CONTROL

ENGINEERING
(MEC522)
Transfer Function &
State-Space Representation

ZULKIFLI BIN MOHAMED

(ASSOC. PROF. TS. DR.)
SPORTS ENGINEERING AND
ARTIFICIAL INTELLIGENCE CENTRE (SEA-IC)

UNIVERSITI TEKNOLOGI MARA

[Link]
 OBJECTIVES
• TO UNDERSTAND & DETERMINE THE TRANSFER
FUNCTION OF A SDOF & MDOF MECHANICAL SYSTEM.

• TO DETERMINE THE STATE SPACE REPRESENTATIOIN

OF A SDOF & MDOF MECHANICAL SYSTEM.

• TO UNDERSTAND THE STEPS INVOLVE IN OBTAINING

THE STATE SPACE REPRESENTATION.

MEC522 Zulkifli Mohamed

 TRANSFER FUNCTION:

1. Transfer function of a linear, time-invariant differential equation

system is defined as a ratio of Laplace transform of the output to the
Laplace transform of the input under the assumption that all the initial
conditions are zero.

2. Consider the linear time-invariant system: (page 107)

(n) ( n −1) (m ) ( m −1)

ao y + a1 y + ..... + an −1 y + an y = bo x + b1 x + ..... + bn −1 x + bn x

y = output & x = input

MEC522 Zulkifli Mohamed

 TRANSFER FUNCTION:

Input-Output Equation

(n) ( n −1) (m ) ( m −1)

ao y + a1 y + ..... + an −1 y + an y = bo x + b1 x + ..... + bn −1 x + bn x

Laplace Output
G( s) =
Laplace Input

Y ( s) bo s m + b1s m−1 + .....+ bm−1s + bm

G( s) = =
X ( s) ao s n + a1s n−1 + .....+ an−1s + an

MEC522 Zulkifli Mohamed

 TRANSFER FUNCTION:
Example: SDOF Input

mx + cx + kx = f (t )
Output

X (s) 1
= 2
F ( s ) ms + cs + k

Transfer Function

MEC522 Zulkifli Mohamed

 TRANSFER FUNCTION:

How to determine the transfer function of Two Degree of Freedom ?

mt y1 + k1 y1 + c1 y1 + k 2 ( y1 − y2 ) + c2 ( y1 − y 2 ) = f (t ) (1)

mt y1 + (k1 + k 2 ) y1 + (c1 + c2 ) y1 − k 2 y2 − c2 y 2 = f (t ) (2)

mc y2 − k 2 ( y1 − y2 ) − c2 ( y1 − y 2 ) = 0
mc y2 − k 2 y1 + k 2 y2 − c2 y1 + c2 y 2 = 0

MEC522 Zulkifli Mohamed

 State Space Representation

MEC522 Zulkifli Mohamed

 STATE SPACE REPRESENTATION:

❖ The modern trend of dynamic systems is getting more complex.

❖ Complex system usually consist of multiple input – multiple
output.
❖ Such system may be linear or non-linear and maybe time
invariant or time varying.
❖ State space approach is introduced to deal with this problem.

MEC522 Zulkifli Mohamed

 STATE SPACE REPRESENTATION:

State-Space Equations:
x = Ax + Bu State Equation
y = Cx + Du Output Equation
where,
 x1   a11 a12 a1n  b11 b12 b1r   u1 
a b b2 r  u 
x  a22 a2 n  b22
x =  2 A =  21 B=  21
u =  2
       
       
 xn  an1 an 2 ann  bn1 bn 2 bnr  u r 

MEC522 Zulkifli Mohamed

 STATE SPACE REPRESENTATION:

where,
 y1   c11 c12 c1n   d11 d12 d1r   u1 
c u 
y  c22 c2 n  d d 2 r 
y = 2 C =  21 D =  21
d 22 u =  2
       
       
 ym  cm1 cm 2 cmn  d m1 dm2 d mr  u r 

MEC522 Zulkifli Mohamed

EXAMPLE:
Consider mass-spring-damper system as shown in figure below. The displacement x of the
mass is the output of the system and the external force f(t) is the input to the system. Obtain
the state space representation.

