Linear Control Systems (EE-333)
Dr. Imtiaz Hussain
Associate Professor (Control Systems),
Department of Electrical Engineering
DHA Suffa University, Karachi, Pakistan
email:
[email protected] 6th Semester (BE-EE-6C)
Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogata, Norman S Nise and various other internet sources. 1
Introduction
• Most classical control techniques were developed for linear constant
coefficient systems with one input and one output(perhaps a few
inputs and outputs).
• The language of classical techniques is the Laplace or Z-transform
and transfer functions.
• When nonlinearities and time variations are present, the very basis
for these classical techniques is removed.
• Some successful techniques such as phase-plane methods,
describing functions, and other methods, have been developed to
alleviate this shortcoming.
Introduction
• The state variable approach of modern control theory provides a
uniform and powerful methods of representing systems of arbitrary
order, linear or nonlinear, with time-varying or constant coefficients.
• It provides an ideal formulation for computer implementation and is
responsible for much of the progress in optimization theory.
• The advantages of using matrices when dealing with simultaneous
equations of various kinds have long been appreciated in applied
mathematics.
• The field of linear algebra also contributes heavily to modern control
theory.
Introduction
• Conventional control theory is based on the input–output
relationship, or transfer function approach.
• Modern control theory is based on the description of system
equations in terms of n first-order differential equations, which may
be combined into a first-order vector-matrix differential equation.
• The use of vector-matrix notation greatly simplifies the
mathematical representation of systems of equations.
• The increase in the number of state variables, the number of inputs,
or the number of outputs does not increase the complexity of the
equations.
State Space Representation
• State of a system: We define the state of a system at time
t0 as the amount of information that must be provided at
time t0, which, together with the input signal u(t) for t t0,
uniquely determine the output of the system for all t t0.
• This representation transforms an nth order differential
equation into a set of n 1st order differential equations.
• State Space representation is not unique.
• Provides complete information about all the internal
signals of a system.
5
State Space Representation
• Suitable for both linear and non-linear systems.
• Software/hardware implementation is easy.
• A time domain approach.
• Suitable for systems with non-zero initial conditions.
• Transformation From Time domain to Frequency
domain and Vice Versa is possible.
6
Definitions
• State Variable: The state variables of a dynamic system are
the smallest set of variables that determine the state of the
dynamic system.
• State Vector: If n variables are needed to completely
describe the behaviour of the dynamic system then n
variables can be considered as n components of a vector x,
such a vector is called state vector.
• State Space: The state space is defined as the n-
dimensional space in which the components of the state
vector represents its coordinate axes.
7
Definitions
• Let x1 and x2 are two states variables that define the state
of the system completely .
dx
x2 dt
Velocity State (t=t1)
State (t=t1)
State
Vector
x1 Position
x
Two Dimensional State space State space of a Vehicle
8
Example-1
• An electrical network is given in following figure, find a
state-space representation if the output is the current
through the resistor.
• Since the network is of second order, two simultaneous,
first-order differential equations are needed to solve for
two state variables.
Example-1
• Step 1: Label all of the branch currents in the network.
These include iL, iR, and iC, as shown below.
Example-1
• Step 2: Select the state variables by writing the derivative
equation for all energy storing elements, that is, the
inductor and the capacitor.
𝑑𝑣𝑐 (𝑡)
𝐶 = 𝑖𝑐
𝑑𝑡
𝑑𝑖𝐿 (𝑡)
𝐿 = 𝑣𝐿
𝑑𝑡
v c
• State Vector
iL
Example-1
• Step 3: Apply network theory, such as Kirchhoff’s voltage
and current laws, to obtain iC and vL in terms of the state
variables, vC and iL.
Applying KCL at Node-1
iL iR iC
𝑑𝑣𝑐 (𝑡)
iC iR iL 𝐶
𝑑𝑡
= 𝑖𝑐
𝑑𝑖𝐿 (𝑡)
dvC vC 𝐿 = 𝑣𝐿
C iL (1) 𝑑𝑡
dt R
Example-1
• Step 3: Apply network theory, such as Kirchhoff’s voltage
and current laws, to obtain iC and vL in terms of the state
variables, vC and iL.
