Академический Документы
Профессиональный Документы
Культура Документы
(2·1!1D(2·72)
"'
,Features of 'Book
:-;-us-;~r~i;;;,-;1~i~-~d-1~-cid-l~;;;;;;;lli~-;h;~-ci;;s~ci~~-;;;;·~~~~-I
I • Excellent theory well supported with the practical examples and I
I I
illustrations. I
1
I • Important concepts arc highlighted using key points throughout tho book. I
I
I • Large number of solved examples. I
I
1 • Approach of the book resembles classroom leaching. I
I • Use of informative, self explanatory diagrams, plots and graphs. :
: • Book provides detailed insight into the subject. I
I • Stepwise explanation to mathematical derivations for easier :
1
understanding. I
L------------·----··-·--·-··-·---------------·-------··--·--······--······
Best of Technical Publications ..,
1
M
Modern Control Theory
ISBN 9788184315066
All righls ,.,.rved
wilh Technicol Publicottons. No pot! of this book should be
reproduced in ony loon, Eledn>nic, Mochonlcol, Pholoc.opror or<y inlormofioo 1loroge ond
retrieve! system wtlhoul p./or pemiisalon in writing, lrcm Technlcol Mlicottons, Pvne.
Publishtt.f by :
Thchnlcal l"Ublk:aUonsPune•
#1,,...... ~"""'•it. si-.- PnJ.. "'-. •11 030, l.d..
Printer:
Nc.OTPilotcn
s..... 1 (11),sw..,.d Rood,
J\.w.41104l
Preface
The importance of Control Theory is well known in various engineering fields.
Overwhelming response to our books on various subjects inspired us lo write this book.
The book is structured lo cover the key aspects of the subject Modem Control Theory.
The book uses plain, lucid language to explain fundamentals of this subject. The book
provides logical method of explaining various complicated concepts and stepwise methods
to explain tho importonl topics. Each chapter is well supported with necessary illustrations,
procticol examples and solved problems. All the chapters in the book ore arranged in o
proper sequence that permits eoch topic to build upon earlier studies. All care has been
token lo make students comfortoblc in understanding the basic concepts of the subject.
The book not only covers the entire scope of the subject bul explains the philosophy of
the subject. This makes the understanding of this subject more clear ond makes it more
interesting. The book will be very useful nol only lo the students but also to the subject
teachers. The students hove to omit nothing and possibly hove to cover nothing more.
We wish to express our profound thanks to oil those who helped in making this book a
realily. Much needed moral suppor1 and encouragement is provided on numerous
occasions by our whole family. We wish to thank the Publisher and the entire teom of
Technical Publications who hove taken immense pain to get this book in time with qualify
printing.
Any suggestion for the improvement of the book will be acknowledged and well
appreciated.
Authors
(1 :ij Jo:(h 14)
1.1 Background 1- 1
1.1.1 ~or Conventional Approach 1 -1
1.1.2 ~tages of State Variable Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 • 2
1.2 Concept of State 1 •2
1.2.1 lmpajanJpelinitions :................. 1 -4
\ I'
1.3 Stal? MY1!el-pf Lin.ear Systems
• : 1 -6
1.3.1 Stale Model of Si)!lle Input Single OutputSystem : •...•........ 1 •9
1.4 State Diagram Representation 1 -9
. \ .
1.4.1 State Diagramof Standard State Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 • 10
1.5 Non Uniqueness of State Model 1·. 11
1.6 Llnearization of State Equation 1 -12
B.eYlew. Questions............ .. .. 1 - 14
4.1 Background 4• 1
4.1.1 Homogeneous Equation 4•1
4.1.2 Nonhomogeneous Equation 4•2
4 2 Review of Classical Method of Snh11ion 4-2
4.2.1 Zero Input Response 4•4
4.3 Solution of Nonhomogeneous Equation 4-4
4.4 Properties of State Transition Matrix 4-5
4.5 Solution of State Equation by Laplace Transform Method 4- 6
4.6 Computation of State Transition Matrix 4 -7
4.7 Laplace Transform Method 4-8
4 B Power Series Method 4-9
4.9 Cavley Hamilton Method 4 - 10
4 91 Prncedure lo Calct~ale ""1 4-12
4.10 Similarity Transformation Method 4 -16
4.11 Controllability and Observability 4 - 22
4.12 Controllability 4. 23
4.12.1 Kalman's Test for Controllability 4 • 23
4.12.2 Condition for State Controllability Ins-Plane .•..•.•.............•..••.•..•.. 4 - 26
4.12.3 Gilbert's Test for Controllability : 4 • 26
4.12.4 Output Controllability 4 • 29
4.13 Observability 4 • 29
4.13.1 Kalman's Testier Obse!Vllbllity 4 - 30
4.13.2 Conditioo for Comple:e Observability In s-Pl<Wle 4 • 33
5 1 Introduction 5-1
5.2 Pole Placement Design 5-2
5.3 Necessary and Sufficient Condition for Arbitrary Pole Placement 5-3
5 4 Evah1a!joo of Slate Feedback Gain Matrix K 5. 15
5 4 1 Use of Traosfonnatjo1J Matrix I 5-15
5 4 2 Direct S11bstit11tjon Method 5-15
5 4 3 Ackeanann's Foanu!a 5-16
5.5 Selection of Location of Desired Closed Loop Poles 5 • 19
5 6 State Observers 5-24
5.7 Concept of State Observer 5. 25
5.8 Dual Problem 5 - 27
5.9 Necessary and Sufficient Condition for State Observation 5- 28
5.10 Evaluation of State Observer Gain Matrix!<.. 5 - 28
5.11 Selection of Suitable Value of Observer Gain Matrix K.. 5 - 30
5 12 Observer Based Controller 5 - 35
Examples with Solutions 5 - 38
5 -57
M
6.9.2 Applications 6 • 15
6.10 Proportional+ Derivative Mode (PD Control Mode) 6. 15
6 1 O 1 Charac!eristtcs of PD Mode 6-16
6.10.2 Applications 6 -17
6.11 Three Mode Controller (PIO Control Mode) 6 - 17
6.12. Response of Controllers to Various lnputs 6- 21
6.13 Effect of Composite Controllers on 2"" Order System 6 - 22
6.14 PD Type of Controller 6- 23
6.15 Pl Type of Controller 6 - 24
6.16 PIO Type of Controller 6 - 26
6.17 Rate Feedback Controller (Output Derivative Controller) 6 - 26
6.18 Review of Second Order System Specifications 6 - 28
6.19 Steady State Error 6 - 30
Examples with Solutions 6 - 31
Review Questions 6 - 48
742Deadmne 7.3
7 4 6 Bacldash . ". 7. 5
7.4.7 NonlinearSpring 7 -6
7.5 Absolute Value Nonlinearity 7-7
7 6 Intentional Nonlinearities 7-8
7-8
M
.,~
8.1 lnt!'Oductjon 8-1
8.2 limit Cycle 8•1
8.3 Jump Resonance 8•2
8 4 The Phase Plane Method 8-3
8.5 Basic Concept of Phase-Plane Method 8-5
8.6 Isocline Method for Construction of Phase Tralectory 8•7
8.7 Application of Phase-Plane Method to linear Control System 8 - 10
8.8 Second Order Nonlinear System on Phase Plane 8 -13
8.9 Different Types of Phase Portraits 8 • 14
8.9.1 Phase Portraits for Type O System ......•...•..•....•....••......•.•..••.•. 8. 14
8.9.1.1 S1able SyslemIMth Conl)lex Roots . . . • . . . 8· 15
8.9.1.2 Unstable System,.;in Complex Roots • . . . •• 8-16
8.9.1.3 Marginally Slab:e Sys1em IMth Complex Roots . 8· 16
8.9.1.4 Stable SystemIMtll Real Roots • . . • • . •. 8-17
8.9.1.5 Unslable System-Mth Positive Real Roots . . .. 8-18
8.9.1.6 U11$lable System~ Cloe Positive and Ooe Negati\19 Real Root . . . . 8· 19
8.9.2 Forced Second Older TypeO System ~-19
8.9.3 Phase Portraits for Type 1 Svslem 8 -19
8.9.4 Phase Portraits for Type 2 S)'Slem 8 • 22
8.1 O Singular Points of a Nonlinear System 8 - 26
8 11 Delta Method 8 -27
Examples with Solutlons 8 • 28
Review Questions. . . . .. 8- 39
1m~::in~~~~w~~~
J·~~~~m~Ei.W'~Vti~{;.~'1.{M-t'
;f~M-.;~:.£~
State Variable Analysis and Design
1.1 Background
The conventional approach used lo study the behaviour of linear time invariant control
systems, uses the time domain or frequency domain methods. In all these methods, the
systems are modelled using transfer function approach, which is the ratio of Laplace
transform of output to input, neglecting all the initial conditions. Thus this conventional
analysis faces all the limitations associated with the transfer function approach.
(1 • 1)
Modem Control Theory 1·2 State Variable Analysis & Design
Consider another example of simple mechanical system as shown in the Fig. 1.2
Now according to Newton's law of motion,
F Ma
a Acceleration of mass M
F M ard (v(t))
i.e. v(l) = id ((t) dt
Now velocity at any time 't' Is the result of the force F applied to the particle in the
entire past,
v(t) 'M
I
f f(t) cit ~ '! f(t)dt +kf f(t)dt
l
'o
where t0 = Initial time.
I
v(t) v(t0)+ J f(t) dt
'o
From the above equation it is clear that for the same input f(t), we get the different
values of the velocities v(t) depending upon our choice of parameter t0 and the value of
v(t0).
U v(t11) is known and the input vector from 't0' to 'I' is known then we can obtain a
unique value of the output v(t) at any time t > t0•
Key Point : Thus initial conditions i.e. memory affects the system c/1aracterisatim1 and
subsequent behaviour.
Thus initial conditions describe the status or state of the system at t = t 11• The state
an be regarded as a compact a.nd concise representation of the past history of the
system. So the state of the system in brief separates the future from the past so that U1e
state contains all the information concerning the past history of the system necessarily
required to determine the response of the system for any given type of input.
The state of the system at any time 't' is actually the combined effect of the values of
all the different elements of the system which arc associated with the initial conditions of
the system. Thus the complete slate of the system can be considered to be a vector
having components which are the variables of system which are:tlosely associated with
Modem Control Theory State Variable Analysis & Design
initial conditions. So stale can be defined as vedor X(I) called slate vector, This X(t) i.e.
stale al any lime ·r is 'n' dimensional vector i.e. column matrix n x 1 as indicated below.
X1(t)
X2(t)
X(t)
Now these variables X t (t) , X2 (t) Xn (t} which constitute the state vector X(t) arc
called the state wriablts of the system.
If slate at t s t1 is to be decided then we must know X(t0) and knowledge of the
input applied between t0 ~It. This new state will be X(t 1) which will act as initial state
to find out the state at any time t > t 1• This is called the updating of the state. The output
of the system at t = t 1 will be the function of X(t 1) and the instantaneous value of the
=
input at t t 1, if any. The number of the state variables for a system is generally equal to
the order of the system. The number of independent stale variables is normally equal to
the number of energy storing elements (e.g.: capacitor voltage, current in inductor)
contained in the system.
X(t)
The stale space will be a plane in this case as the number of variables arc two. Thus
state space can be shown as in the Fig. 1.3.
X1(t) Xi(l)
L~ . ,
(0 .0)
Fig. 1.3
x,c1,>
X2tt1)
Flg.U
~(I)
Now consider t = t1
x,c11
·~(ti
Now consider t = t2
-> -> ->
X(t2) "' X1(t2)+ X2(t2)
The state trajectory can be shown by joining the tips of the two state vectors i.e. X(t 1)
and X(t2).
Modem Control Theory 1-6 State Variable Analysis & Design
u, ----<"'! t----v,
U2-~-.i MIMO t-~--v2
Inputs SYSTEM OutpulS
.____. __ VP
.,....,.-T""'i~=:T"
X1 X2 X3
Slate varlables
Fig. 1.7
X1(1) Y1(t)
U2(t) X2(t) Y2(t)
U(t)
"•' ')
; X(t) = , Y(t) =
Um(t) Xn(t) Yp(t)
.
X2(t) = 12 (X1, X2 , ...... X0, U1• U2 ......... Uml
Modern Control Theory 1. 7 State Variable Analysis & Design
r,
Integrating the above equation,
I
X1(l) = X;(lo) + J f; (X1 • X2 ...... x, U1 • U2 ..... Um) dt
'o
where i = 1, 2, ........ n.
Thus "n' state variables and hence state vector at any time "t' can be determined
uniquely.
Any "n' dimensional time invariant system has state equations in the functional form
as,
.
X(t) = f (X, U)
While outputs of such system ore dependent on the state of system and instantaneous
inputs.
For time variant system, the same ~'<Juations can be written as,
U(t) lnstarltancous
lnput
Input
U(t) ----~ Y(t)
Oulput
X('ol
lnlUal state
.
X 1 = a11 X1 + a12X2 + ... + a10X0 + b11U1 + b12U2 + ... + b1m Um
.
Xn = a,,1 X1 + "nl~ + ... + a.,,,Xo + b01U1 + bn2U2 + ... + bnm Um
For the linear time invariant systems, the coefficients a11 and bii arc constants. Thus all
the equations can be written in vector matrix form as,
Yp(t) = Cpt X1(t) + ... +cpl X0(t) +dpt U1(t} + ... + dpm Um(t)
For the linear time invariant systems, the coefficients c;; and d;J arc constants. Thus all
the output equations can be written in vector matrix form as,
X<tl = A(t) X(t) + B(t) U(t)} For linear time variant system
Y(t) = C(t) X(t) + D(t) U(t)
1.3.1 State Model of Slngle Input Slngle Output System
Consider a single input single output system i.e. m 1 and p = =
l. But its order is 'n'
hence n state variables arc required to define state of the system. In such a case, the state
model Is
.
X(t) = A X(t) + B U(t)
Y(t) C X(t) + d U(t)
where A n x n matrix, B = n x I matrix
c 1 x n matrix, d = constant
nnd U(t) single scalar input variable
In general remember the orders of the various matrices.
~<1>Tx,<1>=~<1>·x3<11
><:i(t)
(a)Scalar (b)Adder
Fig. 1.9
Adders arc nothing but summing points.
Integrators arc the clements which actually integrate the differentiation of state variable
to obtain required state variable.
Now integrators arc denoted as '1/s' in
Laplace transform. So transfer function of any
lntegralor is always l/s. With these three basic
units we can draw the state diagrams of any
order system.
Fig. 1.9 (c)
Key Point : Tire output of each integrator i.~ the state variable.
.
Consider standard state model
Y(I)
Remarks
1. To obtain the stale model from stale diagram, always choose output
of each integrator as a stale variable. Number or integrators always
equals the order of the system i.e. ·n·
2. Differentiators arc not used in the stale diagram as they amplify the
inevitable noise.
,.. Example 1.1 : Obtain the state diagram uf 5150 system reprtstnttdby equations,
.
X1(1) = a1 X1(t)+b1
.
U(t), X2(1J =a2 X1(t)+a3 X2(tH b2 U(I)
U(t) Ytl)
Fig. 1.11
X = MZ hence
. .
X" MZ
.
Substituting in a slate model
where A M-1 AM
fi M-1 B
Where c CM
Equations (5) and (6) forms a new state model of the system.