f(t) m

MEC522 Zulkifli Mohamed

 SOLUTION: x

Mathematical Model : c

mx + cx + kx = f (t ) f(t) m

Define State Variables : k

x1 = x
x2 = x x
State Equation: f d = cx
x1 = x2 f(t) m
f s = kx
x2 = x =
1
(− kx − cx ) + 1 f (t )
m m

MEC522 Zulkifli Mohamed

 SOLUTION:
Output Equation: x1 = x2

y = x1 x2 = x =
1
(− kx − cx ) + f (t )

1
m m
In Vector Matrix Form :

 x1   0 1  x   0 
 x  = − k c   1  +  1  f (t )
−   x2   
 2   m m m
 x1 
y = 1 0 
 x2 

MEC522 Zulkifli Mohamed

 CONCLUSION:

1. Know how to determine the transfer function of SDOF &

MDOF system.
2. Know how to determine the state space representation of
SDOF & MDOF system.

MEC522 Zulkifli Mohamed

 EXAMPLE:
Consider mass-spring-damper system as shown in figure below. The displacement x of the
mass is the output of the system and the external force f(t) is the input to the system. Derive
the mathematical model of the system.

x1 x2
f(t)
300 c1
k2

k1 c2

MEC522 Zulkifli Mohamed

 State-Space Representation
of Two DOF System

MEC522 Zulkifli Mohamed

 OBJECTIVES

• TO DETERMINE THE STATE SPACE

REPRESENTATIOIN OF A MDOF MECHANICAL
SYSTEM.

• TO UNDERSTAND THE STEPS INVOLVE IN

OBTAINING THE STATE SPACE REPRESENTATION.

MEC522 Zulkifli Mohamed

STATE SPACE REPRESENTATION:

State-Space Equations:

x = Ax + Bu State Equation y = Cx + Du Output Equation

where,
 x1   a11 a12 a1n  b11 b12 b1r   u1 
a b b2 r  u 
x  a22 a2 n  b22
x =  2 A =  21 B=  21
u =  2
       
       
 xn  an1 an 2 ann  bn1 bn 2 bnr  u r 

MEC522 Zulkifli Mohamed

 STATE SPACE REPRESENTATION:

where,
 y1   c11 c12 c1n   d11 d12 d1r   u1 
d u 
y  c c22 c2 n  d 22 d 2 r  u =  2
y = 2 C =  21 D =  21  
     
       
 ym  cm1 cm 2 cmn  d m1 dm2 d mr  u r 

MEC522 Zulkifli Mohamed

 EXAMPLE:
Consider a two DOF system as shown in figure below. Obtain the state space
representation.

x1 x2

c1 c2

f(t) m1 m2

k1 k2

MEC522 Zulkifli Mohamed

 SOLUTION:
x1 x2
1. Draw the Free Body Diagram (FBD).
c1 c2

f(t) m1 m2
k1 k2

x1 x2

c1 ( x1 − x2 ) c2 x 2
f(t) m1 m2

k1 ( x1 − x2 ) k 2 x2

MEC522 Zulkifli Mohamed

 x1 x2

c1 ( x1 − x 2 ) c2 x 2
f(t)
m1 m2
k1 ( x1 − x2 ) k 2 x2

2. Apply Newton’s Second Law.

Mass 1, m1: → + F x = max

f (t ) − c1 ( x1 − x2 ) − k1 ( x1 − x2 ) = mx1
m1x1 + c1 x1 − c1 x2 + k1 x1 − k1 x2 = f (t ) (1)
Mass 2, m2: c1 ( x1 − x2 ) + k1 ( x1 − x2 ) − c2 x2 − k2 x2 = m2 x2
m2 x2 − c1 x1 + c1 x2 + k1 x1 − k1 x2 + c2 x2 + k2 x2 = 0
m2 x2 − c1 x1 + (c1 + c2 )x2 + k1 x1 − (k1 − k2 ) x2 = 0 (2)

