (2)
sx s - x 0 = Ax s + Bu s (3)
y s = Cx s + Du s (4)
sI - A x s = x 0 + Bu s
x s = sI - A x 0 + Bu s
-1
(5)
y s = C sI - A x 0 + sI - A Bu s + Du s
-1 -1
y s
= C sI - A B + D
-1
Transfer function =
x s
In general D =0
Adj(sI - A)
Transfer function = C B
sI - A
Problem 9.9
Find the transfer function of a SISO system whose A, B, C matrix are given below
1
2 -1 m and C= -1 1
A= , B=
4 -2 1
m
Solution
Computation of [sI-A]-1 :
s-2 1
sI-A=
-4 s+2
1 s+2 -1
[sI-A]-1 = 2
s 4 s+2
1
1 s+2 -1 m
Transfer function = -1 1 2
s 4 s-2 1
m
s+2 1
m - m 1
= -1 1 2
4 + s-2 s
m m
s+1
= -1 1 m * 1 = 1 - s+1 + s+2 = 1 -s-1+s+2
s+2 s 2 s 2 m m s 2 m
m
1
Transfer function =
ms2
Problem 9.10
Find the transfer function of a SISO system whose A, B, C matrix are given below
0 1 0
A= , B= 1 and C= 1 0
0 0 m
Solution
Computation of [sI-A]-1 :
s -1
sI-A =
0 s
1 s 1
sI-A = 2
-1
s 0 s
1
1 s 1 0 1
Transfer function = 1 0 0 s 1 s 2
= 1 0 s m
s2 m
m
1
Transfer function=
ms2
Problem 9.11
Obtain the T.F for a system whose describing equations are given below:
x1 = -sx1 -x 2 +2u
x 2 = 3x1 -x 2 +su
y = x1 +2x 2
Solution
x1 = -5 -1 x1 + 2 u
3 -1 x 2 5
x2
x
Y= 1 2 1
x2
Computation of [sI-A]-1 :
s+5 1
sI-A =
-3 s+1
s+1 -1 1
sI-A =
-1
2
3 s+5 s +6s+8
1 s+1 -1 2
Transfer function = 1 2
s +6s+8 3 s+5 5
2
1 2s+2-5 1 2s-3
= 1 2 = 1 2 2
2
s +6s+8 6+5s+25 s +6s+8 5s+31
1
= 2s-3+10s+62
(s+4)(s+2)
1
Transfer function= 12s+59
(s+4)(s+2)
Problem 9.12
Determine the T.F of a MIMO system whose A, B and C matrix are given below
-1 0 1 0 1 2
A= B= C=
0 -2 0 1 4 1
Solution
Computation of [sI-A]-1 :
s+1 0
sI-A =
0 s+2
1 s+2 0
sI-A =
-1
(s+1)(s+2) 0 s+1
1 2 1 s+2 0 1 0
Transfer function
4 1 (s+1)(s+2) 0 s+1 0 1
1 2 1 s+2 0
=
4 1 (s+1)(s+2) 0 s+1
1 2
1 s+2 2s+2 s+1 s+1
=
(s+1)(s+2) 4s+8 s+1 4
Transfer function=
1
s+1 s+2
•
x (t)=Ax(t)
sx(s)-x(0)=Ax(s)
I A A2
sI-A = + 2 + 3 +............
-1
s s s
A 2 t 2 A3 t 3
φ(t)=L-1[sI-A]-1 =I+At+ + +........= eAt
2! 3!
x(t)=e At x(0)
•
x (t)=Ax(t)+Bu(t)
•
x (t)-Ax(t)=Bu(t)
• d -At
e-At x (t)-e-At Ax(t)=e-At Bu(t) e x(t) =e-At Bu(t)
dt
Integrating both sides with respect to „t‟ between the limits 0 and t
t t
e-At x(t)|0t = e-Aτ Bu(τ).dτ e-At x(t)-x(0)= e-Aτ Bu(τ).dτ
0 0
t
x(t)=eAt x(0)+ e-A(t-τ) Bu(τ).dτ
0
t
x(t) = φ(t)x(0) + φ(t-τ)Bu(τ).dτ
0
Homogeneous Non-homogeneous
Solution Solution
1. φ(0) = eA(0) = 1
Problem 9.13
.
