State Variable Analysis
State Variable Analysis
J'a e,r{ Vecl--u l- +*-- F,"put V e-L fur l^dr o- lT'x I C"Lrrtto-t y e.r-tar ;".2_
vt-,& j
r"ll-.rLt" tt-,-- ?)nn>en$ o'c e- the- r., t.f*U* tI,, [z- tlrrr )
'F+'t- blr-tero-'
Slor. $r*-r'i*r'- TF-'€-- E, Lq-Fe- ft^H<ctD5 o.weo^ A,e-F slr- -|.:'.+ -
Q-.[.- Jrl4 ar€,"h'|al fr,^'X'.rrr.b )- r,.tloe*<.- in. tfz- f;.^sr Jt't'"tlitel
4 ++2 nglafe. Von..rbbl ea G-rre. €E pl.rl{t6ed io t-.t}A + +'4^'--
r r r, e p.;:VF.-- J * J-r-- o..z lo*
+'b"- g,ralexn
k+a+<- ffO-rr'cOte*, Arnd ++^t---f,^o,,tts '+ .
1A
*
+drr)=ntE€:g! f /ll_ t4norrir) q'a_bh2- ,Etak \t'o'h"crn +
vd
*tr*'
'iT-,.- ,*I-"lz \"ol;"-'* 0; tvz
*y
W ,rafr'rne
-L
: ln.. Jd-"^'-..l..
t*b
&t^H w)4 + ++*--' Uff'*'
*&** Orae- Co"ut""l
Drr*, sr-r'r'b'zf.zq rncrhr;{- !- Tf-- r-<r- o d.-c.-\ nnc*-t-i- t--+ e-cl {-D
M !-\-\.r'\.
?.arm.n'.-r- v -Lyurtt, *
* Lv c-oq- Le-
Tft- +.' h'[e, .
Xc+la'bLf.oel,*t.r,.e-l[_r.8r[9.-o.,o..c^-4"{-he.zYa*._
rraot-ioc
-flz.-15ar'h'ot2-
?*u.jh* + Er,-r.-@S*b
\-/\"ry
--+ (-r2-bo)
; +FLtr-t1)ttrr-r-)
5* =
^> S c"l = ",
aA
Lo)
by ,t^o,
c>
$-'r+l -- + L- r)
A> $ ctr) t u') --* Lt' + t')
l4,ilJ.-"
v\-,"1.-+
,Sjnf. ,r#A4{:
/^+l)
\-DI^.L"vfL
/4 lt- ot
f^
(\o,^&, r"-)
-
i/1 -.-, o,
T.F , z ["ly)
zreI)rtrt G;il
\r{;0"
--JA- ^*1L"*
v'^'JL
MJ""
'-.-v"\-
oop,-^orL.
A]JA,-- tl I'o:
J-tt "tr c.^Ai''^ '*;t s d" - a, dlt noln
.f it lt ll
,l
^l^ u", t""r"tt
Llr t!.J?.c..aJ
3i
6f o- c".^, Lo tu7"^;t)
J t-a -J
--n to.
)^"^ 7*
i
\,) lt^o,7*T h
6;r O;If^r"7*
rr -I
-t LI ^ll f s gtu,^ tv) '(---^rJ
!(+l = Ar(1; + su(t)
-,\t^1- L\a-I.4-o^w
I *,"0L
-r OJr*+
tt
u,1^ fi tJ ycl) = cK&)eg*ct)
t't t) V. n-'
T"^ JId
, \t.lrt Lg r,t".vwrz
:t-,,.-
to''
!,. ,^,{;t"'*'^q{-
{ll x{+)l r I /K,(+) lll -
it,cr'\ - 1 A I lr-,c+rl
I
'\
t\
:\
iJiv.. nt*t- u'At l.r -lL uL..L"J ';""b
D
q l'v. ^ [ 5r,:
,) L
+
I
{,
c
$*r-
X, -V"
Cr",rai L
h*'-1,"' :
!o= V. - Xr -'----': Q
J. c [tcf
U- )] t Df Dl+)]
q:
J
r "rlli1ll * [,)[")
lx,c+)l -
\-J
rl4
STa-{! -o
4'
lq\laua--
xt+>= AxCt) * B UCL)= | - r 7fX,l'JJ-r:'-
.i,r{ _
i,c+rJ
KrCl) K,C+;
X,
I
e
4.2-O
,L-_d A.;,
AL
drt *z
Tv-
IJ 161
- \/ @
I J ---
I
= VpfV.iV.