This shows that state model is not a unique property.
Key Point: Any /i11~ar combinatio11s of th;. original set of state wriables result» into a valid
11ew set of state variables.
.
has a tendency lo lie at the equilibrium point unless and unlill it is forcefully disturbed .
The state equation X(t) = f (X, U) can be linearized for small deviations about an
equilibrium point (X0, U0). This is possible by expanding the state equation using Taylor
series and considering only first order terms, neglecting second and higher order terms.
Modem Control Theory 1 • 13 State Variable Analysis & Design
•
~ = fk (Xo- U0) +I~
n ilf,(X, U) I (X1 -X10)+
m i)lk(X, U)I
L.-m- (Ui - Up)
/:I I X=Xo j=I j XeXo
U=Uo U=Uo
x1-Xio
. .
henceX=X,
and U;-U;o
Hence the kth state equation can be linearized as,
Xk
.
.
.In this equation xk, x, and U; are the vector matrices and the remaining terms arc the
matrices or order n x n and n x m respectively. Hence the linearized equation can be
expressed in the vector matrix form as,
x = AX+ nu
<lf1 ()fl cir,
vx;- dx; dx;;"
ilr2 ilf2 ilr2
where A ~ ax2 dx;;- is n x n matrix
arn «: illn
~ ib<.2 ilx.,
ilf1 ar, a11
au, iJU2 ()Um
i!f2 ()(2 iil2
B
au, <lUz aum Is n x m matrix
All the partial derivatives of the matrices A and B are lo be obtained at an equilibrium
slate (Xo- U0). Such matrices A and B defined above interms of partial derivatives are
called the Jacobian matrices.
Review Questions
1. Exp/run tl1e concept of stole.
2. l)tfim •md explain tire followingterms,
a Slat/ a.1riables I>. Stott 11«tor
c. Slate lraf"<10ry of. Stale
< St{lt( SfXIU
J. l:.xplain adt1tmti1grs of state t1t:1rit1ble method over conventional ant.
4. Writ' a slrort note on ad•w11tagt>and limitatums of st.tit ~'llriablt approotl1,
5. Wn'tr a note on lincariznliatr of Malt equation:;.
6. l'row tire nomtniqtttnt."SS of lite state modtl.
ODO
State Space Representation
In general, the physical variables associated with energy storing elements, which
are responsible for initial conditions, arc selected as the stale variables of the given
system.
1~ Example 2.1 Obtain tire state model of tire given electrical system.
~
v;(t)
l
~
~t)
IC
-
v0(t)
-l
Fig. 2.1 tvru : July/Aug.-2006)
(2 • 1)
Modem Control Theory 2-2 State Space Representation
Solution : There arc two cn!!l'gy storing elements L and C. So the two state variables arc
current through inductor i(t) and voltage across capacitor i.e. v0(t).
i(t) and X2(t) = v (t)
0
R 1 1
i.e, - ·r. X1(t)-I X2(tl+I U(t) ... (1)
[~J(t)]
X2(t) [
- ~L _ _!_]
t L
0
[X (I)) + [·I.~] U(t)
1
Xz(t) 0
i.e.
.
X(t) = A X(t) + U U(t)
11u+ Example 2.2 : Obtain the state model of the givm electrica! network i11 tit<' standard
form.
Fig. 2.2
IDNrilln : U(t) ~ input « c,(t)
<',(I)
I · 1
i.e. ··- c, (I)- --- v c(I)
I.I I.I
... (1)
Then,
... (2)
dvc(l)
and C-d-,-
dvc(t)
bi1(t)-bi2(t)
Cit
.
X3(t)
1 1
C X1(t)- C X2(l) ... (3)
Modem Control Theory 2-4 State Space Representation
.
.
X1
X2
X3
0
0
1
c -c:
0
-i=;-
R2
1
-r;-
1
L2
0
[~~]+ 'l
Li
~ U(t)
i.e.
.
X(t) AX(t) + BU(t)
Y(t)
(o ~ OJ[~:]
i.e. Y(t) ~ CX(t) + DU(I)
2.1.1 Advantages
The advantages of using available physical variables as the state variables are,
1. The physical variables which are selected as the state variables are the physical
quantities and can be measured.
2. As state variables can be physically measured, the feedback may consists the
information about state variables in addition to the output variables. Thus design
with state feedback is possible.
3. Once the state equations arc solved and solution is obtained, directly the behaviour
of various physical variables with time is available.
But the important limitation of this method is that obtaining solution of such state
equation with state variables as physical variables is very difficult and lime consuming.
Y(O), Y(O), ... Y(O) n- l represent the initfal conditions of the system.
Consider the simple case of the system in which derivatives of the control force U(t)
arc absent.
Thus
.
U(t) U(I) " ..• = um(t) = 0
.: Y" + an _ 1 Y" - 1 + ... + a1 Y + n0 Y(t) = b0U(l) ... (2)
Choice of state variable Is generally output variable Y(t) itulf. And other state
vmablcs arc derivatives of the selected state variable Y(t).
X2(t)
. .
Y(t) = X1(t)
.
Thus the various state equations arc,
X1(I) Xi(!)
X(t) X3(t)
.
X,. - I (t)
X,.(t)
Xn(t)
Modem Control Theory State Space Representation
Note that only n variables arc to be defined to keep their number minimum. ThU!
• th •
x,. _ 1(t) gives n state variable X0(t). But to complete state model X,.(t) is necessary,
Important
. ..
: X,.(t) is to be obtained by substituting the selected state 1 vartsbles In the
original differentialequation (2). We have Y(t) = X1, Y(t) " X,, Y(t) a X;i. ...
-Hcnce all the equations now can be expressed in vector matrix fonn QS,
l { "'
1 0
xx2 _
1 o
[ 0 0
'Y(t) [ I 0 .... OJ
X,,(t)
This model in the Bush fonn can be shown in the stale diagram as in the
Fig. 2.3.
Output of each integrator is a slate variable.
U(t}
Observe that the transfer function of the blocks in the various feedback paths arc the
coefficients existing in the original dilfcrcnlial equation.
If the differential equation consists of the derivatives of the input control force U(t)
then this method L< not useful. Jn such a case, the state model is to be obtained from the
transfer function.
,_. Example 2.3 : Construct tht state model using phase mriobles if tht sy.•tt111 is dtscribtd
by tire differentialequation,
-
• • dY(t)
Xii) X 1(1) = Y(t) =di
Thus
.
J\(t) X2(t)
dt2
... (1)
Modem Control Theory 2-8 State Space Representation
... (2)
The equations (I), (2) and (3) give us required state equation.
1
where
Fig. 2.4
2.2.2 State Model from Transfer Function
Consider a system characterized by the differential equation containing derivatives of
the input variable U(t) as,
In such a case, it is advantageous to obtain the transfer function. assuming zero initial
conditions. Taking Laplace transform of both sides of equation (1) and neglecting initial
conditions we get,
Y(s) [sn + a,,_ 1 Sn -
1
+ ... + a1 s + aoJ = Ibo + sb1 + ... + bm _ 1 Sm - 1 + b tu sml U(s)
Practically in most of the control systems m < n but for general case, let us assume
m =n.
From such a transfer function, state model can be obtained and then zero initial
conditions can be replaced by the practical initial conditions to get required result.
There arc two methods of obtaining state model from the transfer function,
I) Using signal now graph approach
2) Using direct decomposition of transfer function
The Mason's gain formula for signal flow graph slates that,
LTkAk
T(s) -6-
T(s)
a a a
i+-t+-1.+~
s 52 s 3
And let ll.1 = 62 = I).3 = l\~ = 1 i.e. all loops arc touching to au the forward paths.
Hence forward path gains arc,
b2 bl
T1 = b3' T2 = s' T3 = 2'
s
Involving various branches having gains ~· the signal flow graph can be obtained as,
Fig. 2.5
Each brand' with gain ~ represents an integrator. Output of each integrator is a state
variable. According to signal flow graph, value of the variable at the node is an algebraic
Modern Control Theory 2-11 State Space Representation
sum of all the signals entering at that node. Outgoing brunches docs not affect the value of
variable. Hence from signal flow graph.
X1 b2U + Xz - "2 y
and
.
Xz
~
b1U + X3 - «1 Y
b0U - a0 Y
y b3 U + X1
Substituting Y in all the equations,
... (la)
... (lb)
.
X3 . .. (le)
where
X(t) = A X(t) + B U(t)
A
f-a2
l-·•
-.10
1
1
Ol ft'2 -a2b3
0 I 13=!1>1-.i1b1
0 OJ lbo-aob3
l
and Y(t} CX(t) + DU(t)
where c [1 0 0), D = b3
Now as Y(O), Y(O), Y(O), U(O), U(O) and U(O) arc the known initial conditions, using the
derived state model, the initial conditions X1(0), X2(0) and X3(0) can be obtained.
T(s) = s2 +3s+3
~3+2s2+3s+I
Draw a suitable signal flow graph and obtain lite state model.
Solution : Divide N and D by s3.
1 3 3 1 3 3
-+-+- -+-+-
s g2 SJ s S2 SJ
1+~+1-+..!...
s ,2 53
1J-~_1__..!...]
L s s2 s3
Modem Control Theory 2 • 12 State Space Representatlon
3
1'2=-2,
s
-1
Fig. 2.6
From signal flow graph,
y X1
.
Xi X3 + 3U - 3Y ~ - 3X1 + X3 + 3U
X3 3U - Y = - X1 + 3U
Hence the state model is,
i.e, x
. AX(t) + BU(t)
Modem Control Theory 2-13 State Space Representation
-1
Fig. 2.7
From the signal flow graph,
.
X1
Xz
X2
~
.
X3 - X1 - 3X2 - 2X3 + U
and y 3X1 + 3X2 + X3
Hence state model has,
D = 0
Thus the matrix A is in phase variable form.
.!.
Lei _s_=_G_
s+a I+~ l+GH
s
1
S+i
r-----------------------1
I
I
I
I
I I
I I
I
I
I
I
I
I
I
!-----------------------~
b
Fig. 2.9
s (s+a)
·;:-b S (S.j. J)
Modem Control Theory 2 • 15 State Space Representation
where X = (s ... a)
U now the entire block shown in the Fig. 2.9 is added in the forward path of another
minor loop with an integrator and feedback gain 'c', we get the transfer function as,
= -1- where Y = sX + b
sY ... c
OireCl
simulation
cf denominator
...........
C> [>
TI~J -
U(s)
'
1--'-<Xl---Y(s)
'I
~-------------
Fig. 2.10 (b)
Modern Control Theory 2-16 State Space Representation
·~-
'I
I
I
I
--------------
Fig. 2.10 (c)
According to block diagram reduction rule, while shifting take off point before the
block. the take off signal must be multiplied by transfer function of block before which it
is to be shifted. Thus we get block of b1 with take off from input of last integrator.
Similarly if there is a term b2s2 in the numerator ihen shift take off point before one
more integrator as shown in the Fig. 2.10 (d).
Thus for any order of numerator, complete simulation of the transfer function can be
achieved.
Then assigning output of each Integrator as the state variable, state model in the
phase variable form can be obtained.
Modem Control Theory 2 .17 State Space Representatlon
1.+ Example 2.5 : Obtain state model by direct decomposition method of a system whose
transfer/1111ctiDn is
Fig. 2.11
To simulate numerator, shift take-off point once for 6s and shill twice for 5s2.
Therefore complete state diagram can be obtained as follows.
U(l) Y(l)
Fig. 2.12
c = Ia 6 st .
The matrix 'A' obtained is in the Bush form or Phase Variable form.
2.2.3 Advantages
The various advantages of phase variables i.e. direct programming method arc,
1. Easy to implement.
2. The phase variables need not be physical variables hence mathematically powerful
to obtain stale model.
3. It is easy to establish the link between the transfer function design and lime
domain design using phase variables.
4. In many simple cases, just by inspection, the matrices A, ll, C and D can be
obtained.
2.2.4 Limitations
The various limitations of phase variables arc,
1. The phase variables arc not the physical variables hence they loose the practical
significance. They have mathematical importance.
2. The phase variables arc mathematical variables hence not available for the
measurement point of view.
3. Also these variables are not available from control point of view.
4. The phase variables arc the output and its derivatives, if derivatives of input arc
absent. But it is difficult to obtain second and higher derivatives of output.
5. The phase variable form, though special, does not offer any advantage from the
mathematical analysis point of view.
Due to all these disadvantages. canonical variables arc very popularly used to obtain
the state model.
Modem Control Theory 2·19 State Space Representation
Case 1 : If the degree 'rn' is less than 'n' (m < n), then T(s) can be expressed using
partial fraction expansion as,
c
Now each group s + ~ can be simulated using the minor loop in state diagram as
1
shown in the Fig. 2.13.
------------------,
I I
The outputs of all such groups arc
I I
to be added to obtain the resultant
output.
' To add the outputs, all the groups
I '
0
must be connected in parallel with each
~-----------------'
'- -......,....... ....,.,, other. The input U(s) to all of them is
1 same. Hence the method is called
s • a1 parallel programming. The overall state
Fig. 2.13 diagram is shown in the Fig. 2.14.
Then assign output of each integrator as a state variable and write the state equations
as,
While
X AX + BU and Y = CX + DU
Modem Control Theory 2 ·20 Stale Space Representation
U(s)
Y(s)
..
.
~---·
~--·
I
0 0
where A
[1
-a2
0
0
0
j B •[j]
C = (c1 C2 ••••• C,,) and 0=0
Case 2 : If the degree m = n i.c. numerator and the denominator have same degree
then first divide the numerator by denominator and then obtain partial fractions of
remaining factor.
N(s) ~ C;
T(s) --=eo+ k--
ocs> i•I s+a;
U(s)
Additional elemellt
1!11$> Example 2.6 : Obtain the state model by Foster's form of a system tu/lost T.F. is,
s2 +4
(s + l)(s + 2) (s + 3)
Modem Control Theory 2-22 Stato Spaco Reprosontatlon
s2 + 4 2.5 s 6.5
- - ------- ,:; -·----- + --
(s -e- 1 l(s ... 2)(s + 3) s -t- 1 s+2 s+ 3
U(I)
Y(I)
Fig.
., 2.16
T(s) = __
c_•-+ Cz +... +-c-'-+~+ ....+~ ... m <n
(s+a il' (s+a ,)r-1 (s+a 1) (s+a2) (s+a0)
If the degree of N(s) and D(s) is same i.e, m e n we get additional constant c0 as,
... m-=n
... m < n
r C ,, ('
and T(s) -Co+~ ... m""n
i>1:::l (s+a, ) - + P=U·l
z: ---'-r-J·J ~ --'-
£... (s+e .)
I
Key Point: Note that in partial fraction expansion, a septrate coefficient is assumed
for caclt power of rqJtattdfactor.
In simulating such an equation by parallel programming, --1-- is simulated by
(s+a1)'
connecting -( -1-) groups, r times in series first. While all other distinct factors arc
s+a1
1
simulated by parallel programming as before. The components of each power of -( . ) to
s+a1
be added lo get output is to be taken from output of each integrator which arc connected
in series. This is shown in the Fig. 2.17.
Now assign state variables at the output of each integrator. For series i.ntegrators,
assign the state v.oriablcs from right to left. as shown in the Fig. 2.17.
