Chapter 3: Time Domain Modeling

Chapter 3: Time Domain Modeling
State-Space Representation
definitions
mathematics
examples
Transfer Function < --> State-Space Models
Solution in Time Domain
Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
• Can model
– nonlinear system
– time-variant system
– MIMO (multiple-input multiple output) system
• Mathematics for this course
– require matrix operation method and linear
algebra
Æ review
– provide description of linear time-invariant system

Linear Algebra Terminologies
Reference:
your previous course
see Appendix F
• Linear Combinations
• Linear Independence
• System Vector
• Vector Space

General State-Space Representation
Motivating Example
Definitions (next page)

General State-Space Representation (2)
Definitions
State-Space of a system is represented by
• state variables
• output variables
State variables:
– any variables that respond to an input or initial conditions in
a system
– subset of all possible system variables
– must be linearly independent
Any nth-order differential equations can be decomposed
– into n first-order differential equation
– in terms of the state variables
Output equations: combination Control
of state variables with
Systems Engineering, Fourth Edition by Norman S. Nise
input variables Copyright © 2004 by John Wiley & Sons. All rights reserved.
General State-Space Representation

Reading:
Example of State-Space Formulation
Electrical network for representation in state space

Example of
State-Space
Formulation
Observations or
Rules of Thumb
(cont’d)
Output equation is

General Procedure of Formulating State-
Space Representations
1 Select a number of state variables
- from order of differential equation
- from the number of energy storage elements
- …..
2 Check for linear independence of the
components in the state vector
- some special cases:
decoupled system
indirect dependence Control Systems Engineering, Fourth Edition by Norman S. Nise
Example with Dependent Source

Example with Dependent Source
Figure P3-2 (p. 164)

More exercise??

Transfer Function < --> State-Space
Models
- MIMO

Converting a Transfer Function to State
Space
C ( s ) bm s m + bm −1s m −1 + .... + b1s1 + b0

T ( s) = =
R( s ) an s n + an −1s n −1 + .... + a1s1 + a0
1) If m >0 , convert the transfer function T(s) two

subsystems C (s) X (s)
T (s) = ×
X (s) R( s)
R(s) C(s)
1 X(s)
an s n + an −1s n −1 + .... + a1s1 + a0 bm s m + bm −1s m −1 + .... + b1s1 + b0

Converting a Transfer Function
to State Space (2)
2) For the first subsystem involving the denominator

polynomial, convert X(s)/R(s) to a d.e. by
– cross-multiplying
– taking inverse Laplace Transform
– assuming zero initial conditions
i.e.
( n −1)
an x (t ) + an −1 x
(n)
(t ) + .... + a1 x' (t ) + a0 x(t ) = r (t )
Let x1 = x(t ); x2 = x' (t ); x3 = x' ' (t );… xn = x ( n −1) (t )

to State Space (3)
r(t)
Remove: only when

Y(t)= x1(t)

to State Space (4)
3) For the second subsystem involving the
numerator polynomial, we have
C ( s)
= bm s m + bm −1s m −1 + .... + b1s1 + b0
X ( s)
repeat similar to step 2), i.e.
c(t ) = bm x ( m ) (t ) + bm −1 x ( m −1) (t ) + .... + b1 x ' (t ) + b0 x(t )
= bm xm +1 + bm −1 xm + .... + b1 x2 + b0 x1
4) Determine output as input variables and state
variables, e.g. y(t) = c(t)
or y (t ) = x(t ) = x1 (t )
In-class examples
RLC with parallel current source?
- Implementation ?
One with 3rd-order DE?

Converting a Transfer Function to State Space:
Example 1
Find the state equations and output equation for the
phase variable representation for the transfer function
T(s)=

Example 1 (cont’d)
If y(t) = c(t), then y = [1 2]x

Implementation
MISO system
If y(t) = c(t), then y = [1 2]x
MIMO System
If y1(t)= …..
y2(t)=
Matrix Form
- Involving input

For Reading
Example of bm=0 for m>0
a. Transfer function;
b. equivalent
block diagram showing
phase-variables.
Note: y(t) = c(t)

For Reading:
a. Transfer function;
b. decomposed
transfer function;
c. equivalent block
diagram. Note:
y(t) = c(t)

Converting from State Space to a
Transfer Function
L.T.
T( s ) = Y( s )U −1 ( s ) = C( sI − A) −1 B + D

Converting from State Space to Transfer
Functions in MIMO
−1 −1
T ( s ) = Y ( s ) U ( s ) = C( sI − A ) B + D
This is MIMO!!
Y1 ( s ) = T11 ( s )U1 ( s ) + T12(s)U 2(s) + …T1m(s)U m(s)

Y2(s) = T21(s)U1(s) + T22(s)U 2(s) + …T2 m(s)U m(s)
Yn(s) = Tn1(s)U1(s) + Tn 2(s)U 2(s) + …Tnm(s)U m(s)
Yi ( s )
T ij ( s ) =
U j (s) when all initial conditions are zero
and
all inputs except U j are zero
For scalars SISO: Y(s)=Y(s) and U(s) = U(s)

Converting from State Space to a
Transfer Function:
The RLC circuit example with

parallel current source

Electrical network for representation in state space
Do as exercise using L=3, R=2 and C=1, v(t)=2u(t)

Transfer Function < --> State-Space Models
- From Transfer Function
- Directly from State Space Solution

1) Obtain the Transfer Function
- partial fraction decomposition once input
function (impulse, step, sinusoid …etc) are
known
- Inverse Laplace Transform of the Partial
Fractions

2) Directly from State Space Solution (Ref: Section 4.10)
x = Ax + Bu
y = Cx + Du
Given initial condition(i.c.) x(0)
X( s ) = (sI − A ) x(0) + (sI − A ) BU ( s )

−1 −1
adj (sI − A )
= [x(0) + BU(s)]
det (sI − A )
t
x(t ) = e x(0) + ∫ e A (t −τ ) Bu(τ )dτ
At
0
x' (t ) + ax(t ) = b(t )
Compared this with t
∫ + b( x)dx
− at
x(t ) = e e ax
0
t
= ∫ + e a ( x −t )b( x)dx
0

Chapter 3: Time Domain Modeling

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Chapter 3: Time Domain Modeling

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Definitions (next page)

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

C ( s ) bm s m + bm −1s m −1 + .... + b1s1 + b0

1) If m >0 , convert the transfer function T(s) two

Control Systems Engineering, Fourth Edition by Norman S. Nise

2) For the first subsystem involving the denominator

Let x1 = x(t ); x2 = x' (t ); x3 = x' ' (t );… xn = x ( n −1) (t )

Control Systems Engineering, Fourth Edition by Norman S. Nise

Remove: only when

Control Systems Engineering, Fourth Edition by Norman S. Nise

One with 3rd-order DE?

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

If y(t) = c(t), then y = [1 2]x

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Y1 ( s ) = T11 ( s )U1 ( s ) + T12(s)U 2(s) + …T1m(s)U m(s)

Yn(s) = Tn1(s)U1(s) + Tn 2(s)U 2(s) + …Tnm(s)U m(s)

For scalars SISO: Y(s)=Y(s) and U(s) = U(s)

The RLC circuit example with

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

X( s ) = (sI − A ) x(0) + (sI − A ) BU ( s )

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