V; =rrl?+vr1'xl
u. Kz,2tvL+x'
-XzR-X, --'O
\r
v, =u
8. -(J^t @ l',r @
-14.i,
I
U-XzR- K,
)t
*f,T U lr
- XrP _ _T
/
_+o - L8-Yr- T xr I
-__-,@
Ii, I -" lo
[ ', ] L-'t,
'1.
-Rl,
I
) f;:l 'f, .l*
i)
L
t'
I
t
I
a _r. 1
,_\7a\-, m
=Vc
3 =V.
z)
K' {t
Vc tL
,1
,^l - .l V"
:l
tr
l r-l-r
'-'L' Ic
i
It | -- rL *. o[v",
I Jb
.4u = I- tS
L
Jv. l1
f+ C c
X, -.uC _x,c
'-r
rt u *-l-c, x, --------+A
c
f = Vr-
Ai,
Tt
J.lt Xr
n L
n- --'
r x, ,lt)
.rr "l tt
[;;j l; :i ii:'i,]
f x'ro1n-
tyl= f' "l I x,c+tJ f"l ,
z) t, l.
.lZ; 4-i-
t(a
lc R^
Rr
rLr 0-
al -ur
.Y" = V"
?z= U,
X, X, Xa
\tr(l l/rLl
lLt
1x
Ji'
- 1' l-+ Ir,
t
R, il, + 1, s1 ;,
7I
l,)i, = Lt - R,il, .-V.
)v
Jir _--7Ll - Ft
t,/-l Vc I
It r- t
1t
X, r \,i, - R, y, _Ls
lt 1, 1, .i' e
.,o 1-- d
Kr P,
4
xr - LL| x, rB
d.t
vY!):f-'1' rt'i
'a
re_r* tQzill - 1,Jil, - v^ =o
Jt
/
J:1.'
<L .''lfL =
Lr- Rril, -v.
dL
Jrt
-- \z
LL - It
^ a/
-,<,
JI z LL 1L
Az-
v' - F-r N- I!t,
Lu 1,
i_l
rJ ' 1z
aL_ 9r' I
1L
r..
? Q.
1,. = tl, +tL.
c4v = yr +tr'-
JT
dV.= X' lXr
Ttcc
n -=J,x,
AE +IYr-'O
c
-j
[i,-l f-fL " -jl [ * li o o1 f u,1
\r.
r.'rl=ll'n,
E 1'll', 1*i- ii
-^tl ., I lololl"'t ,l
[{r] lr ; :'lL^iJ L <" J
I .
a,
()J
j *i,-x, l")
- ,f\
----,- It
,r {
f-n-t ^ -V3
-az
Y -------tat
--'> d'
-'a3
Qh* d!- * 6Ji * + e., = su,+ rou,
Jl' dt" At 'r& r
l["l la
l;l
O
L
r.j l-c _il *. ILr,,l l'
,)"
o to
q
t3 1= [, a .-l Ix,-l f oJ
'1r,, | '/"J
[
f,l
L U']
^\-J
-e.
a3 "r r
.X t, aYLr,
Ytt + 4i il! r:r
sl
' A7' )+q
I
1Cl) ' s,-'(t) ).
_) 7.t __)
1
*i*',-
..lt' *.,*,
)l' R
rrrr), su(i)
l
i^".* t, ^ @,G)"-.J@
t)$&_qd.-
"Io t
I
IT'l * [u o s] [uc+f
lx, I'lo
:llll
I
o
L |i,J l, -+
A,#"J &e"
---1--- -1'
r,1
!- tJ =( ,"")
rl"l u
J
iil v.t+)
+
I
i,LL) >v0
J
/t ,
OL\;" _lL ,Q"J, p^ *L ^
a!.",L;*-[ u";r --t
"^.,!)
..lLL'
a^",'..' iv' I'q,'- ,[^^, S+ ;L vo''t"!'tt ^'Y
oir*t,
r,&{ v.ct>
f [r ",-..1
.r-;i--1-- J'u"
X' X1 X3
i, i, \t
Ol
1 Tft^1 Kvt "jl bf ,,
,V."
rk
(,
-Vc
\,/ ' ---;'
", I <l
tlry *3 --'
,/\l- -P.