Modern Control Theory State Space Representation
.:
/'•
'
. \, \
''
t '' ' '
' '' ''
'' ' :
''
G
,'' '' ' ''
''
'
:
' ' ' . --,
.'
-:'r-·---------'
1
v ; -' ...
' ' ... •
': J ': '
..f
'' ''
'' '
''
' : ::
: ''
: '''
t: t'
-rl ''
'
''
''
''
J'
•''
.
'
1-~~~~~~~~~~~~~~---------L ' ...... J'........
3
Modem Control Theory 2 -25 State S'pace Representation
While
.
f Element
--a1forrtimes~
1-•,,0
1
-a, 1 ·····
tforr-1 times
O·····O
0
0
0
O······ ········0
0 ···· ······--··O
0
0
<,
9.
0
o -a1······1
o.
0
"''
o ..... ..:a,
0 ····· 0
-,
1
-a,
O····--·--···--·
o ··············
o
o
0
0
0
A~ -1----------'
Jordan O·· ·· 0 o a2 O········--·O
block
: "-L
: ~~:
:
·O 0 ···· an
~
only diagonal
elements
Fig. 2.18
Modem Control Theory 2 ·26 State Space Representation
~1
:
r-1
times
The matrix D is zero if m < n and is '<:o' if m = n. The matrix A in such a case has a
Jordan block for the repeated factor and many times A is denoted as J.
.
means all 'n' differential equations are independent of each other. Thus X1 depends on X1
alone.Xi depends 011 "2 alone and so on. Such decoupling is important in system design
from controlling point of view.
1• Example 2.7: Obtain the statt model in ]ord1111'; canonicalform of a systtm wlrose T.F.
. I
IS
(s+2) 2 (s+t)
Take LCM on right hand side and equate numerator with numerator of T(s),
;.A(s + 1) + B(s + 2) (s + 1) + C(s+2)2: 1
Equate coefficients of all powers of s on both sides,
a ... c 0, from power of s2
A+ 38 + 4C 0 r from power of s
A+28+4C ... from constant term
Solving we get, A " - 1, B " - 1, C ~ 1
-1 1 1
T(s) = (s+ 2)2 - (ST 2) + (s+ 1)
Simulate first term by series integrators while other nonrepeated terms by parallel
integrators.
Yi!)
Fig. 2.19
.
Total simulation is,
Xt
.
X2 = U(t) - 2X2
.
X3 "U(t) - X3(t)
Modern Control Theory 2 ·28 State Space Representation
c = I- 1
r-02
l 0
-2
0
- 1 1j '
-~J B =
D =0
[!]
The matrix A consists of Jordan block.
Important Noto : If some of the poles o{ T(s) arc complex in nature, then a mixed
approach can be used. The quadratic or higher order polynomial having complex roots can
be simulated by direct decomposition while real distinct roots can be simulated by the
parallel programming using canonical variable, lhe example 2.8 below explains this
procedure.
l* Example 2.8 : C"111bi11ntio11 of Direct Dtco111positio11 1111d Foster's Form. Obtain tire state
modelfor tire given 1·.F.
tto ~ ·--2---
(s -e- 3) (•2 +25+2)
T(s) s 2 =~ + lls + C
(s+ 3l(s2 + 25+ 2) s+ 3 s2 + 2s+ 2
Find LCM on right hand side and equate numerators or both sides,
.'\(s 2 + 2s + 2) + (lls + C) (s + 3) = 2
2 2 2
Solving, A 5. B=-5,C•5
2 2 2 2 2 2
T(s) = _L + -5s+5 =l + -5s+5
(s + 3) s2 + 2s + 2 s+ 3 {(s + 2) s+ 2}
U(t)
Fig. 2.20
X1 U(t)-3X1
X2 x3
Note that in such a case matrix A does not have any specific form.
s+ a
Simulation of group : Consider 'S+b
First simulate denominator _l_b as in the Fig. 2.21 (a) and then as discussed earlier
s+
simulate the numerator (s + a) as shown in Ille Fig. 2.21 (b),
~------·------ ..
I
, _ - - - - - - - - - - - - _,
(a) s !b (b) ~: ~
>Ill+ Example 2.9 : Obtain Ille state model of a system by cascade programming w/Jose transfer
junction is
T(s) ,. Y(sl ,. (s+ 2)(s+ 41
l/ls) s (s+ 1} (s+ 3)
Solution: Arrange the given T.F. as below
Y(s) (s+2) (s+4)
U(s) (s+l) (s+ 3)
! ! l
Group l Group 2 Group3
Now simulate each group as discussed and connect all of them in series to obtain T(s).
The complete simulation is shown in the Fig. 2.22.
Fig. 2.22
Now
.
X2 = - 3X2 +2X3 +X3
.
Modem Control Theory 2. 31 State Space Representation
Model becomes,
and
X1
Xz
X3
Y(t)
[' ' r· ['I
0
0
X1(l)
- 3 -
0
1
1
X2
X3J
1 + I
1,
U(I}
i.e. Y(t) [1 0
OJ rn:l
So A [O0-3 1
0 0 -l
111JB=1
J
n 1
c = [I 0 OJ 0=0
na+ Example 2.10 ; Obtain the state model of the given network i11 tire sta11d11rd form.
Assume R1 l Q =
C1 1F =
R2 2 n c, = 1 F
R3 3Q
Modem Control Theory 2 -32 State Space Representation
Fig. 2.23
Solution : Selecting state variables as voltages across capacitors C1 and C2 i.e. c1 and c2,
R,
c1 X1(1)
~l = X2(1) U(I) J
1,(ll
+
t
Applying Kirchhoff's laws, o-------'------'---o{<')
U(t)-i1 R1 -c1 -R2 (i1-i2)=0 Fig. 2.23 (a)
U(t) = i1 R 1 "'- c 1 + R2 (i 1 - i2) ... (1)
fur second loop,
~1-i2 R;i -c2 -(i2 -i1)R2 o
... (2)
U(t) i 1 (I + 2) - 2i z + c 1
i.e .. U(I) . .. (3)
... (4)
3 U(t) + :'lc1
Modem Control Theory 2 .33 State Space Representation
... (5)
17 9 6
33 U(t) - 33 cl - 33 cz ... (6)
as C1 =I,
dct 17 9 6 3 I 3
dt 33 U(t) - 33 e I - 33 c2 - IT U(t) - IT ct + IT ez
dc1 8 12 3
dt 33 U(t) - 33 e1 + 33 cz
.
X1 ... (7)
dc2
and C2(11 ... Capacitor current is C (dvc/dt)
as Cz
dc2 3 1 3
dt ITU(l)+ITel-Tfez
X2 ... (8)
and Y(t)
l [l
:. State model is, X AX + OU and y = ex + DU
,.., Example 2.11 : Consider t/1t mechanic.a/ system slrou•n iu figure. For sllown displacements
and velocities obtain tire state 1twdel i11 staudard [arm.
Ass11me t•elocity of M 2 as output.
v, v,
Fig. 2.24
Solution : Select the state variables as energy sloring elements i.e. displacements and
velocities related lo spring and friction.
Y1(t), x3 = V1(t)
Y2(t), X4 = V2(t)
Fig. 2.25
Modern Control Theory 2. 35 State Space Representation
which arc under the influence of same displacement, thus K1, B1 parallel between Y and
Y 2, m2, K2 and Bi parallel between Y 2 and reference i.e. fixed support and so on.
The spring force is proportional to net displacement in spring while frictional force is
proportional to the velocities.
At node Yi-
... (1)
At node Y2,
... (2}
Substituting all values in tenns of state variables we get,
d2Y
__ 1
•
= XJ
dt2
0 M2
.
X4 + K2X2 + B2X4 + K1 [X2 - Xi)+ B1 (X4 - X3] ... (4)
.
I
0 0 0
0 0
K1
Where A +~
-Mi M1
K1 -(K1+Kz)
M2 M2
,..., Example 2.12 : For tht given T.F. of a system obtain t/ie stole model by
s2 +5s+6 s2+5s+6
T(s) =
s(sJ + 10s2 + 29s+ 20) {([s+ IO]s+29)s+20 }s
Y(sl
Fig. 2.26
y 6X1+SX2+X3
Modern Control Theory 2 .37 State Space Representation
:.State model is
x AX + llU and Y ; CX + DU
["
0 0
where A
0
0
0
0
0 -20 -29
I
0
0
I
-10
•. [!]
c [6 5 I oI D= (0 I
Ii) Gullemln'sForm
(s+ 2)(s+ 3) (s+ 2) (s+ 3) 1
T(s)
s(s+ ))(s+ 4)(s+5) =(s+l).(s+4) (s+S) s
UC•)
Fig. 2.27
Substituting X4 back in X J
Substituting X 3 back in X 2
and y
Modem Control Theory 2. 38 State Space Representation
--
-1/ 6
s+ I
. 1 / 6 3 I 10
-----.
s+4 s+5
3 / 10
-- s
U(IJ
Y(t)
Fig. 2.28
1 1 3 3
U(t)-X., Y=-6Xt+6X2-l(jXl+l(jX4
Modem Control Theory 2 .39 State Space Representation
X =AX+ BU
l
and Y =ex
0o4
where A=
[~00 1 - 0 -~05 ~01OJ B = [~11 C=[-i 6 -to to]
111•~ EJtample 2.13 Derive tire stale model in /orda11's ca11011ical form for a system lunri11g T.F.
T(s) = l
s3 +4s2 +5s+2
Solution : T(s) = 1 = I A B C
=--+--+--
s 3 + 4s 2 + 5s + 2 (s ... I) 2 (s + 2) (s + 1} 2 (s+ 1) (s + 2)
As + 2A + Bs 2 + 3Bs + 2B + Cs 2 + 2Cs + C
B+C 0 , A + 313 + 2C =0 r
2A <· 28 + C
Now C = 1 , B = -I, A = 1
1 1 1
T(s) -----+--
(s+1)2 (s+l} (s+2)
State diagram L~ ,
U[I)
Y(I)
Fig. 2.29
Modem Control Theoiy 2 -40 State Space Representation
X1 - Xi+ X2
x~ U(t) - X2
X3 U(t)- 2X3
c = (1 - 1 1)
s 3 + 3s2 + 2s
T(s) ------- by Foster's form.
s3 +12s2 +47s +60
s3 + 3s2 +2s
Solution: T(s) = s3 +12s2 +47s+60
As numerator and denominator are of same order we cannot directly find out partial
fractions.
For partial fraction, numerator d~'b'TCC must be less than denominator. So directly
divide N(s) by D(s} and find partial fractions of the remainder.
s 3 + 12s2 + 47s + 60) s 3 + 3s2 + 2s ( 1
s3+12s2 + 47s+ 60
- 9s2 - 45s-60
9s2 +45s+60 ] A B C
l - [ (s+3)(s+4)(s+5) = l -'S+'3 - s+4- s+S
1 - _3_ + ~ - 2Q._
s+3 s+4 s+S
Modem Control Th~ry 2-41 State Space RepresentatlO<•
State diagram :
V(I)
V(t)
Fig. 2.30
X3 U(t) -5X3
x AX + BU and y = ex + DU
where
C = [ - 3 24 - 30], D = [11
When N(sl and D(s) are having same order, or degree of N(s) > D(s) then, there is
always direct transmission matrix D present in the model.
•• Example 2.15 : Obtain a stat« space model of tile system will! transferfunction
Y(s} 6
U(s) $ 3+6:>2+11$ +6 (VTU:J•n.1Feb.-2007,July/Aug.-2007,Dec)Jan·2008)
Modem Control Theory 2·42 State Space Ropresantatlon
Solution:
Y(s) 6
The T.F. is U(s)
s3 +6s2 + lls+6
Using factorisation of denominator,
Y(s) 6
U(s) = (s+l)(s+2)(s ... J)
U(s)
Yis)
Fig. 2.31
Xi U(s)-X1
X2 U(s) - 2X2
X3 U(s) - 3X3
and y = ex
0
where A
n -~l-2
0
m
e = (3 - 6 31
,..,. Example 2.16 : Obtain Ille state model for system represented by
x. X2 ~ dy/dt . .. (1)
d2v
X2 X3=-' ... (2}
dt2
Now as 3 variables arc defined, X 3 .,. X,1 but X3 must be obtained by substituting all
selected variables in original differential equation.
as
x3 ... (3)
State diagram :
U(sl
Fig. 2.32
,... Example 2.17 : OblRin the state model of tl1t differential equation
X2<t)
. .
X1(t)
X3(t) c(t)
2 I 3 5
-4X,(t)-4 X2(t}-4X3(t)+4r(t) ... (3)
[ f: l [_j _Jl _J
Modem Control Theory 2·45 St.ta Space Repreaentatlon
While the output equation is,
c(t) XI (1)
X1 (I)]
i.e. y(t) " [ 1 0 OJ X2(t)
[
X3H)
•• Example 2.18 : Obtain thL stat~ modLJ of t/U! syst~ whose cl~ loop trtmsfufunction
is
cot 2(:;+ 3)
R(s) (s+l)(s+2) (VTU : Feb-97, Orl-98)
Solution : Let us use the parallel progranuning Le. Foster's form. Finding partial fractions
of C(s)/R(s).
C(s)
Fig. 2.33
Hence the state equations from the Fig. 2.33 arc
... (!)
and C(s)
Hence the state model is,
Modem Control Theory 2 ·46 State Space Representation
and
1• Example 2.19 : Write a set of stale tq11nlions for tltt 11tlwork shoum itt lht F(~. 2.34
Clroose i1, 12 find vc as $/alt variables. (VTU: April-98,July/Aug.·2007)
Fig. 2.34
Solution : Let c(t) Input
Voltage across R2
i,(t)
i2(t)
vc(t) .. x,(t)
Let i1(t) and i1(t) arc the loop currents. Applying KVL to the loops.
c(t)
..• (1)
Then,
... (2)
and c~~
di
... Capacitor current
dvc 1 (. . )
(fl a C •1-lz
Modem Control Theory 2 • 47 State Spaco Representation
..• (3)
x, RI r x,
-Li
l ""'
0 -Li
X2 0 -i:;-
R2
+-
l
L2
X2
. [? where "''' "~·>
l x3 e
I
-c;
I
0 X3
and
,,_. Example 2.20 : Considering'Ve am/ 11 as state mriab/e:; and Is as tire outinu variables 111
tht circuit shown below, obtain the statt model.
R1 L
Fig. 2.35
(VTU : Aug. • 97)
Solution : Convert the CWTClll source to voltage source as shown.
R,
Two inputs, c{t) and Ii: (t) i.e. U1 = c(t) and U2 = lg(t)
One output, l,(t) i.e. Y(t) = J,.(t)
Vnriablcs, vc = X1(t) and Ii = X2(t)
Let l,(t) and l;(t) be the loop currents.
