Chapter 6: State-space Analysis & Design

Outline Concept of state, state variable and model What are state-space models? Why should we use them ? How are they related to the TFs? System response from State space model State transition matrix eigenvalues & eigenvectors State feedback controller design Concept of controllability & Obserivability State estimator design
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Chapter 6: State-space Analysis & Design

State Concept:
The state of a dynamical system is a minimum set of variables ( known as state variables) such that the knowledge of theses t t t variables at 0 together with the knowledge of the input tfor 0 t completely determines the behavior of the system tfor
0

Input variables

Controlled System State variable

Output variables

Figure 6.2 Structure of general control system

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Chapter 6: State-space Analysis & Design

How

to Compute State transition Matrix ?

Laplace transformation Cayley-Hamilton Theorem Infinite sum series Similarity transformation method And other methods ( 15 more) and an matrix with

Cayley-Hamilton Theorem
Assume we are given characteristics polynomial

Where Define
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Chapter 6: State-space Analysis & Design

Cayley-Hamilton Theorem
Its a polynomial of degree with - unknown coefficients. These unknowns are to be solved from the following set of equations.

for Where

and

and

Then we have
and is said to be equal on the Spectrum of
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Chapter 6: State-space Analysis & Design

Cayley-Hamilton Theorem
Example 6.2 : Compute the fundamental matrix/state transition matrix of A, where

Using Cayley-Hamilton Theorem. Solution: The problem is given

The

what is is the solution of the

characteristics polynomial of

equation

or

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Chapter 6: State-space Analysis & Design

Cayley-Hamilton Theorem
Example 6.2 Let Then applying Cayley-Hamilton Theorem, we have

equations using Gausss

Solving these simultaneous elimination technique, i.e.,

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Chapter 6: State-space Analysis & Design

Cayley-Hamilton Theorem
Example 6.2

Back substitution gives ;

Thus

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Chapter 6: State-space Analysis & Design

Cayley-Hamilton Theorem
Exercise: For the Matrix A, given below , compute the state transition matrix using Cayley-Hamilton Theorem.

Answer: Same as to that of Example 6.2. Q. What is your conclusion? Remark: If two system matrix have same characteristics polynomial then their state transition matrix is the same. The two system matrix are called similar.

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Chapter 6: State-space Analysis & Design

Eigenvalues & Eigenvectors
is an eigenvalue of if exist a nonzero ( eigenvector) for which , which is true iff there

Repeat the process to find all of the Eigenvectors, i.e., ; Example 6.3 Compute the eigenvalues & eigenvectors for the system given by

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Chapter 6: State-space Analysis & Design

Eigen Values & Eigenvectors
Example 6.3

Eigenvectors:

Note , Either or

can be chosen arbitrarily. So let

Similarly,

, choose
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Chapter 6: State-space Analysis & Design

Eigen Values & Eigenvectors

Remark: The locations of the eigenvalues determine the pole locations for the system, thus; they determine the stability and /or performance & transient behavior of the system It is their locations that we want to modify when we start controller design work. for stability, For steady-state to exist one of must be equal to Zero and the other

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Chapter 6: State-space Analysis & Design

State Feedback Controller Design

Our focus:

State feedback control law design to satisfy specified closed loop performance in terms of both transient and steady-state response characteristics.
Preliminaries concepts: State Controllability: -the ability to manipulate the state by applying appropriate

inputs ( in particular , by steering the state vector ) from one vector value to any other vector value in finite time.
State Observability: - the ability to determine the state vector of the system from

the knowledge of the input and the corresponding output over some finite time interval.

