Automatic Control

Mechanical Engineering Department

State Space Models

Lecture 6 & 7
Chapter 3
x(t ) A(t ) x(t ) B (t )u (t )
y (t ) C (t ) x(t ) D(t )u (t )

u(t)

x1 0
x k
2 m

y Cx Du

x1 (t ) y (t )
x2 (t ) y (t )

y(t)

0
A k
m

x 1 x2
x 2

x1 0
1 u
x2 m

x Ax Bu

my by ky u
let

1
b

m

1
1
( ky by ) u
m
m

1
0
b , B 1 , C 1 0, D 0

m
m

x 1 x2
x 2

k
b
1
x1 x2 u
m
m
m

y x1
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

State Space Models

y

To get the State Space

b
k
b
k
y y u u
m
m
m
m
y a1 y a2 y b0u b1u b2u

Where...a1

b
k
b
k
, a2 , b0 0, b1 , b2
m
m
m
m

ma F

my b( y u ) k ( y u )
my by ky bu ku
(ms 2 bs k )Y ( s) (bs k )U ( s)
Y ( s)
bs k
TF
2
U ( s) ms bs k

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

State Space Models

Example
Matlab Commands

Num=[0 0 1 0]
Den=[1 14 56 160]
[A,B,C,D]=tf2ss(num,den)

[num,den]=ss2tf(A,B,C,D)

1
0
x 1 0
x 0

0
1
2

x 3 5 25 5
x1
y 1 0 0 x2
x3

x1 0
x 25 u
2

x3 120

A=[0 1 0;0 0 1;-5 -25 -5];

B=[0;25;-120];
C=[1 0 0];
D=[10];
[num,den]=ss2tf(A,B,C,D)

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

State Space Models

Electrical systems
L

ei

State space
eo

R
1
1
eo e o
eo
ei
L
LC
LC

di
1
Ri idt ei
dt
C

x1 eo
x2 e o

1
idt eo
C
11
LsI ( s ) RI
I ( s ) Ei ( s )
Cs
11
I ( s ) Eo ( s )
Cs

u ei
y eo x1

Eo
1

2
Ei LCs RCs 1

x 1 0
x 1
2 LC
Dr. Talal Mandourah

1
R

L

x1 0
x 1 u
2 LC

Automatic Control

Mechanical Engineering Department

State Space Models

m
The mathematical model of an
automobile suspension system is
quite complicated. A very simplified
version of the suspension system is
shown below assuming xi is the input
t the system and xo is the output, find
the TF Xo/Xi

mxo b( x o x i ) k ( xo xi) 0
or
k
mxo bx o kxo bx i kxi

( ms 2 bs k ) Xo( s ) (bs k ) Xi( s )

xo

xi

Xo( s )
bs k
2
Xi ( s ) ms bs k

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

State Space Models

Quiz1
Find the Laplace inverse of the following:
F ( s)

10
s ( s 1)

Dr. Talal Mandourah