Applying KVL to the two loops,
Loop l, -I, R1 - "c + c(t) =o
c(t) - "c
1 1
- e(t)-- vc(t)
R1 RI
1 1
Y(t) - U1 - -- X1{t) ... Output equation
R1 R1
di,
Loop 2' - L dt - I' R2 - IS R2 + v c = 0
- ~~]l~;]
y
[-R;"1 0][X1Xz(I)(t)] + [ R;"l 0][Uu,
1]
Modem Control Theory 2·49 State Space Representation
•• Example 2.21 : Derite two state models for thL system described '1y the differential
eqllation
D3y+4D2y+5Dy+2y = 2D2u+6D11+Su where D = d/dt
i) One in phase variable form.
ii) Other in /ordan-Ca11011ical form. (VTU: Mardt-2001)
Solution : Take the Laplace transform of both sides of the equation and neglect the initial
conditions to obtain transfer function of the system as,
s3Y(s)+4s2Y(s)+5sY(s)+2Y(s) = 2s2U(s)+6s U(s)+SU(s)
Fig. 2.36
So X1
and Y(s)
Modem Control Theory 2. 50 State Space Representation
U(s)
!------<><>--- Y(s)
Fig. 2.37
So
and Y(s)
So state model is having matrices,
A = [~ ~1 ~J B = m and C = [1 1 1)
Modem Conttol Theory 2. 51 State Spa~ Representation
,.. Example 2.22 : For lht system s/1~1 in the Fig. 2.38, obtain the state 111od4 choosing
v1(t} and 112(1) as tlte state wriab/es, (VTU: July/Aug.·2005, Jan./Feb.-2007)
Fig. 2.38
Solution : Select the two currents as shown in the Fig. 2.38(a). And wfife tho equations
using KVL and KCL ..
U(t) ~
_l .,
T 1µF~
'2
1 lµF
U(t)-v2(tJ
... (I)
txl06
Yz(t) ~J (l t -J2) dt
C dv2(t)
i.e. ... (2)
dt
v2 -v1
... (3)
lxl06
And ~Ji2 dt
... (4)
c ~.l.
dt
[U(t)-v2(t) ]-[ v2(t)-v 1(t)]
ixio> lxto6
dv2
di
1+~-+!
C 1x106
Vl(t) _,!_[2V2(t)]
C txto6 C 1x106
dv2
v1(t) - 2v2(t) + U(t) ... (5)
dt
Using (3) in (4),
Vz -Vt
c~dt
Jxt06
dv1
- V1(l) + V2(t) .•• (6)
di
Select X1(t) v1(t) and X2(t) = v2(t)
Using selected state variables,
.
Hence the stale model is,
and
where
Y(t)
A [-: ~a
CX(t) + DU(t)
8 = [~} C = (! 01 D =0
>• Example 2.23 : DmrN two state models far thL system wit/1 transfer function,
50x~x(s+5) 1000(s+5)
T(s) =
s(s+2)(s+50J
i) The companion form means phase variable form for which use direct
decomposition of denominator,
T(s) = 1000(s+5) lOOOs+SOOO
[s2 +52s+lOO]s {[(s+52) s+ lOO]sl
. . Fig. 2.39
and
.
X1
)'3
X2, X2 = X3
A [o0 1
0
o}
1 B=[H
0 -100 -52
A 0 C
T(s) 5+ s+2+ s+SO
A T(s) s] = 1000x5 = 50
• •O 2x50
Modem Control Theory 2. 54 State Space Representation
. 1000(3)
B 1(s)(s+2) I. __ 2 ,. (-2) (.JS)= - 31.25
C 2 T(s)(s+SO)I • =
s=-50
.:!.~.t~.
(-50) Hb/
=- 18.75
50 31.25 18.75
T(s)
s- s+2 - s+SO
., 50
t---"-<X>--Y{t)
X1
.
U(t}, ~ =- 2X2 + U(t), ~
. =- 50X3 + U(t)
and Y(t) = 50X1 - 31.2SX2 - 18.75X3
0
Thus, A
[~ -2
0
_J} B = [~}
't
Fig. 2.40
Select output of simple lags as state variables.
Solution : As sueeested the output of -1- is X
ee ' s·H I•
I . X
s+5 IS 2'
,,
s+1
... (!)
.. (2)
0.4 ~
,,
s+o:5
... (J)
and ..• (6 a)
... (6 b)
Substituting in (5) we get,
... (9 a)
... (9b)
... (9 c)
... (9d)
TI\c equations (9a) lo (9d) and (6a) to (6b) give the required state model as,
l
x = AX+ BU and Y = CX + OU where
-5K1 0 0 0
['-' ;K,J -5
A=
-Ki
0
[1 5 o o}
-SK1
0
--0.4K2
--05
--0.4K2
~K,0
Hl<i -2) r·
' B = ~I
Ki
0
Ki
c = 0 0 0.4 4 D =[OJ
,._ = =
Example 2.25 : A series RLC circuit witlt R 1 !l. L = 1 H and C 1 F is excited l!y
v = 10 V. Write the stale eq11atio11s iu Ille matrix form. !B•ngalorc Univ., Oec.·95(
Fig. 2.41
Applyin_g KVL to the circuit,
. dl(t)
v = 1(1) R.,. Ldt + vc(I) ... (1)
Modem Control Theory 2 ·58 State Space Representation
and ~f i(t) dt
dvc(I)
_d_l_ ]_ i(t) ... (2)
c
Let i(l) X1 = Current through inductor
vc(t) X2 = Voltage across capacitor
V U(t) = 10 V
Substituting all the values,
10 Xi+ X1 + X2
and
.
X1
~ X1
-X1 - X2 + 10 ••. (3)
... (4)
Hence state equalions in matrix form are,
[xX2•
1] = r-1 -11 [x [10]
l O X1] + 0 U(t)
2
n• Example 2.26 : Obtain tltt state space representation in phase variable Jann for the
system rqiresmtl'd by. D4y + 20D3y + 45D2y+ 18Dy+100 y =10D2u+S Du+ 100 u
witlt y as output a11d u as input. (VTU: Ja.nJFeb.•2005)
Solution : Phase varalble form
Taking Laplace transform of both sides and neglecting initial conditions,
s~Y(s)+ 20s3Y(s)+ 45s2Y(s)+ 18s Y(s)+ 100 Y(s) % IOs2U(s) + 5s U(s)+ 100 U(s)
Fig. 2.42
. .
The state equations arc,
. .
x, =X2, X2 =X3, X3 =X4, x~ =-toox, -t8X2 -4X3 -20X,, + u
and
>'* Example 2.27 : Obtain the state mode! of flit system rrsponsed by the followi11g differential
equation : y + 6 y + 5 y + y = u. {VTU: July/Aug.· 2005)
Solution : Take Laplace transform of both sides neglecting initial conditions,
Y(s)
U(s) s3 + 6s2 + Ss+l
Y(s) I
U(s} {[(s+ 6)s+ 5]s+ l}
The state diagram is shown in the Fig. 2.43
Y(s)
. .
The state equations are,
xi =X2. X2 =X3.
.
X3 =-XI -5Xz -6X3 + u
and
O I
A 0 0
[-1 -5
1 .. Example 2.28 : Obtain two 1/ifferent slatt models for a system represented by tire
followmg transfer function. Write suitable state diagram in tach rase.
(VfU: July/Aug.·2005)
. Fig. 2.44
A = r~ ~ ~ "'r~J.
-15 -23 -9
l· B
1
C"' (817 8]
Modem Control Theory 2. 61 State Space Representation
2) Foster's term :
Y(s)
U(s) =
A = - 0.125, B = -7.25, c = 15.375
Y(s) -0.125 7.25 15.375
-- = -----+--
U(s) s+l s+3 s+5
Fig. 2.45
The state equations arc,
A=
[-100 -301 -50OJ ,B= [']11 ,C=(-0.125-7.2515.375]
.
,_. Example 2.29 : Choosing appropriate physical variables as state variables, obtain the
slate modelfor tho tlectric circ11it shown i11 Fig. 2.46 (VTU: JanJFeb.·2006)
M
Modem Control Theory 2 ·62 State Space Representation
IH rn y(t)
Fig. 2.46
1F
di
and 1x ~ = y(t) .... (2)
di
The voltage across capacitor is, u(t)-y(t)
dvc(I) _ dvc(I)
ic(l) C-d-1- - -d-t- .... (3)
di
and I '< _!:..!. u(t) - y(t) ~ vc (t) ..... (4)
dt
dil I
From (4), y(I) u(t) - dt = u(t) - vc(t)
dil2
Using in (2), di u(I) - vc(t) .... (5)
Modem Control Theory 2 ·63 State Space Representation
dvc(t) .
·-d-1
- +I LI i1.2 + y(t)
dvc(t)
-d-1- = u(l)-vc(tl-iu +i1.2 ... (6)
.
X1
dill
dl;X3 . .. from (4)
.
X2
di, 2
dl =-X3+ U ...from (5)
.
X3
dvc(I)
_d_t_ = -X, +X2-X3 + U . .. from (6)
di, •
and y di2 = X2 =-X3 +U .. .from (2)
A [~ ~ -11].B=[~].C=fO 0 -l),D=[l}
-1 0 -1 I
R
x,
.
x,=X2,
.
X2=X3.
Fig. 2.47
X3=-4X,-9Xz-6X3+R
Y = -4X1-3X2-X3+R
s3 +6s2 +9s+4
Fig. 2.48
A=
[
-1
~
0
-1
0
_n' =[~]·
B C = [-0.111 -0.666 -0.888), D = [1]
11.. Example 2.31 : Fig. 2.49 shows tltt block diagram of a speed control systtm tuillt stute
variable feedback. Tltt drive motor is an armalurt co11trolled d.c. motor willr · amiature
resistance R., armature inductance L., motor torque constant Kp inertia referredlo consta11I
K~ and tachometer K1. The applied armature voltage is ctmtrolled by a three phase
full·converter. ec is control voltage, e4 is an11ature voltage, e, is the reference voltage
corre:.-pondi11glo the desired spted. Taking X1 = w(speed) and X2 = i4 (armaluu current} as
lht stale variables, u = e, as tltt i11put, and y = w as the 011tp11t, derive a state variable
mode for the feedback system. (VTU: July/Aug.·2006)
Modern Control Theory 2 -66 State Space Representation
Fig. 2.49
...... (3)
The torque produced is used to drive the load against inertia J and friction B.
dlJl
ldt+BIJl
d~)
...... (5)
dt
..... (6)
KclK1 x-K2 i, J
K<K1x-K,K2i,
K,K1[c, -K1ooj-K,Kii,
Fig. 2.50
Kc K tcr-
• Kc K 1 K,m- Kc K2•.,=
. Ladt
di, +• · .. R a+ Kb(tl
di,
....(8)
dt
X2 .... (9)
And y
The equations (6), (9) and (JO) give us the required state model with,
l
].c~ll
Kr
A -(/Kc R )J'B=[~<K1L o]
2+ •
L, •
2
,,.... Example 2.32 : For a transfer function given by G(s) ; , write tire state model
s2 +3s+2
in the:
i) Phase variable form ii) Diagonal form
Solution : i) Phase variable form using direct decomposition
G(s) ; __2_; 2
s2 +3s+2 [(s+3)s+2]
....
Modem ControlTheory 2-68 State Space Representation
Fig. 2.51
2 2 A G
G(s) = (s+I) (s+2)
=-+-
s+ I s+2
s2 +3s+2
2 2
A (2-1) = 2' B = (-2+1) = -2
2 2
G(s)
s+1-s+2
u
X1=-2X2+U
y Y = 2X1 +2X2
:.A=[-~ -02}B=[~]
:.C = (2 2)
Fig. 2.52
Modem Control Theory 2. 69 State Space Representation
•• Example 2.33 : For the network shown i11 Fig. 2.53, c/ioosi11g i1(t) = X1(1)
and ifl) =Xz(t) as statt variables, obtain lite state equation and output equation in vector
matrix form.
-1
1H Hl
- •,(t) i,(t)-i2(l)
1H
u(t)
~------12-(l_)l~---~
- 10
1 0 y(t)
Fig. 2.53
(VTU: o.c.-2007/Jan.-2008)
0 ... Loop 2
di2
... (1)
dt
Using (1) in equation for loop l,
di,
dt = -i1-(i1-2i2)-i2+u(t)=-2i1+i2+u(t) ... (2)
... (3)
.
X2 ...(4)
Review Questions
I. Discuss the 'dtrilllltion of the state model 11Sing fallowing mtthodJ of programming.
i) BU5h form ii) Gulltmin's form
iii) Foster's form iv) fordan's form
2. fl•bornlt upon tht basis of Mktling suitable stalt rJariablts for • systtm.
3. Obtain lht sl•I• tnodd for the block diagram shown.
U{t) Y(t)
4. Vo/toge nrross r«p<1dlor is Ye- With "c and il as n Ml of M•lt variables dniot tJie shllt ltW<ILI.
whtttA •
[
4 -~ -ti ·{!'Jc·""'
n
Modem Control Theory 2. 71 State Space Representation
6. For " mt'chanirnlsystem slwwn below obtnin its st.all model in sttlndardform. Assum1 output as
Y(IJ.
Ans.:X=AX+BD, Y•CX
TY(l)
where A =[ ~
-M -M
~ ] B =[ O } C
1/M
= (0 1)
7. Obtain the slate model in standard Busl• form of a system shown in figure.
Ans.: X =AX+ BU, Y=CX
U(sl Y(s)
0 l
0 0
where A=
0 0 0
C = [72 96 24 OJ
JO. For tht merha11iat/ •yslem •hawn ill ftg11rt input is uft) and output is y(t). Obtain stalt equntiqn
awl output eq11ation. Repre;e11t lllL sysl<1n by blodc diagram.
QQQ
Matrix Algebra and Derivation
of Transfer Function
3.1 Background
The methods of obtaining the state model in various forms, from the transfer function
of a system are discussed in the last chapter. It is also seen that the state models can be
different and not a unique property for the given system.
But most important point about the system Is Its transfer function is always unique.
Though number of state models are derived for the system, the transfer function of the
system, obtained from all of them is always unique for single input single output system.
In this chapter the method of obtaining transfer function of the system from its state
model is discussed. The concepts of diagonalisation of system matrix A, eigcn values and
elgcn vectors arc also included in this chapter. Number of methods from matrix algebra
are used to understand the relation between stale model and transfer function hence
revision of matrix algebra is included in the beguuung of this chapter.
m Number of rows
n = Number of columns
(3 • 1)
Matrix Algebra & Derivation
Modem Control Theory 3-2 of Transfer Function
Any clement of a matrix is denoted as ail where i indicates position of row and j
indicates position of column. Thus for matrix A above a11 = 4, a13 = - 2, a22 =
1 and so
on.
Koy Point: Note that mal'rix does 1101 have a value but its detenninant has a value.
A matrix with number of columns as 1 Le. order m x 1 is called column matrix while
a matrix with number of rows as 1 i.c, order 1 x n is called row matrix, It is seen that
vector matrices X. X, Y are the column matrices.
3. Unit Matrix : This is a diagonal matrix, with all the main diagonal elements equal
to unity. It is denoted as 1 and also called identity matrix.
The unit matrix of order 3 x 3 is,
I =
-l,0
l 0
o o]
0 0 1
4. Null Matrix : This is a matrix having all its elements as zero. It need not be a
square matrix.
5. Transpose of a Matrix : If the rows of columns of m x n order matrix arc
interchanged then resulting n x m order matrix is called trnnspose of the original
matrix. If given matrix is A then its transpose is dl'TIOll'CI as AT.
o 1 21
A [2 5 4j.
2x3
Matrix Algebra & Derivation
Modem Control Theory 3.3 of Transfer Function
!. (A + B)T =AT+ BT
2. (AB)T =BT AT
A
[ I -4]
-4 1 •
AT= lr
-4
I -4]I
7. Conjugate Matrix : The conjugate of a matrix is the matrix obtained in which each
clement is the complex conjugate of the corresponding clement of the original
matrix. It is denoted as A'.