Applying KVL at input loop
diL
v(t ) L vR 𝑑𝑣𝑐 (𝑡)
dt 𝐶 = 𝑖𝑐
𝑑𝑡
𝑑𝑖𝐿 (𝑡)
diL 𝐿 = 𝑣𝐿
L vC v(t ) (2) 𝑑𝑡
dt
Example-1
dvC vC diL
C iL (1) L vC v(t ) (2)
dt R dt
Write equation (1) & (2) in standard form.
dvC 1 1
vC i L
dt RC C
State Equations
diL 1 1
vC v(t )
dt L L
Example-1
dvC 1 1 diL 1 1
vC i L vC v(t )
dt RC C dt L L
1 1
d vc RC v 0
C c 1 v(t )
1
dt iL 0 iL L
L
1 1
vc RC v 0
C c 1 v(t )
1
iL 0 iL L
L
Example-1
Step-4: The output is current through the resistor therefore, the
output equation is
1
iR vC
R
1 v c
iR 0
R iL
Example-1
1 1
vc RC v 0
C c 1 v(t )
1
iL 0 iL L
L Where,
x(t) --------------- State Vector
x(t ) Ax(t ) Bu(t ) A (nxn) ---------------- System Matrix
B (nxp) ----------------- Input Matrix
u(t) --------------- Input Vector
1 v c
iR 0
R iL Where,
y(t) -------------- Output Vector
C (qxn) ---------------- Output Matrix
y(t ) Cx(t ) Du (t ) D ----------------- Feed forward Matrix
Example-2
• Consider RLC Circuit shown below. Represent the system in Sate
Space and find (if L=1H, R=3Ω and C=0.5 F):
– State Vector
iL
– System Matrix
+ +
– Input Matrix & Input Vector Vc Vo
– Output Matrix & Output Vector - -
dvc diL
C u ( t ) iL L Ri L vc Vo Ri L
dt dt
• Choosing vc and iL as state variables
1 1 diL 1 R
dvc
iL u(t ) vc iL
dt C C dt L L
Example-2
dvc 1 1 diL 1 R
iL u(t ) vc iL
dt C C dt L L
1
vc 0 v 1
i 1
C
c
C u(t ) State Equation
L R iL
0
L L
Vo Ri L
vc
Vo 0 R Output Equation
iL
Example-3
• State Space Representation of Series RLC circuit
• Writing the loop equation yields
𝑑𝑖(𝑡) 1
𝑣 𝑡 =𝑖 𝑡 𝑅+𝐿 + න 𝑖(𝑡) 𝑑𝑡
𝑑𝑡 𝐶
𝑑𝑞(𝑡)
Converting to charge, using, 𝑖 𝑡 = , we get
𝑑𝑡
𝑑𝑞(𝑡) 𝑑 2 𝑞(𝑡) 1
𝑣 𝑡 = 𝑅+𝐿 2
+ 𝑞(𝑡)
𝑑𝑡 𝑑𝑡 𝐶
Example-3
𝑑𝑞(𝑡) 𝑑2 𝑞(𝑡) 1
𝑣 𝑡 = 𝑅+𝐿 2
+ 𝑞(𝑡)
𝑑𝑡 𝑑𝑡 𝐶
• We can convert above equation into two simultaneous, first-
order differential equations in terms of i(t) and q(t).
• The first equation can be
𝑑𝑞(𝑡)
= 𝑖(𝑡)
𝑑𝑡
• The second equation can be formed as
𝑑𝑖(𝑡) 𝑅 1 1
=− 𝑖 𝑡 − 𝑞 𝑡 + 𝑣 𝑡
𝑑𝑡 𝐿 𝐿𝐶 𝐿
Example-3
𝑑𝑞(𝑡) 𝑑𝑖(𝑡) 𝑅 1 1
= 𝑖(𝑡) =− 𝑖 𝑡 − 𝑞 𝑡 + 𝑣 𝑡
𝑑𝑡 𝑑𝑡 𝐿 𝐿𝐶 𝐿
q 0 1 q 0
i 1 R 1 v(t )
i
LC L L
• If capacitor Voltage 𝑣𝑐 𝑡 is the output then
1 1
𝑣𝑐 𝑡 = න 𝑖(𝑡) 𝑑𝑡 = 𝑞(𝑡)
𝐶 𝐶
1 q
vc 0
C i
Example-4: Home Work
• Find the state-space representation of the electrical
network shown in following Figure. The output is vo(t).
Example-5
• Represent the electrical network shown in following
figure in state space, where iR(t) is the output.