..--,
'-l W - .l-Lt -,----oC
^l
<t <l/ (l
8l yr): 5"' J l^. I
lL
- l. ) ti * P"i.
'-"1 :-r- .
c2
+ \'. :o t ).-
)t ,4 tL
/ )i, - ot -r,\/
^"t :- = -F212 t \c
4r
il ,
dtz - N'ztz r:c\/-
At "1a 1
*'=
2{. 11 ___> @
*fc 'i-
t I.- ), r L-
{ = qt" R,,
-)-4
lil [ IilI,I .* t{
[:j' ["
P2
'l [
"-l ",1
x, I +
'
["] ["]
[*,J
FvLk
._ .--_FWf,_
- Rf,, -v, -l- L/.Lt) - o
t
€O' =-!, 1 u. Ct )
.Dr .-v, l uCt) ,r- _e
i^W-at
e
e.
,l
KvL t" {r"'f -LL
L-+
!
- R[, - % +V1 = o
R$, = V'-V'
L, = Y, -v- f, = a, x:-
ee
.'7-7
ic, -_\.1 - lv,
e-lla\\ t
-'fi-r.
aIt '
v-
&
*,
?
-f?
/ -Nr
- {r_
p./
\ ''
Rc -Ac * -d;
lr -- cA-y-
{
),t
cJV, -
fr" -ev
-.t, x-r
)r ?c eo
-Jq.,
eL
/o' "l
/*,\ l+ i.)l^')
J LFL
Lr' l*
rr
t
o"h,^f &^
I
"ffi
it
ljl'f" rlI r'] , *
I
I
1
I:
[*,J' ["]
h
L
-t-l- {,*.t
T""^l^
ff- " fu, .glJ.
v- '-"-\-
M"J,!
+'pwt 6to./.r e<^ t,
x({) -q*ttl+BuCt)
I (
I XCs) = A{(s) r e uCs) ---+@
--nAp-7^
'o\^
JC+) =
cz tt) + DqCl )
YCt)=crCs)+DuCs) ,@
t^
j-\,o-rn U
(Y/c\ - A xCs) - B.-tCs)
&t x cs) - A xCs) -- I ,.Cs)
i c.r* A l ,
xcs) L-) gl uts)
xct /3 uLs )
SI.A
Xls\ --
' --/
| g rCs)
sI- ft
8,{ -(,,1^f O 9^ 6
'y,t,
)
= cfsf -A;-'a r,Cs) Duds)
f^_ 1
)lst LSI-AJ e + Dlsr-n I
---r .\
ttt\/ {sr-n t
*=[: 1,1
. -l :]"
j = f , o] ^
&t,- yi.)
uCs)
=cfsJ-ol'**o
-vtl .
-----:
cf'1-oJ' o
'.aCs)
o,f._l,J'.1:) "=f' .l
I
sr-n =
'f: ?l f:", !l t,
L I,tr- * l
l<r-n I = sCs p) +a
46 fst-t1r [s*. /l
l" =
L -, E)
fe+c
lsr-fr
L) I
(-" 11
s)
9/4-ss1 2
v/cf
iLp
n
/ I
"]F+' sJrl
r.ras )
L, gr*2 ljl
I sz
-l
oJ IPcra-'l
-' -
\i
t-1!-)
q Cg )
= C, |-"2 )
I
st1 es +2
v/r) s+3
-1- L
L\L\) s +ssl-J
4*k"l
ll* ^"G'*
-l
;.t['- srr"t = {[t ) = utt = z' lr>*l
dl-A =s/
t-
t o lr
-1, ol
[o r J
I
I)
- I"s o r lr ol
- L, t)
L, '-J
ls -t o'-1
JI-A = I
t- , ,-, j
[.]-n l -' --
ler-nl
'1
^4'fsr-
J'- A) = Js-rr
-
o-l
a
( t
I
r-r
J-l
I
)
I e t- r I = f-r-r)fs-r;
-s-r)
't+)
= 3 _ S_t+)
z
= S-Js+l +l
f sr- nl-' = ls-' o -1
o-l
--
| , (-r
(-r
-----: ,
I
I
cs-r)
Cs-,)Cs-r)
-
= | (-r o
s-t) /(s-)6r
Il-'/trq-,)/r-r\
-.'.