_ [I +j2
A - 2 -j4
l+jl] A'= rll -j2 1-jl]
3+j2 ' 2 +j4 3-j2
8. Singula.r Matrix A square matrix having its determinant value zero is called
singular matrix.
10. Skew Symmetric Matrix : A square matrix which is equal to its negative
transpose is called a skew symmetric matrix.
AT = -A
A ~ [~ ~ ~]
Let us obtain minor of element alt = 1. Delete second row and first column to get
determinant M21.
Cofactor matrix
-1-7 -8]
-2
[-1~ +5 4
-1-7 6 -12]
Adj A
[ _1~ +5 =:r =[~ -7
-2 4
5
4. Rank of a Matrix : To find the rank of a matrix means to search for a highest
order determinant from a given matrix which is having nonzero value. Thus if
r x r determinant has a nonzero value in a given matrix then the rank of a matrix
is 'r' and any determinant having order r + 1 or more than that has a zero value.
For example, consider matrix A as,
A = [~ ! ~]
Now
112 2
4 1
31 = -5:t0
1 I 1 1
[A ± BJ ±c = A ± IB ±CJ
where all A, B and C matrices have same order.
3. Multiplication by scalar 'ex' : A matrix is multiplied by a scalar 'ex' if all the
clements of a matrix are multiplied by that scalar 'ex'.
cxa 11 <la12 exalnl
Cltl 21 a.a22 Ctn2n
exxA= ,
[
<XU nl r.tan2 cxann
A ["11
a 21
•p]
a~
B =[b11
b21
b12
b22
b13]
b23
C AxB
•11b11+a12b2t •11b12+a12b22
[ 321b11 +a22b21 321b12 +a22b22
Matrix Algebra & Derivation
Modem Control Theory 3.7 of TransferFunction
Properties of Multiplication
AB "' BA
2. The transpose of a product is the product of transposes of individual
matrices in the reverse order.
.4
3
= [~ ~
-Ji =[1 0 -1.]
B 2 1 0
[~ -: -~]
2 0 -2
_ 1 [Adjoint of A)
A "-jAj
.......
1....,.. Example 3.4 : Find the inverse of A = lf24 13}
Solution : Check that A is nonsingular.
IAI I~ :1=2 - 12 = _ 10
[Adjoint o( A)
IAI
[-~1 --3]~r
Adj A [Cofactor of A)T
= [_: -:1
[~ = [--0.1+0.3]
-10 +0.4 -0.2
Adj(sl-AI
Now Isl -Ar1 Isl-Al
T c Adj(sl-AI n D
(s) = Isl-al + ... (4b)
Key Point: Tire state model of a sys~11 is 11ot unique, but tire tra1L,fer f1111ctio11 of
obtai1wtl from any stale model is unique. 11 is indrpcndent of tire met/rod used lo express tire
system in slate model form.
T.F. c Isl-Ar' s
Adj[sl - A]
Isl -Al
(sf - A) 5 [1 o]-(-2
0 J ~
-312j = [s0 o]-[-2 -3]
s ·t4 2
Matrix Algebra & Derivation
Modem Control Theory 3·11 of Transfer Function
[sl -Al
l"s+2
-4
3]
s-2
Adj - 3]
s+ 2
Isl - Al (s + 2) (s - 2) + 12 = s2 - 4 + 12 = s2 + 8
[s~2 s~2]
s2 + 8
{Ss + 1]
s2 + 8
3.5.2 MIMO System
For multiple input multiple output systems, a single transfer function docs not exist.
There exists a mathematical relationship between each output and all the inputs. Hence for
such systems there exists a transfer matrix rather than the transfer function. Bul the
method of obtaining transfer matrix remains same as before.
11111+ Example 3.6 : Determine the lrausfer matrix for MIMO system givtn by,
A [ 0 3}
-2 -5 B = [: :} C = [~ ~} D =[OJ
[sl-AI s
[2 s+S
-3]
Adj [sl - A) ell C1.2]T = [s+5 -2JT = [s+5 .s3]
[C21 C22 3 s -2
Isl-A I s2 +5s+6= (s + 2) (s + 3)
Matrix Algebra & Derivation
Modem Control Theory 3-12 of Transfer Function
Adj (sl-A)
[s_+: ~]
(sl-AI (s..2)(s..3)
T.M.
[
3s+ 14
(s+2) (s+3) (s+2) (s+3)
s+S s+8
,. ,. l
(s+2) (s+ 3) (s+2) (s+3)
(s+2)(s+3)
'"" l
i.e. Y(s) T.M. U(s)
3s+ 14
(s+2) (s+ 3)
s+S
[
(s+2) (s+ 3)
The above relation indicates that each output depends on both the inputs.
i.e. 0
i.e. (Al- A)X 0 ..• (1)
The set of homogeneous equations (1) have a nontrivial solution only under the
condition,
The determinant I}.. I - A ( is called characteristic polynomial while the equation (2) is
called the characteristic equation.
Matrix Algebra & Deriv1tlon
Modem Control Theory 3-13 of Transfer Function
If the rank of the matrix P·; I - A) is r, then there arc (n - r) independent eigcn
vectors. Similarly another important point is that if the eigen values of matrix A are
all distinct, then the rank r of matrix A is (n - 1) where n is order of the system.
I
0.1 I - A) along any row •
..--~~~~~~~~~~~~~~~~~~~
ckl
Thus M; = Eigcn vector for A; = :~ where k = 1, 2, ... n
[
r1..1 0 0
where A Diagonal matrix = j
:o : 1..2 0
I.co 0
M - 1 AM = A (Diagonal matrix)
:I
0 0
A
0 0 0
-<-ln --an-I -;) n-2 -a 1J
And the characteristic equation i.e. denominator of T(s) is,
F(s) = s" + a1 s" - 1 + ... + an_ 1 s + a0 =0
Matrix Algebra & Derivation
Modern Control Theory 3 -15 of Transfer Function
Ai i..2 ),.n
Such a modal matrix for matrix A which is in phase variable form, is called Vander
Mondc matrix .
,...., Example 3.7 : Consider a state model witlt malrir A as,
2
A 0 OJ
\l
-3~ -9
I -~ -~ -~ l
48 34 ).+9
= 0 ... (!)
-2 9 26 24
- 2 - 14 - 24
7 12 0
Matrix Algebra & Derivation
Modorn Control Theory 3 -16 of Transfer Function
For i.2 = - 3, p, i I - A)
M2
= [~:~l Hl
= [~;4] =
M3
=[~::] [-!] =h]
=
M1, M2 and M3 are the eigenvectors corresponding to the eigenvalues :\.1, :\.2 and :\.3.
Matrix Algebra & Derivation
Modem Control Theory 3 -17 of Transfer Function
I _\ -~ -~1=-l
IMI
-2 1 4
2 2 -6
AM
L~s 0 ol1 [-11 -3 1 l r-2
-: = !
9 -4]
-34 -9 -2 -3 -1!
M-1AM [10-8
7
-6 -11 l r-22 -6 -
9 8
4]
7 5 I 4 -3 -16
u
0 0
-3 0 = [i.01
OJ ).2 ~l= h
0 -4 0 0 h3
l'* Example 3.8 : Obtain tire Elgen values, Eigen vectors and Modal matrL~ for the matrix
1 OJ
A=[l 0 l
-11 -6
MatrixAlgebra& Derivation
Modem Control Theory 3 -18 of Transfer Function
!).. I-Al =
[
>. -1
o >.
6 11
0
-1 =0
>.+6
l
i.e. 1.. 3+61..2+11>.+6 0
[~1 =~ ~1]
6 11 5
M1 [en]
C12 where C = Cofactor
C 13 K•2
M1
[~] i.e,
M1=Hl
M2 [c11
C12
C 13
l for K~3
=[~] =[~2]
For J..3 =-3
-1
(1.31-A)
[Y 11
-3
~]
Matrix Algebl'll & Derivation
Modem Control Theory 3 -19 of Transfer Function
M [~l ~2 ~]
It can be easily checked that,
3.9 Diagonalisatlon
The diagonal matrix plays an important role in the matrix algebra. The eigen values
and inverse of a diagonal matrix can be very easily obtained just by an inspection. Thus in
state variable analysis, if the matrix A is diagonalised then it is very easy to handle
mathematically.
Whc!l matrix A ls diagonalised, then the elements along its principle diagonal are the
eigcn values. The eigen values are the closed loop poles of the system, from which
stability of the system can be analysed.
The diagonal matrix A indicates noninteraction of various state variables. Tile
derivative of one state variable is dependent on the corresponding state variable alone and
other state variables do not interact in it, when A is diagonal matrix. This is practically
important from controlling point of view.
Due to all these reasons, the diagonaUsation of matrix A is always motivated. The
techniques used to transform the general state model into diagonal form i.e. canonical form
are called dlagonallutlon techniques.
The equations (7) and (8) gives the canonical state model in which M - 1 AM is a
diagonal matrix denoted as II.
The matrix M which transforms A into diagonal form is called diagonalising matrix or
modal matrix.
The new canonical state model is represented as,
I,_. Example 3.9 : &duce tire given state model into its canonical form by diagonalising
r~
matrix A,
X<t>
-6 -11
-1: -~i
5
X(tJ + [~] U(tJ
I
1)..1-AI =
H~ 0
1
0
~]-[-~
I
-11
-6 -11 -il I=
0
-1
1:
~.+11
11
_:I =
~--5
0
li•1 1- A]
n
-!
10
11
-~]
-6
M1
[~:~J=m=m
For ).2 = - 2,
[A.21-AJ
r-:
-1
9
11
-~]
-7
M2
[~:~l r~i = m
=
MatrixAlgeb,. & Dertntlon
Modem Control Theory 3 ·22 ofT,.Mfer Function
M-1AM n -! -~lcA
n M-1s
~r [1 ~~ ~]
While
Adj(MJ
!MT""=
[~ j
-14 = -~
0.4285 0.3571 --0.2857]
--0.4285 -0.5714 +0.4285
[
0.H28 0.2142 -0.1428
ii M-
18
5 [=~·.~1 . r-~1
-0.1428 -1
... Multiplying by 7
and C = CM= (I 1 1)
Thus canonical state model is,
Important Note : If cofactors along a particular row gives all values zero i.e. eigen vector
as null matrix, then cofactors along other row must be obtained.
For remaining (r - 1) eigenvectors for r - 1 times repeated value A1, generalised eigen
vectors must be used as,
ack, a2ck,
fj 2! ilA7
~
ilCk2 a2ck2
M2 n ar;- M3= 2! a At
1i ~
ilC1;n CJ2 c.,,
2! ~
1 a•-tcck1>
(r-1)! ()}..~-·
a•-•cck2>
M, (r-1)!
dif'
ar-lcckn>
(r-1)! CIA't-1
The modal matrix M then can be obtained by placing all the eigen vectors one aher
the other.
Note that in such a case, M- 1AM matrix is not diagonal but consists of a r x r Jordan
block in it where r is the order of repetition of a particular eigen value.
Matrix Algebra & Dorivation
Modem Control Thoory 3. 24 of Transfer Function
,,.. Example 3.10 : Fi11d the eigen values, eige11 uector« alld modal matrix JM,
A [~ ~ -~ l
Solutlon : Find eigcn values which arc roots of I i,J - A I =O
Ix
-2 I..
+S 2
0
-1
A~S
I 0
-1 5 8 4
-1 -4 -4
4 4 ~
(I,+ 1) {1..2 + 41..+ 4) 0
{A.+ 1) {A.+ 2)2 0
Matrix Algebra & Derivation
Modem Control Theory 3. 25 of TransferFunction
A I = - 1, '·2 = - 2, A3 = - 2
Thus ·- 2' is repeated twice hence it is necessary lo use generalised cigen vectors.
P-21 - A) = [~~ ~2
8 2
M2 [c"]
C12
C13 l.z•-2
[ ~·'~
= 2),2 + 10
-4-SAz L,
=[]Jan]
dC11
TI <n;-
and M3 TI
dC12
d1..2 = [2'-~+5) -
l.z--2
= Ul
dC13
TI d1..z
!... Example 3.11 ; Find lite T.f". of tl1t system /raving state modn,
T.F. Y(s)
U(s)
= c (sl - Ar l B + D
[sl -AJ t o] [ o l] [s
-1
s [0 1 - -2 -3 = 2 s+ 3
J
Adj (~I - A]
~+3
[ -2
+I]
s
... Change diagonal elements and
C Adj (sl-AJ B
(1 OJ [s~23 ls][lo]
. T.P.
Isl-Al = (s+l)(s+2)
(s+3)
(s+l) (s+2}
,_. Example 3.12 : Fi114 the T.F. of tire system /raving stale model,
T.F. T(s) =
U(s)
c (sl - Ar l B + D
[sl-A] 5(1 OJ-[-3
0 I -2
l]=[s+3
0 2
-1]
s
i
Modem Control Theory 3 ·27
/Adj [sl-A)
Isl-Al
1
(s+l) (s+2)
,,.. Example 3.13 : Obtain the transfer[unction matrix for 1iu, MIMO system having state
model,
.
x
[ ~ -11 ~jx+[-11
-1 0 I 0
amt Y = G ~ ~] X
Solution : From the given state model,
A
2 -1
I 1 2 ,
o] -1 OJ
[
-1 0 1
B =[~ ~ ,
c G ~ ~]. 0=0
T
(s-1)2 s-3 s-1
Adj [sl-A)
[ -2
~+1 (s-2)(s-1)
2(s-2) s2 -~s+3 ]
Matrix Algebra & Derivation
l
Modem Control Theory 3 -28 of Transfer Function
s2 -2s+1 -s+l
s-3 s2 -3s+2 -2
2s-4
[ s-1 s2 -3s+ 3
Isl-Al (s - 2) (s - 1 )2 - 2 + s - l
s3 - 4s2 + 6s - 5
s2-2s+l -s+l
Adj [sl- AIB s-3 s2 -3s+2
[ s-1 I
-s2 +5
s2 -4s+5 -4
4s-8 l
l
[ -s+2 2s2 -6s+6
-s2 +5 -4
C Adj [sI - Al B [~ ~ ~] s2 -4s+5 • 4s-8
[ -s+2 2s2 -6s+6
-3s+5 4s-12 ]
[-s2 +2 2s2 -6s+2
-3s+5 4s-12 ]
[-s2 +2 2s2 -6s+2
Transfer matrix ~
~3 -4s2 +6s-5
,_. Example 3.14 : Obtain tire eigen values, eige11 vectors and modal matrix for,
A [ ~ ~ ~]
-12 -7 -6
IA.I-Al 0
-~ -,~ ~21 0
I 12 7 ;\.+6
MatrixAlgebra & Derivation
Modern Control Theory 3. 29 of TransferFunctlon
0 - 1 - 5 -6
5 6
~
(l + 1) (l2 + 5A. + 6) 0
i.e. (A.+ 1) (A.+ 2) ('A.+ 3) 0
Hence eigen values arc, A 1 = - 1, },2 =- 2, A. 3 =- 3
For the eigcn vectors,
[-1 -1
A.1 = -1, p,11-AJ -3 -1
12 7 -:]
M1 [~:~ l
c,J
= [-:)
-9
= [-~]
-1
A2 = - 2, P-2 I - A)
[-2 -1 OJ
-3 -2 -2
12 7 4
M2
[~:~l =[-~]=HJ
A.3 = - 3, [l3 I - A)
[-3 -1 -zo]
-3 -3
12 7 3
M3
[~: l =[-!:]=HJ 2
M Modal matrix = [- ~
-1
-4
-i]
. I
Matrix Algolira & Derivation
Moifani Conlroi Theory 3 ·30 of Ttnsfer Function
Adj[M]
[
-9
-5
-2 2 -2
: ~iT [-: -: -~1
- -2 -3 -2,
!Ml= -2 -2
AM
I .. Example 3.15 : Find I/it eigen valtttS, tigm 11ectors and "'f al matrix for,
A = [~ -~ I] (VTU: Jan.!Ftb.·2.005)
Solution : For eigen values,
p.. I-AI O
"-~4 -: -~ I 0
I -1 A.-3
[=~-1
-1 -~]
-2
[~:~J m =
[
'·2 -4
-1
-1
-1
'·2
1
-22
1-i -3
l
dC11
TI dl.2
For >.3 = 3,
TI
dC12
d/,,2 = [2"'2:- 3J _
).2-J
= m
dC13
i! d/,,2
•2~3
M [! ~ n
Matrix Algebra & Derivation
Modem Control Theory 3-32 of Transfer Function
n• Example 3.16 : The Fig. 3.1 slwws the block diagram of a control system using state
wriab/e [eedbuck'and int1•gra/ co11trol. 111e state 1midel of plant is,
Y = [O 1] [~:]
Fig. 3.1
... (3b)
... (4a)
... (4b)
... (4c)
Matrix Algebra & Derivation
Modem Control Theory 3 .33 of Transfer Function
[ · i [-! ~:
Thus equations (4a) to (4d) give state model of the entire system.