MEC522 Zulkifli Mohamed

 m1x1 + c1 x1 − c1 x2 + k1 x1 − k1 x2 = f (t ) (1)
m2 x2 − c1 x1 + (c1 + c2 )x2 + k1 x1 − (k1 − k2 ) x2 = 0 (2)
x1 =
1
− c1x1 + c1x2 − k1x1 + k1x2 + f (t 
m1
x2 =
1
c1x1 − (c1 + c2 )x2 − k1x1 + (k1 − k2 ) x2 
m2
2. Define State Variables.
x1 = x1
x2 = x1
x3 = x2
x4 = x 2

MEC522 Zulkifli Mohamed

 3. Define State Equation (from state variables).

x1 = x1 x1 = x2
x2 = x1 x 2 = x1
x3 = x2 x3 = x4
x4 = x 2 x 4 = x2
Need to be substitute
using state variables

x1 = − c1 x1 + c1 x2 − k1 x1 + k1 x2 + f (t 

1
m1

x2 =
1
c1x1 − (c1 + c2 )x2 − k1x1 + (k1 − k2 ) x2 
m2

MEC522 Zulkifli Mohamed

 3. State Equation.

x1 = x2

x2 = x1 =
1
− c1 x2 + c1 x4 − k1 x1 + k1 x3 + f (t 
m1
x3 = x4

x4 = x2 =
1
c1 x2 − (c1 + c2 )x4 − k1 x1 + (k1 − k2 ) x3 
m2
4. Output Equation.

y = x1

MEC522 Zulkifli Mohamed

 3. State-Space Equation in Matrix Form.

 0 1 0 0 
c1   x1   f (t ) 
 1   − k1
 0
x − c1 k1
 x    x   
 2  =  m1 m1 m1 m1  
   +  m1 
2

 x3   0 0 0 1   x3 
   − k1 c1 (k1 − k2 ) (c1 + c2 )    0 
 x4   m  x4   0 
 2 m2 m2 m2    

 x1 
x 
y = 1 0 0 0 2 
 x3 
 
 x4 

MEC522 Zulkifli Mohamed

 CONCLUSION:

• Know how to determine the state space representation of

MDOF system.

MEC522 Zulkifli Mohamed

 EXAMPLE:
Consider mass-spring-damper system as shown in figure below. The displacement x of
the mass is the output of the system and the external force f(t) is the input to the system.
Derive the mathematical model of the system.

x1 x2
f(t)
300 c1
k2

k1 c2

MEC522 Zulkifli Mohamed

 x1 x2

c1 ( x1 − x2 )
f (t ) cos30 c2 x 2
m

k1 ( x1 − x2 ) k 2 x2

MEC522 Zulkifli Mohamed

 x1 x2

c1 ( x1 − x2 )
f (t ) cos30 c2 x 2
m

k1 ( x1 − x2 ) k 2 x2

f (t ) cos30 − c1 ( x1 − x2 ) − k1 ( x1 − x2 ) = mx1 (1)

c1 ( x1 − x2 ) + k1 (x1 − x2 ) − c2 x2 − k 2 x2 = 0 (2)

MEC522 Zulkifli Mohamed

 2. Define State Variables.

x1 = x1 x1 = x2
x2 = x1 x 2 = x1
x3 = x2 x3 = x4
x4 = x 2 x 4 = x2

f (t ) cos30 − c1 ( x1 − x2 ) − k1 ( x1 − x2 ) = mx1 (1)

c1 ( x1 − x2 ) + k1 (x1 − x2 ) − c2 x2 − k 2 x2 = 0 (2)

MEC522 Zulkifli Mohamed

 ありがとうございました

MEC522 Zulkifli Mohamed