)
Ir
t-- (- l
L s-r)
c.-r)rs-r) cs -r) [-r -l
o
ISJ-AJ
--
I
_l-
- I Gq-') t-\ I
-t
lrr - rJ I
L (s-')" cs-
Cs-r) J
I
at -r . (7 -l
str)= L =
I
1,' [(]-AJ
_J -A I
.rI I lo
-)l- L
l
cs-,;
Ll-/)
/ 1l
(,1 -/
I J--.
I
.S+-
(\o-r,
len-'>' t
cJ-r)
e:
Q [t) -- u*f = f ,,t .l
Itur ", )
t-'[+> -, a4'l c-t4l)l-
slr))
^AiC+u)J=
[;1,
zt
:rl
lt roJ
t- r+)
s' =
e
1 -L o1
a;'(+t =
'- l-r- zll
Lt
I
i-t.* utl
L7 '---rF
.l.
(_)
4.
I
o-^^J in''^"
f\
-l --a a-/".t/;Uort
s) F" "l H'-ir ,tX"Jl^ l-no-z Y\./-a,y,,-L
o lu -3j
[s ol - lo -rl
L. '.i L, -'J
3I-A . [s
II
rl
l-, c-rz. I
tJ
^-l
[sr-+J =
*q fisr nl
-_ f sr-+ |
l-s+r -rl
I
LJ
"t
\J
fs+D c:+t
D\^
-t- ,J+j -t I
l-_=_-
s
(s+ r)(-s+:)
f 8+r ) C s+>)
T"k-J E.l 'A ,-f
1,r,.. Lo^'
f"{.J
b
= /fn
,g
.l- .tz
s+r Sg> S r-1 S+ )
ln
I
y*-t 3= -L
F*f
(.-l
[= *lo) + c- B) 6t: rA + &(o)
ft --2
+- ACr)
o2= 4Cr)+aCr)
- R,[")
P.=l
+r)
S = p(s+D+ a [s
7-* s=-t
oJ s=-.2 -l -- A(r)+aD
_:_ +to) + GC.
=
t:> - ". ' 14
-l J
I
ott
{ 2
+, -< -l -
s+ I s+z S+l s+>
-l
L fr/*t l=L
.L
,-'f l l
1- =4
-;f
I s---J Ls+ )
fs *l
-_j_ + )--1
4L -t S+t s+:-
S+L
ls+'
l6)
I'
{t- r -r- I r
-{
.l+L
-l
s+i
+
.?l
.*' j
l
I
t"
1=>
^.L
l"r"' _L -Jr
I
J -:f
e- +a, I
zleoj I
'l
-t +JL *) f tt)
JQ,-'rt
-L Q,
ly" -
q
r-l (+; =
Lq rc)l
| -t . -,f -1 -rt1
44tt.. --
= rt,1,2;'t
f,'(tt | t+:; o-t- oo1
[- r; 't Ja
t-
o*)
a,
tr
r) *Lr* \^ "f--
lA -J J^A lry -#A '.) to
[,1" r1^
lat,l-, ,n
cCs) ,
\ r) \) "
nfn Gf 9( s) l.
W"I^). z [-t I
(ttt-t
) LoifL.
^ ^"J .l','*7^,^
^yL"s^
d'49l)r"4
-Ll ,"9*,J
"r) D*J a-L\ wyt,^+-irn k h*l orlu *,nt,n
s) )*n, )"L ..!p'1 r,"i'-*D" {"'
tr' r I
J"JJt"!'t r"7'*'
ld, ,,,^'l*J^--., e,.l'.).'1"*'
{l o,t ^ l.J AT^,- u-71;^ i;',^- Jo,,^ rn
/ic ,. t-"o.,.
.\ it;'". -!J'-
q( P c cf
:
.:=
M,,i.J,- - t
v
!--.--.\--.-,-,-
.s)
+n'r
D#* )l- V.L^^'1
s+h-. ,^^il"6';r sfJ s7'c-,(i ;'> 'sl--!' 'nL" l'4J
r ,"-l;
s{^d 7;+ Q> df d
[" l-^ii ei'{' d'-l'^ *i*"
C"' ,*;. Cvii)
f ) D"^, ^
vu --4,
/ l.
.0.
t-'-'s
^1.-,
0 0
d-,,-^,1.-"^ 4
U
"IJ- ^"-JJ
^.{
J