~~ =
XJ 0 1
-~5]
0
[~~]+[ ~i U(t)
X3 -1
and Y(t) (0 l
OJ [~~ l
i.e. x = AX+ BU and Y = ex with D = o
ii) The transfer function Y(s)/U(s) is,
Y(s) t
U(s) = c [sl - Ar B+D
[sl - A) = s [~ ~
001
~i-[-: ~·: -~· 1
0 0
5 = [s_+:
0
-0.5
s+5
-1
r
4s 4
[ •' +Ss
Adj [st -A] = O.Ss-3.5 s2 +5s s+5
-3.S(s+S) -14 (s+5)2 -2
=
[ •' .,.
4s
0.5s-3.5
s2 +5s
-3.5s-17 .5
-14
4 s+S s2 +10s+23
C Adj [sl - A) B = (0 l OJ
s2 +Ss
4s
0~5s-3.5
s· +5s
-3.5s-17
-14
.51 [ o]0
[4 s+S ~2 +10s+23 -1
= 14
Y(s) 14 14
U(s) =Isl-Al= sJ +10s2 +23s+l4
Matrix Algebra & Derivation
Modern Control Theory 3. 34 of Transfer Function
14
(s+l)(s+2)(s+7)
~i
This is the required transfer function.
P..I-AI o
I~ "
-1
ol
-1 - 0
4 l.+3
- 1 4
-.1 -2 -2
For >.1 =- 1,
n
-1
P-11-A) -1
4 -rJ
M1
[~:~l=H]=HJ
Matrix Algebra & Derivation
Modern Control Theory 3. 35 of Transfer Function
[-1-jl -1
For },2 -1 -jl, (/,21- A) a ~ -1-jl
4 2~µ]
M2
[~:] =[-;2-j]
... Choosing 3rd row to calculate cofactors.
T.P. = C(sI-Ar1s
(sI - A) = rs~l ~l ]
0
s~2
O s-3
= [(s+2)0(s-3) (s-3)
0 ]T
(s+l) (s-3)
-+{s+2) +1 (s+l)O(s+2)
Matrix Algebra & Derivation
l
Modem Control Theory 3. 36 of Transfer Function
(s+2) (s-3) 0
(s+ 2)
c (s-3) (s+l)(s-3)
[
0 0 (s+l/(s+2)
Isl-Al (s + 1) (s + 2) (s - 3)
Adjlsl-A)
(s1-Ar1
lsl-Aj
s+l
0 (s+l)(s-3)
1 I
(s+l) (s+2) (s+2) (s+l) (s+2) (s-3)
1
0 0 s-3
0
0
s+f (s+l) (s-3)
1 1
T.F. [l 1 OJ (s+l)(s+2) (s+2) (s+l) (s+2) (s-3)
0
1
0 0 s-3
(1 1 OJ
(s+I) (s-3)
1
{s+l)±(s-3)
(s-3)
l
l + 1
(s+l)(s-3) (s+l)(s+2)(s-3)
(s+3)
(s+ I) (s+2) (s-3)
11•• Example 3.19 : Find the transformation matrix P which will co11vert the following
matrix A lo diagonalform. Th« eigen tialutS are A. 1, A. 2 and ).. 3.
A=
[
-01
0
0
1
0
-a2
]J
Matrix Algebra & Derivation
Modem Control Theory 3. 37 of Transfer Function
r "- -1
p,1 - A) = ll0 )..
at a2
-1
0
1., +a 3
l
To find eigen vector, find cofactors about 3rd row.
-1
0
A3 +a 3
l
[~:]=[~~]
Matrix Algebra & Derivation
Modern Control Theory 3·38 of Transfer Function
I
p i,1 A2 ).,3
A
r~ {) ()
U., 0
-CX.n-l
()
And the eigen values arc distinct as A.1, ),2, ••• ),n then it can be proved as above that
the diagonalising matrix is,
i.,
"z A..,
p ..~ I ),~
.,
A~,
Key Point: Note tha: while fi11di11g the eigen l·'<'Ctorsfind tire cofactorsabout last row.
[~I]=
2
=~
[ 1()J [~~ ]+ [~ ; ] [~~] : [~;] ~ [~ -11] [~: J
(VTU: July/Aug.-2005}
Solution : Prom the given state model,
A = [ =~ ~] , B = [~S
60]
r C = [~ - ~] , D =[0J
Adj[sl-AI
Isl-Al '(sf
_
Al-
-[s+3
2
-I l
sJ
Adj (sl-AJ
[ls -2s+3 ]T = [s-2 s+31 ]
Matrix Algebra & Derivation
Modem Control Theory 3. 39 of Transfer Function
T.F.
[1 -1] [4s-5 6s l
l
8 1 -Ss-23 -12J
(s+l)(s+2)
.
[
9s+ 18
_ (s+1)(s+2)
.. T.F. - 27s-63
(s+1)(s+2)
6s+ 12
(s+l)(s+2)
48s-12
(s+l)(s+2)
=
[
s+l
9
27s-63
(s+l)(s+2)
s+I
6
48s-12
(s+l)(s+2)
I
This is the necessary transfer matrix.
•• Example 3.21 : Convert the Jo/lawing state model into canonical [orm.
(VTU: JulylAug.·2005)
Let us find the cigen values, eigen vectors and model matrix of A.
[1 -1]
M-1
IMJ-n - _.,
Adj M _ -3 4 .. [I -l]
4
l(t) A Z(t) -+ Bu
Y(t) C Z(t) where X(t) = M Z(t)
11.+ Example 3.22 : Convert tire followi11g squart matrix A into [ordan canonical fonn using
a suitable 11011-si11g11/ar transform11tio11 matrix P. (VTU: July/Aug.· 2005)
o 1
r
A = 0
l-.i
Solution : Find the cigen values or A.
-9
0
-~J
1).1-AI = I~ -1
A
9
~1
A+6
I= o
i,2(A+6)+4+9A=0 i.e. A3 +6i..2 +9i,+4 =0
(AH)(/.+ l}(A+ 1) =0
Matrix Algebra & Derivation
Modem Control Theory 3-41 of Transfer Func:tion
For A1= -4
Mz cC1112
[C13
l -[).~
I.
2=-1
- +6~.-4 +9]
2
-4),2
Az=-1
-[ 4]-[
- -4 - -1t
4 I
l
1
fl
= [2'-~ +6]
-'1 Az=-l Ul{~l
M
2 1]
-17 -4
M-l =~~I~ = [~24 15 3
9
I O][l 1
M"1AM-f- 9
12
4
15
2 -4I]
-17
3 [~4 0 l
- 9 -6
-~-I
16 I
~oi)
Matrix Algebra & Derivation
Modem Control Theory 3-42 of Transfer Function
A [: -2 31]
I 3 -l
[I.I-A)
fl..1-AJ
For i.3 = 3,
M 11
l
-14
l
l
1
-
1 [15 -25
-30
0 -2 10
-15 - 3 -~2
l
-·lo
15 - 25
[
0 -2 1
1~
-15 - 3 -12
1 [~r~ - ~ ~
1 3 -1 1
1 \1 ~1
- '14 1
-}a
-30 0
0
[0
60
0 - 90
~1-[~ -~ .o 0
Thus modal matrix indeed diagonalizes A.
I,.. .
Examplo 3.24 : Cive11 the state model X =1\X-flu, y =CX
(VfU: JanJFeb.·2006)
1o
wltert A = [~ ~] · B = [~] and C : [I 0 OJ
-1 - 2 -3 1
i) Simulate and find the transfer function ~~~ using Mason's gain formula.
-3
-2
-1
Fig. 3.2
6 -3
Flg. 3.3
All loops are touching to each other.
6= 1-(L1 +L2+L3]:1+~+2.+...!_
s s2 53
6K Eliminating all loop gains from 6 wh.ich are touching to Kth forward path
a,
MatrixAlgebra & Derivation
Modem Control Thoory 3 -45 of Transfer Function
Y(s)
U(s)
Now let us use the state model method of finding the transfer function.
Y(s)
C(st-Ar'n+o ... D ~o
U(s)
[sl-A]
[~
-1
2
-I
0
s +3
l
s2 + 3s+2 -1 -s ]T [52+3s+2 s+3
Adj (sl-A(
[
:+3 s(s+3) -2s-1
s2
= -1
-s
s(s+3)
-2s-1 .i]
[s1-Ar1
Adj [sl-AJ
Isl-A I
['' + ,,.,
-1
-s
s+3
s(s+ 3)
-2s-l
s3 +3s2 +2s+l
, :l
s2 +3s+2 s+3
Y(s)
U(s)
(1 0 0) -1
[
-s
s(s+3)
-2s-1 .i][:]
s3 +3s2 +2s+I
Solutlon : The eigen vector is that vector which is non-zero such that
AX1 x, X,
where X, = Elgen vector = [ _~]
Matrix Algebra & Derivation
Modem Control Theory 3 -46 of TransferFunction
[~~]A.; = s
[~ . l
-A.1
... Corresponding eigen value.
Review Questions
l. Derise lllL traruferfunctionfrom statt rnDdtl.
2. Wh.1t is ch•racttristic equation of• system mDtrix A ?
J. Dtfint eigm wluts and eigtn 11ttlors of a n1J1trix.
4. Whtn lht gtncraliJtd tigen oeaor« •rt uStd ? How to use thtm ?
5. What is rrwdal matrix ? St•lt its imporlana.
6. Stole the adwntagts of diAgonnlisationof a matrix.
7. Now lo achinit dia,<pm1•lisalionof mnlrix A ?
8. Rrducc tlK given state model in dU.gonnlform,
bi X • [ ~ ~~] X + [~] u Y s 10 II X
ODO
Solution of State Equations
4.1 Background
Uptill now the methods of obtaining state model in various forms and obtaining
transfer function from the state model arc discussed. It is seen that the output response
depends on the state variables and their initial values. Hence it is necessary to obtain the
state vector X(t) which satisfies the state equation X(t) " A X(t) + B U(t) at any time l.
This is called solution of state equations, which helps to obtain the output response of a
system.
Consider the state equatio n of linear time invariant system as,
(4. 1)
Modem Control Theory 4·2 Solution ·of State Equations
The solution has to satisfy the original differential equation hence using (2) in (!),
d k k
di Ibo + b1 t + ... + bkt I a Ibo + b1 t + ... + bkt I
For validity of this equation, the coefficients of various powers of 't' on both sides,
must be equal.
.!. a b1
2
= .!. a2b0
2
= .!.2! a2 b0
.!. a bz = _1_ a1>o = ..!.. a3 bo
3 3x2 3!
.!. a k b0
k!
and x(O) = b0
Modem Control Theory Solution of State Equations
[l+at+.!..a
2!
2t2+ .... +.!.aktk] x(O)
k!
X(t) = A X(t)
then its solution can be written as,
In this case, eAt is not a scalar but a matrix of order n x n as that of matrix A.
Observation : It can be observed that without input, initial state X(O) drives the state
X(t) at any time t. Thus there is transition of the initial state X(O) from initial time t : 0 to
any time t through the matrix cA1. As it is an exponential term, the matrix cAl is called
matrix exponential. It is also responsible for the transition of the state X(t) at any time t
from initial time hence also called state transition matrix. It is denoted as o (t).
$(1) eAt = State transition matrix
t
e-At X(t) - X(O) = f c-At B U(t) dt
0
t
X(t) eAt X(O) + J eA(t-t) B U('t) dt ... (1)
0
Observations :
1. The solution is divided into two parts. The first part is eAt X(O) which is nothing
but the homogeneous solution or zero input response (ZIR).
t
2. The other part J eA(t-t) B U(t) dt is the part existing only due to application of
0
input U(t) from time 0 to t, It is called forced solution or zero state response
(ZSR).
Thus the solution is,
t
X(l)
= eA• X(O)+ j eA(t-t) BU(t)dt
0
ZIR ZSR
This property states that the process of transition of state can be divided into number
of sequential transition. Thus to to '2 can be divided as t0 to t1 and t1 lo t2, as stated in the
property.
lntcrms of ~ (t), the solution is expressed as,
I
X(t) Q (t - to) X(to) + J Q(t-t) B U(t) dr
'o
where 0 (t - to>
and ~(t - t)
=
The matrix Q (s) [sl - A]" 1 is called resolvant matrix of A. All the clements of this
matrix are rational functions of s.
Modem Control Theory 4.7 Solution of State Equations
Thus equation (5) shows that L" 1 {Q (s) B U(s)I is the zero state response, as obtained
earlier by classical approach.
1[¢
X(t) = L" 1 16 (s)) X(O) + L- (s) B U(s)]
Key Point : The advantage of tlris metlzod is witho11t carryi11g out actual i11tegration
wliich is time consuming, the zero state response ca11 be easily obtained.
Thus knowing A, once [sl - A) is obtained then 6 (s) con be easily obtained. This c> (s)
is again a matrix of order n x n i.c, same ns tha~ of i\. It is called rcsolvant matrix of A.
The eA1 i.e. c> (t) then can be obtained by finding inverse Laplace transform of Q (s) i.e,
Inverse Laplace transform of each clement of the resolvent matrix Q (s).
This is most simple method of obtaining state transition matrix cA• and hence
popularly used.
A =
o
[+2
-1)
-3
Isl -Al !]
+3 = s2 + 3s + 2
s•.