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Chapter 6: State-space Analysis & Design

Mathematical

condition for State Controllability

& Observability (6.15)

The system in (6.15) is controllable if the Controllability Matrix, U has full rank (i.e., det U 0) Where U is given by (6.16) Similarly, the system in (6.15) is state observable if the Observability Matrix, V has full rank ( i.e., det(V) 0)

Where V is given by

(6.17)
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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Recall that the system poles are given by the eigenvalues of A - want to use the input u(t) to modify the eigenvalues of A to change the system dynamics r
+-

A, b, C x(t)

K
Assume

a full-state feedback of the form

(6.18) Where is some reference input

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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

r
+A, b, C x(t)

Find the closed-loop dynamics

and
Objective

Pick K so that have the desired properties, e.g., making unstable (A) into stable , putting 2 poles @ say
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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Example 6.4 consider the dynamical system given below

Following the previous outlined procedure , we have

So that
Thus , the FB control law can modify the pole @ s = 1, but it cant move the pole @ s =2 This system cant be Stabilized with full-state feedback control law
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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Reference Input

so far we have looked at how to pick K to get the dynamic to have some nice properties(i.e., Stabilize A) The question remains as to how well this controller allows us to track a reference command ? - performance issue rather than just stability
Start with

For good tracking performance we want

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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Reference Input Consider this performance issue in the frequency domain. From the final value theorem:

Thus, for good performance , we want So , for good performance , the transfer function from R(s) to Y(s) should be approximately 1 at DC (i.e., @ s=0)

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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Reference Input Example 6.5 Consider

Design a control law closed loop system are placed in stationary gain becomes 1 Solution:

such that the poles of the and the

so the system is Unstable! Define then

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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Reference Input Example 6.5

Which gives

To put the poles at characteristics equation, i.e.,

, compare the desired

With

the closed-loop one

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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Reference Input Example 6.5 The transfer function becomes

Assume that

is Step , then by the FVT

So the Step response is quite poor!

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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Reference Input Example 6.5 One solution is to scale the reference input so that

extra gain used to scale the closed-loop TF.

Now we have

So that

- If we made

, then
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Chapter 6: State-space Analysis & Design

Full State Feedback Controller Design

Reference Input Example 6.5

So with a step input,

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Chapter 6: State-space Analysis & Design

Full-state Observer/Estimator Design

The State feedback in the preceding section is introduced under the assumption that all state variables are available for connection to a gain. However, this assumption may or may not hold in practice u

Figure 6.4 Open-loop 12/11/2013 state estimator

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Chapter 6: State-space Analysis & Design

Open-loop

State estimator

Let the output of the Estimator/Observer in Figure 6.4 be denoted by

Then the system in Figure 6.4 can be described by

(6.19) Subtracting (6.19) from (6.18a) gives

Let define state estimation error as Then its governed by (6.20) And its solution is

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Chapter 6: State-space Analysis & Design

Open-loop

State estimator

Note: Even if all eigenvalues of A has negative real parts, we have no control over the rate at which approaches zero. Hence rarely used in practice. Although the output is available , it is not utilized in the openloop estimator in Figure 6.4. Alternative Approach/ Strategy Feedback the difference ( i.e., estimate of the state. Closed-loop State Estimator/Observer

) to improve our

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Chapter 6: State-space Analysis & Design

Closed-loop

State Estimator/Observer

+ +

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Chapter 6: State-space Analysis & Design

Closed-loop

State Estimator/Observer

The output

of the ESTIMATOR is governed by

Or (6.21) Remark: If (A, C) is observable , the (6.21) can be designed so that the estimated state will approach the actual state as quickly as desired. Subtracting (6.21) from (6.18a) gives ( noting )

Or equivalently,
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Chapter 6: State-space Analysis & Design

Closed-loop

State Estimator/Observer

Bottom line:

Can select the gain L to attempt to improve the convergence of the estimation error ( and/or speed it up) Estimator problem such the closed-loop poles becomes choosing/designing

are in the desired locations. Example 6.6 For the system given below

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Chapter 6: State-space Analysis & Design

Closed-loop

State Estimator/Observer

Example 6.6 Design a full-order state observer/estimator, assuming the desired eigenvalues f the observer matrix are -10. Solution: the characteristics equation for the observer is given by
Define

then

, the characteristics equation becomes

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Chapter 6: State-space Analysis & Design

Closed-loop

State Estimator/Observer

Example 6.6

Since the desired characteristics equation is

Comparing the two characteristics equations gives

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