x1 1 0 x1 . Compute the solution of a homogeneous equation. Assume initial
. 1 1 x2
x2
1
vector x0
0
Solution
x =Ax
s-1 0
sI-A=
-1 s-1
s-1 0 1
[sI-A]-1 = 2
1 s-1 (s-1)
1
s-1 0
et 0
L-1[sI-A]=L-1 = t
1 1 te et
(s-1) 2 s-1
et 0 1 e t
x(t)= t =
te e t 0 te t
Problem 9.14
Obtain the State Transition matrix for a second order system describes the equation
.
x1 0 1 x1
. 2 3 x2
x2
Solution
s -1
[sI-A]=
2 s+3
s+3 1 1
[sI-A]-1 = 2
-2 s s +3s+2
s+3 1
(s+1)(s+2) (s+1)(s+2)
L-1[sI-A]-1 =L-1
-2 s
(s+1)(s+2) (s+1)(s+2)
Problem 9.15
Obtain the State vector for the system as described by following differential equation
x1 = 0 1 x1 + 0 and x(0)= 1
-2 -3 x 2 1 0
x2
Solution
x(s)=[sI-A]-1[x(0)+Bu(s)]
1
u(t)=1 u(s)=
s
1 s+3 1 1 0 1
[sI-A]-1[x(0)+Bu(s)] = ×
(s+1)(s+2) -2 s 0 1
+
s
1
1 s+3+
= s
(s+1)(s+2)
-2+1
s 2 +3s+1
s(s+1)(s+2)
x(t) = L-1
-1
(s+1)(s+2)
1 -t 1 -2t
s 2 +3s+1 -1 -1 +e - e
-1
By solving L and L , we get x(t)= 2 2
s(s+1)(s+2) (s+1)(s+2) -t -2t
-e +e
Note:
s 2 +3s+1 -1
Solution of L-1 and L-1
s(s+1)(s+2) (s+1)(s+2)
s3 +3s+1=A(s+1)(s+2)+Bs(s+2)+s(s+1)
s=-1 B=-1
s=-2 C=-1/2
s=0 A=1/2
-1= A(s+2)+B(s+1)
and s = -1 A=-1 and s = -2 B=1
1 1 1
2s + s+1 - 2(s+2)
x(s)=
-1 1
s+1 + s+2
1
u(s)= u(t)=1
s
t
e-(t-z) e-2(t-z)
e -e dz
2
-(t-z) -2(t-z) -
= 1
-e(t-z) +2e-2(t-z) dz -e-(t-z) 2e-2(t-z)
+
1 2 0
0 e0 -t e-2t e-2t -t 1
e - - e -
2 = 2
-e +
= 2 (1)
-t -2t 2
-1+1-[-e +e e -e
-t -2t]
2e-t -e-2t
φ(t)x(0)= -t -2t (2)
-2e +e
1 -t 1 -2t
+e - e
(1)+ (2) x(t)= 2 2
-t -2t
-e +e
EXERCISE PROBLEMS
1. Formulate the state equation for the given electrical network given in Fig 9.17.
R1 L1 L2
U R2
C
Fig 9.17
2. Formulate the state equation for the given mechanical system shown in Fig 9.18.
B1 K
M1 x1
Fig 9.18
B2
M2 x2
F(t)
3. Draw the state block diagram for the transfer function given below and obtain the state
equations.
C(s) 10(s+3)
a. =
R(s) s(s+1)(s+2)
C(s) 2(s+3)
b. =
R(s) (s+1)(s+2)
C(s) 6
c. = 3 2
R(s) (s +9s +26s+24)
0 1
4. For the A matrix given below fine the state transition matrix A=
-3 4
SOLUTION
R1 1 1
L 0 - L 0
L1
I1 1 I1 2
1 1 V1
- I 2 + 0
R2
1. State equation is I 2 = 0
L 2 V2
-
L2 L2
vc
vc 1 1 0 0
0
C C
I1
y = 1 0 0 I 2
vc
0 0 1 0
x1 0 x 0
0 0 1 1 0
k x2
2. State equation is = -
x2 B B2
0 - 2 + 0 F
M M1 M1 x
x3 1 3
1
0 B2 -(B1 +B2 ) x 4
M 2
x 4 0
M2 M2
x1
x
y = 1 0 0 0 2
x3
x4
40
0 0 0 3
3. a) A = 0 -1
0 , B 15 and C 1 0 0
0 0 3 5
3
1 0 4
b) A = , B and C 1 1
0 2 2
-2 0 0 0.75
c) A = 0 -3 0 , B 1.5 and C 1 1 1
0 0 4 0.75