= (s + 1) (s + 2)
Adj [st-AJ
s+3
[ 2 s
-1]
1s1-Ar1
l
-·1-;1.:.-Al = (s+1) (s+2)
s+3
1
(s+l)(s+2} (s+ l):s+2)
-1
0 (s) [sl -Ar =
[ 2
(s+l)(s+2) (s+1)(s+2)
Modem Control Theory
L-
I
[sl -
I
Ar = L-
4.9
[
s+ 3
I (s+l)(s+2}
2
(s+ l)(s+2)
(s+1):s+2)
-1
(s+l)(s+2)
l
Solutionof State Equations
e
At -- [ 22c·t -c·2t
2
-c·t +c·2t ]
- $ t
e ·t - e ·21 -e ·I + 2e-21 - ()
... (I)
Thus by calculating various powers of A and then few terms of power series, can cAt
be evaluated. As the power series is infinite, it is necessary to stop after calculating first
few terms of the series.
Calculating hlgh powers of A is practically time consuming and hence lhls method is
not practically used to obtain stale transition matrix.
A2 = [~ =~][~ =~]=[~ :]
o
[2
-1] [-2 3] [ 6 -7]
-3 -6 7 = 14 -14
....
Modem Control Theory • Al :..10 Solutlon of State Equations
l-t 2 +I 3 +...
[ 21-31 . 2 +6l
14 3
+...
Now the remainder polynomial R(A) has order less than the characteristic polynomial
and can be expressed as,
R(A) "' Clo + a,A. + Oz ),2 + ... + On - 1 An • I ... (7)
Let Ai, ~' ... ).,, are the n distinct cigen values of matrix A and f(\) = 0 for i = 1, 2, ...
n as Ai, ~' ... >.,, are the roots of f(A) = 0. Evaluate p(IJ al all the eigen values,
p(/.i) fP,) QO,) + RC),) for i = I, 2 .... n
But f(Ail 0 hence,
.. , (8)
Substituting Ai· )2, •.. A,. in equation (8) we get the set of simultaneous equations
which is to be solved for the values of Cl(). a1 ... a.,_ 1.
Important Note : If the eigen value \ is repeated r times, any one independent equation
can be obtained by substituting 11< in R(~. Then remaining (r - 1) equations are to
obtained by differentiating both sides of the equation,
diR(i..>j
--
.
, J = 0, I, ... r - 1 ... (10)
d).! '-=l.k
li..1-AI
I~ . ~31= 0
Ai -1, ~ = - 2
Step 2: R(~ Cf<l + a1 i.. = p(),) ... as n = 2.
[-4034 -4035]
8070 8071
Similarly eAt which is a power series in\crms of A can be evaluated using Cayley
Hamilton theorem.
A = [o
2 -3
-1] Using Cnyley Hamilton Theorem.
Solution : The function to be evaluated is,
f(A) = eAt hence p(A) = e>. 1
At - I, /"2. =- 2
Step 2 : Construct R().)
ao + a11.. + ex,,_ 1
R(>.) ... + 1 /,n - but n = 2
R().) ... By Cayley Hamilton method
where p(A) ... replacing A by /, in f(A).
Modem Control Theory 4 • 14 Solution of State Equations
. .. (1)
e-1 -e-21
·and 2(,-1 _ e-21
Step 5 : f(A) c R(A) = <Xol + u,A ... replace I.. by A in R(A)
o o -21
A =
[
0 1 OJ by Cayley Hamilto11 theorem.
1 0 3
Solution : The function to be evaluated is,
f(A) = eAt hence p(A) = ,/'
0
l'-1-AI =1~ -1
},-1
0
~ I= 0
A-3
>.(A-1} (1..-3) + 2 (1..-1} =O
(1..-1} p,2 -31..+ 2) = O i.e. {A-1) (1..-1} (1..-2) =0
A, = 1, ~ = 1, ~ =2
Thus A, ~ 1 is repeated 2 times
~P<'
di.
·>I 11.=Ai ~Ro->J
di. J.=A.i
i.e, d Al
-e
di.
I"'"2 d
-[a0
di.
+a1).+a2). 2 II
i).=).2
f(A) =
eA'=OQ[~ ~ ~l+a1[~ ! -~]+a{~! 1]
Substituting values of (Jo. a1 and az and rearranging,
Modem Control Theory 4 -16 Solution of State Equations
eAt
2e1 -c21
-c1 +e21
0
0
c'
0
,,. ~''"]
2c21 -c'
A
0
;
0
,_
;2
0
0
l
diagonal matrix I\ such that its diagonal clements are the eigen values of matrix A.
A.,
= Diagonal matrix .•. (1)
[
O 0 ··· A.0
Both A and A have same eigen values and hence arc called similar matrices.
The diagonal matrix A can be obtained by defining a similarity transformation of state
variables as,
X(I) = M Z{t)
In such a case, M is the modal matrix of A.
And the diagonal matrix is obtained as,
I\ M-1AM ... (2)
r
Now c"t I + /I.I + _!. 11.2 t2 + ...
2!
o-o
0 -o-01
0 -2 0
"•0.
i·I !
0 1 -
0 0-
o-
0
'J I
1
+
0
0
"2 0-0
·- >.."
t+.!.
2!
0
I! '-~ 0
->..~,
12 +
o---·---· o
0--·-- 0
Modem Control Theory 4-17 Solution of Stato Equations
and
.
X(t)
.
X(t)
~t)
AX(t) = AMZ(t)
Thus
~t)
. AMZ(t)
M-1Mi(t) ~C1AMZ(t)
A = (20 -l]
-3
by similarity transformation metl1od.
(:>. + 1) p, + 2) 0
-1, hi= -2
Calculate cigcn vector.
M2
[~;~ J = [~]
M [M1: M2J "l1rt ~]
0At [c~' O ]
/-ii = l c_q
r c-•
0
[ 2 -I]
M-1 Adj [11.1] _ -1
JMT--1--
1 _[ 2
-1 -;]
,,.. Example 4.7 : Obtain the complete time response of system given by,
. = [_0 1]
X(t) 2 O X(I) where X(O) = [~]
Now
Isl - Al s2 + 2
s
s2 + 2
(sl- A)-t
-2
52
:+ 2]
s2 + 2
eAt L-I [s 2:
-2
2 s/+ 21
s
s2 +2 °s2+2
L-1
{s2:i} L-1 lr __ s__ }., cos .fit
52 + (..fi.)2
L-1
{/+2} L-1 {J_..fi. . ..fi.
52 +(..fi.)2
} 2 J_J2 sin .n t
L-1
{s2-~ 2} L-1 {- ../'i . .fi
s2 + (.fi)2
} = - J2 sin .fi t
CAI
cos.fit ~sin.fit]
[ -..fi. sin..fi. t cosJ'i t
Modem Conltol Theory '4·20 Solution of State Equations
(1 - 1)
cos J2 t + ~ sin J2
v2
t]
[ cos./2 t-./2 sin J2 t
Jz sin J2 t
,.. Example 4.8 : Find out the time response for u11it step input of a >1JSlem given by
Xct) = [~2 ~3] X(t) + [~] U(t) and Y(t) = [~2 -~] X(t) and X(O) • m.
Solution:
c-t - c - 2t ]
-c-• +2c-21
2']
2.5- Je-1 + 1.5 c-
X(t) ZIR +ZSR =
[ 3c-' -3c-21
Y(t) [-~ -~J X(t)
o ']
[-2 -3
[2.5- 3e- 1 +1.5e-2']
3 C- I _ 3c - 2 I
Y1(t) 3 (e-• -e-11)
These arc the outputs for unit s~cp input applied. [ t _21 ]
•• Example 4.9 : For a system X = AX, X(I) = -21 whm X(O) • [-~] and
- 2t
and at t = 0
.
X(t) [-42]
So X(O). = [-42] when X(O) = [. ~]
Similarly X(t) [_e:_1 1], • = [ e-e-•1
X(t) I at t =0 X(t) = [: ~]
So
.
X(O) [:~]when X(O) = [:~]
Substituting in X(I) •
. A X(t)
and
[-l]=[A1
1
A2J[l]-1
A 3 A4
+A -A2
I -1 ... (3)
2. If the output is measured for finite time then with the knowledge of the input, is it
possible to determine initial state of the system ? -
The answer to the first question gives the concept of the controllability while the
answer to the second question gives the concept of observability of the system.
4.12 Controllability
The answer to the first question means the concept of controllability of a system which
is related to the transfer of any initial state of the system to any other desired state, in a
finite length of time by application of proper inputs. Hence controllability can be defined
as,
A system is said to be completely state controllable if it L~ possible to transfer the
system state from any initial state X(t0) to any other desired state X(t 1) in a specified finite
time interval (t 1) by a control vector U(t).
The concept of controllability and observability were originally introduced by Kalman
hence Kalman's tests are used to find out whether the system is controllable and
observable or not.
... (2)
ln this composite matrix Qc, B, AB, A 2B ... arc the various columns.
Proof : Let us see the proof for this condition. Assume that the final state is the origin
of the state space while the initial time is zero i.e. t0 = 0.
As fmal state t = tr, is the origin of the state space then X(t1) = 0.
. .. (3)
Modem Control Theory 4 ·24 Solution of State Equations
0 e
At
I X(O) +
I
J cA(t I -ti B U (t) dt
0
'1
X(O) = - J e-At B U(t) dt ... (6)
0
This shows that any initial state X(O) 'nust satisfy the equation (6) for complete state
controllability. Thus the controllability depends on matrices A and B and is Independent of
matrix C.
Now mathematically e-A' can be expressed as,
... (7)
X(O)
X(O) - [B : AB : ... : An -
1
BJ [ ~;~
IJn-1
l ... (9)
Modem Control Theory 4 -25 Solution of State Equations
X(O) = - 0., [ ~;
Pn-1
l ... (10)
It 2
Solution: A
[~ -~1 B = [~]
AB [_:]
c, = (B AB] = [~ _;]
Rank of Qc = 2 = n
willt,
.
x AXT BU
IiI rq
and A
[~ -) J 8 a I J
LO
Solution: n ,. 2
QC [B AB!
QC [~ ~]
Now , , 11 = Determinant of 2 x 2 =0
10 0
.
Consider single input linear time invariant system represented by,
where A is not in the canonical form. Then it can be transformed to the canonical form
by the transformation,
X(t) • MZ(t)
where M Modal matrix
The transformed state model, as derived earlier, takes the form,
O················· 0
O················· 0
J= O··· ············· 0
Jordan O················· 0
block
O······~···· · · 0
~················O
0 iJ ........••.•........................................ A,,
In such a case, the condition for the complete stale controllability is that the elements
of any row of B that corresponds to the last row of each Jordan block are not all zero.
,_., Example 4.12: Consider tlre system wit/i state equation.
~I
.
Xz
[ XJ
AB
0
~lj = [~
-6 36
-11
60
II.I-Al = )I ~. -1,11
"" ~I
}.+6
lo 0
l [ 1 1 1]
As matrix A is in phase variable form, the modal matrix M is Vander Monde Matrix.
i..2 1
i..3 = -I -2 -3
).~ ).~ 1 4 9
Modern Control Theory 4 ·29 Solution of State Equations
M-1
---=
Adj(M]
[~
-5 8 -3
-1
6
2 -1
-l [j -5 -~i8
-3 -1
= [-~
2.5
~1
0.5]
-1
IMI -2 -2
1.5 0.5
2.5 0.5][°] = [°.5]
li W1B=[-~ -4
1.5
-1
0.5
0
l
-1
0.5
As none of the clements of i3 are zero, the system is completely stale controllable.
Key Point: As Gilbert's lest requires to transfonn matrix A into canonicalform, it is time
ccmsuming and hence Kal111a11's test is popularly used to ttSt controllability.
4.13 Observability
The observability is related to the problem of dcterrnlning the system ·state by
measuring the output for finite length of time. Hence observability can be defined as,
A system is said to be completely observable, if every stoic X(t0) can be completely
identified by measurements of the outputs Y(t) over a finite time interval. If the system is
not completely observable means that few of its state variables are not practically
measurable and arc shielded from the observation.
Similar to the controllability, the observabillty of the system can be obtained by using
Kalman's test.
Modem Control Theory 4. 30 Solutlon of State Equations
c, = (Cr,ATCT: (A ,.)"-•cTJ I
where Transpose of matrix C
Proof : For the system described by the equation (1) and (2), the solution is,
t
X(t) = cA• X(O) + J cA (t-t) B U(r) dr ... (3)
Now as the matrices A, B and C are known and the input vector U(t) is known, the
integral term in the equation (4) is known. This can be subtracted from observed value of
Y(t), to modify the lefthand side. Hence the obserability can be investigated by considering
the equation,
Y(t) = C eAt X(O) ... (5)
as the left hand side is known due to measured output. Thus for observability, the
unforced system can be considered i.e, homogeneous state equation can be considered.
Consider the state model of unforced system as,
•-1
Y(t) I Ccxk\t) A kX(O)
k=O
must be n.
[J.]
Taking transpose of the matrix, the condition can be stared as the rank of matrix Q.,
must be n for complete observability where,
Qo; [cT:ATCT: ... :(ATt-lCTJ
A
[-~ -~J and c .. (1 OJ
AT [~ -21
I -1
and CT .. [~]
Qo rc·r ATCT)
Modem Control Theory 4 ·32 Solution of State Equations
I 10 11I 1 =nonzero
:. Rank of 2=n
Hence the system is completely observable.
,... Example 4.14 : £wlllate tire obstrVability of the system with
[! -~]
0
AT 0
-3
CT
[:]
0
ATCT
[! =~OJ [3j~ [~]
0
J
0
(A T)2CT AT[ATCTJ=[! 0
=~][~] = [=~]
Qo
[~
0
-~]
-2
Modem Control Theory 4. 33 Solution of State Equations
3 0 01
4 1 -2 = - 6 + 0 +0 +0- 0+ 6 =0
11 I -21
Hence a nonzero determinant existing in Q., is having order less than 3.
Y(t)
[
~~
Zn(t)
~:~]
'11 Zi(t) + '12 Zz(t) + ··· + Cin Z,,(t)
Due to the canonical form, all the states are decoupled and not linked to each other.
Hence for the system to be observable, each term corresponding to each state must be
observed in the output. Hence none of the coefficient of C must be zero.
Modem Control Theory 4.34 Solution of State Equations
Thus the system is completely observable if all the coefficients of C arc nonzero,
none of the coefficient is zero. If any clement is zero, the corresponding stale remains
unobserved i.e. shielded from observation.
A=[~ ~
0 -2 -3
~1' B = [~] a11d C = (3 4 1)
l
Using Gilbert's lest.
Solution : For Gilbert's lest, find the cigcn values.
l.3+3'>..2+2i. O
i.(i.2 + 3i.+ 2) O
i.(),+1}(1.+2) 0
:.)'! = 0, ~ = - 1, "3 = - 2
1
M = 1.1 1.2
[
1
).~ ;.~
1
1.3
;.~
l
As the eigen values are distinct, the modal matrix M is a Vandcr Mondc matrix.
[1
= 0 -II -2
0 I
11
4J
C = CM = (3 4 1) [~ -~ -~]
0 I 4
= [3 0 - 1)
As there is one zero element in C, the system is not completely ·observable.
Modem Control Theory 4 .35 Solutionof State Equations
1• Example 4.16 : Find the statt transition Mitrix cf the state tquatio11.
