Chapter 2 - State Space Representation

Copyright 2008 by Pearson Education, Inc.
Upper Saddle River, New Jersey 07458

All rights reserved.
Modern Control Systems, Eleventh Edition
Richard C. Dorf and Robert H. Bishop
EEE 5223
Control System Design
Chapter 2:
State Variable Models

Prepared by Chew S.P
01/03/2012

System block diagram.
Dynamic system.
An RLC circuit.
RLC network. (a) Signal-flow graph. (b)
Block diagram.
The Isim function for calculating the output and
state response.
Computing the time response for nonzero initial conditions and zero input using
Isim.
The Design of State Variable Feedback
Systems
Controllability and Observability
Full- State Feedback Control Design
Observer Design

State Variable Design
Controlling system with a control signal u(t),
function of several measurable state
variables.

State variable design:
Assume all state variables are measurable
and utilize in full state feedback control law
Construct an Observer to estimate states
Connect observer to full state feedback
control law ( full state law + observer=
compensator)

State variable compensator employing full-state feedback in
series with a full-state observer.
In order to achieve a system which is controllable and
observable, placing poles at desired locations to meet
performance specifications
Full-state feedback design relies on pole placement
techniques

observer.
A system is completely controllable if
there exists an unconstrained control u(t)
that can transfer any initial state x(to) to
any desired location x(t) in a finite time
Matrix A (nxn) & Matrix B (nx1)
If the determinant of Controllability matrix
Pc is non zero, the system is controllable.
E.g. 11.1 (Page 859)
Observability
All poles of the closed-loop system can be placed
arbitrarily in the complex plane if the system is observable
and controllable.
Observability refers to the ability to estimate a state
variable.
A system is completely observable if and only if there
exists a finite time T such that the initial state x(0) can be
determined from the observation history y(t) given the
control u(t)

observer.
Cx y
Bu Ax x
=
+ =
-
Observability
If the determinant of observability matrix
Po is non zero, the system is observable.
(
(
(
(
=
1
:
n
o
CA
CA
C
P
E.g. 11.4 (Page 862)
Full-State Feedback Control Design
Full-state variable feedback to achieve
desired pole locations of the closed loop
poles
Assume all states are available for
feedback. The system input u(t) is given
by
Kx u =
Full-state feedback block diagram
Plant without/ with state variable feedback
Full-state feedback Control Design
Kx u =
Bu Ax x + =
-
Control feedback is given by

State variables model is given by
Thus, closed loop system:

x BK A BKx Ax x ) ( = =
-
0 )) ( det( = BK A I
The closed loop system is stable if all the
roots of the C.E lie in the left half plane
The addition of a reference input can be
written as

Characteristics equation is given by
) ( ) ( ) ( t Nr t Kx t u + =
Pole Placement For Plants in Phase Variable
Form
Steps for pole placement methodology:
Represent the plant in phase variable form
Feed back each phase variable to the input
of the plant through gain ki
Find the CE for the closed loop sys.
Represented in Step 2.
Decide upon all closed loop pole locations
and determine an equivalent CE
Equate like coefficients of the CE from Step
3 & 4 and solve for ki

Pole Placement For Plants in Phase Variable Form
What is phase variable canonical form?
Recall Masons rule:

factors loop feedback the of sum 1
factors path - forward the of sum
1
) (
1
=
E
E
=
= q
N
q
k k
L
P
s G
Ackermanns Formula
Another method of determining the state
variable feedback matrix

| |
n
k k k K ...
2 1
=
o
n
n
n
q o o + + + =

... ) (
1
1
| | ) ( 1 0 ... 0 0
1
A q P K
c
=
Desired characteristic equation

State feedback gain equation

Refer to E.g. 11.7 (Page 868)

Refer to E.g. 12.1 (Norman Page 640)

Given the plant as below, design the phase
variable feedback gains to yield 9.5%
overshoot and settling time of 0.74
) 4 )( 1 (
) 5 ( 20
) (
+ +
+
=
s s s
s
s G
Step 1: Phase variable representation

Step 2: Find desired CE
Step 3: Find the compensated system CE
Step 4: Compare to obtain feedback gain
matrix

Observer Design
Needs of sensors to measure directly all
states- not practical and costy
If the system is completely observable with
a given sets of outputs, then it is possible
to determine/ estimate the states that are
not directly measures.

The Full-State Observer
) (
. .
-
.
-
+ + =
=
+ =
x C y L Bu x A x
Cx y
Bu Ax x
Refer to E.g. 11.8 (Page 870)

Chapter 2 - State Space Representation

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Copyright 2008 by Pearson Education, Inc.

Upper Saddle River, New Jersey 07458

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