Example-5
Example-5
𝑑𝑣1 1 𝑑𝑖3 1
= 𝑖2 = 𝑣𝐿
𝑑𝑡 3 𝑑𝑡 2
• Therefore the state vector is
𝑣1
𝒙= 𝑖
3
Example-5
𝑑𝑖3 1 𝑑𝑣1 1 𝑣1
= 𝑣𝐿 = 𝑖2 𝒙= 𝑖
𝑑𝑡 2 𝑑𝑡 3 3
• Now obtain 𝑣𝐿 and 𝑖2 in terms of state variables
𝑣𝐿 = 𝑣1 − 𝑣2
𝑣𝐿 = 𝑣1 − 3(𝑖3 + 4𝑣1 )
𝑣𝐿 = −11𝑣1 − 3𝑖3
• State equation can now be written as
𝑑𝑖3 1
= (−11𝑣1 − 3𝑖3 )
𝑑𝑡 2
𝑑𝑖3 11 3
= − 𝑣1 − 𝑖3
𝑑𝑡 2 2
Example-5
𝑑𝑖3 1 𝑑𝑣1 1 𝑣1
= 𝑣𝐿 = 𝑖2 𝒙= 𝑖
𝑑𝑡 2 𝑑𝑡 3 3
• Now obtain 𝑣𝐿 and 𝑖2 in terms of state variables
𝑖2 = 𝑖1 − 𝑖3
1
𝑖2 = 𝑣𝑖 − 𝑣1 − 𝑖3
3
• State equation can now be written as
𝑑𝑣1 1 1
= [ 𝑣𝑖 − 𝑣1 − 𝑖3 ]
𝑑𝑡 3 3
𝑑𝑣1 1 1 1
= − 𝑣1 − 𝑖3 + 𝑣𝑖
𝑑𝑡 9 3 9
Example-5
𝑑𝑣1 1 1 1 𝑑𝑖3 11 3
= − 𝑣1 − 𝑖3 + 𝑣𝑖 = − 𝑣1 − 𝑖3
𝑑𝑡 9 3 9 𝑑𝑡 2 2
• Writing state equations in vector matrix form
1 1
𝑣1ሶ − − 𝑣 1
= 9 3 1
+ 9 𝑣𝑖
𝑖3ሶ 11 3 𝑖3
− − 0
2 2
• The output equation is
𝑖𝑅 = 4𝑣1 +𝑖3
𝑣1
𝑖𝑅 = 4 1 𝑖
3
Example-6
• Consider the following system
K
x(t)
M
f(t)
B
Differential equation of the system is:
d 2 x(t ) dx(t )
M 2
B Kx(t ) f (t )
dt dt
30
Example-6
• As we know
dx
v d 2x dv
dt dt 2 dt
• Choosing x and v as state variables
d 2 x(t ) dx(t )
dx M B Kx(t ) f (t )
v dt 2 dt
dt
dv B K 1
v x f (t )
dt M M M
x 0 1 x 0
K B 1 f (t )
v
v M M M
Example-6
x 0 1 x 0
K B 1 f (t )
v
v M M M
• If velocity v is the out of the system then output equation is given as
x
y (t ) 0 1
v
Example-7
• Find the state equations of following mechanical translational
system.
• System equations are:
d 2 x1 dx1 d 2 x2
M1 2
D Kx1 Kx2 0 f (t ) M 2 2
Kx2 Kx1
dt dt dt
Example-7
• Now dx1 d 2 x1 dv1
v1
dt dt 2 dt
dx2 2
v2 d x2 dv2
2
dt dt dt
• Choosing x1, v1, x2, v2 as state variables
dx1
v1
dt
dv1
M1 Dv1 Kx1 Kx2 0
dt
dx2
v2
dt
dv2
f (t ) M 2 Kx2 Kx1
dt
Example-7
• In Standard form
dx1
v1
dt
dv1 D K K
v1 x1 x2
dt M1 M1 M1
dx2
v2
dt
dv2 K K 1
x2 x1 f (t )
dt M2 M2 M2
Example-7
dx1 dv1 D K K dx2
v1 v1 x1 x2 v2
dt dt M1 M1 M1 dt
dv2 K K 1
x2 x1 f (t )
dt M2 M2 M2
• In Vector-Matrix form
0 1 0 0 0
x1 K 1 x
0 0
D K
v1 M 1 M1 M1 v1
0 f (t )
x 2 0 0 0 1 x2
K 1
0 v 2
K
v2 M 0
2 M2 M2
Example-7
0 1 0 0 0
x1 K 1 x
0 0
D K
v1 M 1 M1 M1 v1
0 f (t )
x 2 0 0 0 1 x2
K 1
0 v 2
K
v2 M 0
2 M2 M2
• If x1 and v2 are the outputs of the system then
x1
1 0 0 0 v
1
y (t )
0 0 0 1
x2
v2
Example-8 (Home Work)
• Represent the translational mechanical system shown in
following figure in state space, where x3(t) is the output.
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END OF LECTURE-9