Solution:
Adj (sl-A)
1s1-Ar1
( sl-A I
Isl - A! = (s - 1) (s - 1)
s-1 o] [ 0]
[ -I s- I
(s-l)(s-1) =
s- 1
I 1
s-1
= [_1I ol1
(s - l)(s-1) s-1 (s-1)2 ;:I
Taking inverse Laplace transform.
4>(t) e1 cl
= [tel O] .. . Required state transition matrix
Let A
[ -JI ] • [ 3e-J1]
Now X{t) _; e-Jt hence X(t) = ~ e-Jt
[-:] [Al
A3
A2]
A4 [-~]
A1-3A2 -3 ... (1)
A3-3A4 9 ... (2)
.
Similarly X(t)
[::] X(I) = [::]
X(O)
[:] X(O)
[~]
.
X(O) [Al ~:] X{O)
AJ
GJ [A'
AJ ~:] [~]
A1+A2 ... (3)
A3 +A, ... (4)
Subtracting (3) from (1),
-4 A2 -4
A2 1
Al 0
Modern Control Theory 4 -37 Solution of State Equations
8 i.e. A4 = - 2
n• Example 4.18 : Obtai11 Ilic so/11tio11 of Ille liomoge11eo11s state equation X =AX ionere
A = rl1 -2]
1 -4
and X(O) = fl0.51
I J (Bangalore Univ. Aug.-97)
Solution: The state transition matrix is,
L-1 {cst-Al-1}
[sl-A)
s[~ ~J-G =:] =[s~i' s::]
Adj(sl-1\)
tsl-AI
Adj [sl-A)
s+4
= [ -2 s- 1
1 ]T =[s+4
1
-2]
s- I
L-1[ -2
(s- 0.561) (s+ '3.561)
] 1-1 [ -0.485
• (s-0.561)
+ ~1
(s+ 3.561)
,,_.
.
Example 4.19 : For a system represented l7y X = AX, the response is
X(I) = [2e-1
e-4'1] whm X(O) • = [4e-c-2t21]
= [2]1 and X(t) whm X(O) = [4]
1
At t = 0, X(O)
[~] . = [-8)
X(O) -4
At t = 0 X(O)
[~] . [-8]
X(O) = -2
Modem Control Theory 4 .39 Solution of State Equations
... (!)
••• (2)
and
-8 ... (3)
-2 •.. (4)
A
= [o -s]
1 -6
[sl-A)
Adj [sl-A)
Isl-Al s2 +6s+8
L-
I [l l s+6
1
= (s + 2) (s + 4)
-8]
s
(s+2) (s+4)
s+6
L-t (s+2)1(s+4)
[
(s+2)(s+4)
-8
(s+2)5(s+4)
(s+2) (s+4)
l
Modem Control Theory
--+--
-4
s+ 2 s+4
1 2
4
(s+2) + (s+4)
l Solutlon of State Equations
1ui+ Example 4.20 : A linear timt invaritmt system is clwraderiud by the homoge11eous state
equation:
Compute the solution of homogeneous equation, assume tire initial slate vector :
A =
[~ ~]
[sl-A) [ 1 O] [l OJ
s 0 I - l l " - I s- I
[s- I 0]
Adj [sI -A) [s~ I ~~ r" [s~ s~ i] I
s- I 0 ]
Adjfsl-AJ - [ I s-1
jsl- Al - (s- 1)1
,; .]
I
•-I
[
(s-\)2
L-11s1-Ar1
~ 0]
[
= L-1 ~~
(s- I)"
_I_
s- I
Modem Control Theory 4 -41 SoluUon of State Equations
c'
[te'
o]
c'
Now as matrix A is same as considered in Ex. 4.20 while X (0) is also same as consider
in Ex. 4.20, the zero input n.'Sponsc is same as obtained in Ex. 4.20. ·
Thi'.' zero state response which depends on U(t) and matrix B is given by,
where <i(s)
1
s-1
[ (s-11)2
_l_]
(s-1)
as obtained in Ex. ~.20.
(l(s) B U(s) 1
si'I
[(s-1)2
_I
(s-1)
0 l G]m
l ll
Modem Control Theory 4.42 Solution of State Equations
(.!.] = r -
l
r_1 (s-1)I 1_ 5
l; 1
s(s-1)
1
1..-1)'
I
l
(•-1l' (•-I) -(,-!)
s-1
1 s
1 . . .
_1_ ... usmg partial fraction
[
(s-1)2
,,. Example 4.22 : Fitrd and sketch the response of the system witlr the followi11g transfer
function, input and initial conditions.
T(s) = -4 s+ 20
s+300
r(t) 10 u(t) ... (input)
!1(0) 0
Solution : r(t) = input and y(t) = output
T(s)
= Y(s) = -4s+20
R(s) s+JOO
«o
,,..._,---y(t)
'---------i 4 1---------'
Fig. 4.1
X1 r(t)-300X1
[s1-Ar1
[s+ ~oo]
(e-3()01]
Now y(Ol 0 hence substituting in y(t)
y(O) 1220X1(0)-4 r{O), r(O) =10 as given to be 10 u(t)
0 1220 X1(0)-40
40
1220
y(t)
0.667 --------:;-:;·..----
Fig. 4.2
X
. A X(I) + B U(I)
umere A
[~ ~ ~1 B=[~ ~1
0 -2 -3 1 0
AB [~ ~
0 -2 -3
~1 [~ ~i ~1
1 0
=[ ~
-3 0
Modem Control Theory 4 -45 Solution of State Equations
A2B = A [AB]=[~
1
0 I
OJ[ o1 o10 J = [-31 OJ0
-2 -3 -3 0 7 0
1 0 0 1
QC = [~ 0 1 0 -3
0 -3 0 7 ~]
Consider the determinant,
[ ~ ~ ~1
I 0 -3
= 1 = nonzero
Hence rank of Qc = 3 =n
Thus the given system is completely controllable
Y(I) (1 OJ X(I)
AT [-0.2 0.1]
0.4 -0.1 CT = [~]
Qo (CT A TCTJ
Qo [10 -0.2]
0.4
Modem Control Theory Solution of State Equations
A= [-4 3]
-6 5
Solution : Find the eigen values.
For}., =- 1, (}.,! - A) = [! ~]
M1 = [~:~]=[~]=[:~]
For ~ ~ - 2, (>'!! - A) a[: =~]
M2 :!]
[~:~] 2 [ = [~]
M g ~]
[ 2 -I]
= .2.....2_
M-1 Adj (MJ
IMI 1
=[ 2
-1 -:1
Modem Control Theory Solution of St.ate Equations
,.. Example 4.26 : Using lAplace transform metltod, find 1'1 for
l
1s1-Ar1
Isl-Al - s(s+4)+3 (s+l)(s+3)
s+4 ~
(s+l\(s+3) (s+l):s+3)
e ts)
[
(s+1)(s+3) (s+l)(s+3)
9 (t) = cAt = L- 1
s+4
(s+ l) (s+ 3) (s+ I)-3 :s+ 3) I
(s+ I) (s+ 3) (s+l)(s+3)
b) A=[-~ -n s -1 ]
[sl -A)
[ 3 s+4
Adj[sl-A]
s+4 ']
[ -3 s
[s+4
-3
I]
s
l
[sI-Ar I
Isl-Al = s2+4s+3 = (s+l)(s+3)
s+4 I
(s+1~+3) (s+l):s+3)
6(s)
l
[
(s+l)(s+3) (s+l) (s+3)
s+4
t_ 1 (s+l)(s+3) (s+I) I(s+3)
l
-3 s
[
(s + l)(s+ 3) (s+ l)(s+ 3)
1.5 0.5
--- 0.5 o.s
---
s+l s+3 s+l s+3
-1.5 1.5
[-+- -0.5 1.5
--+-
s+l s+3 s+l s+3
p.. I-AI
I~ A~51=0
0 i.e, (A + 2) p.. + 3) ~ O
Modem Control Theory 4 .49 Solution of State Equations
Step 2: n=2
CAI
[ 3e-2t -2e-Jt e -2t -e-31 ]
-6c-21 +6e-J1 -2c-21 + 3c-Jt
bl A
[-~ ~]
f(A) CAI hence p().) = c)J
Step 1 : Find eigen values.
IU-AI
I~ -21
A.+4 = 0
A.2+41.+4 0
(A.+ 2)2 ·= 0
= -2, '2 = - 2
Step 2 : "'n=2
R(I~ ~ O'o + a1 A.= p(~
i.e, O'o + a,:i.. c>.:
Modem Control Theory Solution of State Equations
o:, t e-21
c-21(1+21) 2te-21 ]
[ -2tc-2t e-21(1-21)
s+ 3 l]
Adj(sl-A] _ [ -2 s _
[s+-23 I]
s'
l
1s1-Ar1
Isl-Al - 52 +3s+2 - (s+1)(s+2)
s+3(s+2)
(s+I) (s+l) 1(s+2)
$(s) csr -Ar 1 =
-2 s
[
(s+l)(s+2) (s+l)(s+2)
Modem Control Theory
2.
s+l
-2
[ -+-
s+l
1
s+2
2.
s+2
s+I
1
-1
-+-
4. 51
2
s+l s+2
s+2
1 l Solution of State Equations
L
-1
lo(s)I = [ --e2c-•-1 +-c-2 e21-21
?
U(•) UJ
![ .. ,
l
L_1 (s+1~:+3)
ZSR
(s+t) (s+2)
'"'':'""] [: :] f : ] I
(s+1)(s+2) cs+3
L-1
l [ "'
(s+t~:+J)
L-'l -2
(s+l)(s+2) (s+l)(s+2) s+3
Modern Control Theory 4. 52 Solution of State Equations
X(t)
(t)]
[~ ~] [~~ ~: ]
Y1
[Y2{l)
1 21 31
Y1(t) X1 (t) = 3 - 2.5 e- - e- + 0.5 e-
and Y2{t) X1(t) + X2(t) = 1 + e-lt - 2 e-Jt
,,_. Example 4.29 : The Fig. 4.3 shows the block diagram of a process control systmi with
state variablefeedback and feed forward control. Tire state model of process is,
. [-3 2] [l]
X=
4 -5
X+
0
U
and Y = (0 11 X
a) Derive state model for the eutire system.
b) Find the response if input r(t) is unit step ass11mi11g X(O) = (~}
r(I)
Fig. 4.3
Solution : a) From the block diagram,
U(t) = + 7 r(t) - 3X1 - l.SX2 ... (1)
The equation (3) remain unchanged. Hence state model of the entire system is,
. [-6 0 5] [7]
X =
4
-~ X +
0
r(tl
(sl-A) s+6
[ -4
-o·:]
s+;,
s+5
[ 4
0.5] [s+S 0.SJ'
Adj Isl-Al s+6 4 s+6
[sl -Ar 1
lsl-1\I = (s+6) (s+S)-2 = (s2 +lls+28)
s+S 0.5]
[ 4 s+6
----
l
(S+4)(s+7)
s+S
0.5
(s+4)4(s+7) (s+4) (s+7)
c> (s}
[
(s+4) (s+7)
s+b
(s+4)(s+7)
J
No need to calculate eA• as X(O} = [~] the ZIR is null matrix i.e. zero.
ZSR = L-1 ($ (s) B U(s)I but here input is r(t) and not U(t) to the entire system.
ZSR = L-
1(9
(s) B R(s)I and R(s) = !s
Modem Control Theory Solution of State Equations
c) A = [~ ~ ~l · [~l ·
B = C = (0 0 1)
10
-21I 1 hencerankof~=2=n
1
Modem Control Theory 4 .55 Solutlon of State Equations
AB = r-~ -~ r: = r=~
0 0 -3
~i ~i ~i
2 I -6 -3
0
A2B A (AB]= r-1~ -2 Ort-2 -4Ol = r-14 Ol8
0
0 -3J -6 -3 18 9
[11 0 -1
:]
0 -I
Q., 2 -2 --4 4
2 1 -6 -3 18
Ii -11
2 -2
-6
= - 7 - 0 hence
n
0
AT CT = -2 0] [I1 3]1 = r-1-2 -3-2 ]
0
0 -3 2 5 -6 -15
1 3 -1 -3
1 1 -2 -2
[2 5 --6 -15
4 -56
4
18 .15
l
3
4
Solution of State Equations
AB=[~ ~ =!][~}]=[;~]
ATCT = [~ -~ _!][~]=[_:]
AT2cT AT[ATCTJ=[~o ~
-3 -4
~][~]=[-:]
-4 13
0., [~ ~ _:]
1 -4 13
o0 o 11
1 -4 = 1 ~ 0 hence rank of Ou =3=n
l 1 -4 13
Thus the system is completely observable.
Mod•m Control Theory 4 .57 Solution of State Equations
Find the se! of initial conditions such that lite mode l' is suppressed in Y(t).
Solution : f'md e At £or A = lrol] hen cc (s I - A] = [ _2 -I ]
s s-l
2 1
[s-1 l]
<(s) [sl - Ar I = Adj [sl -Al = ~
Isl-A( s2 -s-2
s-1
(s+ 1) (s-2) (s+l) (s-2)
2
(s+l) (s-2) (s+l)(s-2)
CAI L- 1 [o (s)I
J -t 2 2t
"l
-c +-c
3 3 3 3
~t?-t +!e2•
3 3
-2 -t
[-c 2 2t
+-c
3 3
Modern Control Theory
[
4.58
.!.e-1(2a-b)+.!.c21(a+b)
111.+ Example 4.32 : Write the state ~uatio11S of tire system sllow11 a11d determine its stale
t:Q11trolillbility a11d obsutlQbi/ity. (VTU: }anJFeb.·2006)
Y(s)
Fig. 4.4
X1
Fig. 4.5
Modem Control Theory 4.59 Solution of State EquaUons
x,
.
x,
- = m-- .•• (1)
2 2
Fig. 4.6
Thus,
Xt z X3 ... (2)
.
X2
Fig. 4.7
3X2
U(t) - X1 - -2-
2
.
"2 = - 2X1 - 3X2 + 2U(t) ... (3)
Now m = X2 - X3 hence using in (1),
Xt
Xt
2
2X2 - 2X3 -
.
x. ...(4)
.=
but X1 X3 hence X t =
.
X3 and using In (4),
.
X:J = 2Xi - 2X3 - X3 = 2X2 - 3X3 ...(5)
Modem Control Theory 4·60 Solution of State Equations
0 0 1] [Ol
X{t) =
[-20 -32 -3o X(t) + 2J0 U(t)
and Y{t) = [I 0 OJ X{t)
For conroUability, Oc = [B: AB: A BJ as n = 3]
2
AB=[-~-~ -~l[~]=[-:]
Q,, [~ -~ I~ l
l
0 4 -24
o2 -6o 4
18 = + 32 " 0 hence rank of Q,, = 3 = n
[0 4 -24
ro -2
o -3
l I 0
A T2 CT AT (AT CT] = [~
o, = [~ ~ -~]
I 0
:. 0 0
[
0 I
~1
-3
=- 2 7- 0 hence rank of Q0 = 3 = n
u11+ Example 4.33: Use co11trol/ability and obserobility matrices to determine whether t*
system represmted lty the flow graph shown in Fig. 1 is completely co11trol/ablt and
complttely observable. (VTU: JanJFeb.-2.005)
-1
u y
1
Fig. 4.8
Solution : The value of the variable at the node is an algebraic sum of all the signals
entering at that node.
x1+x2+2u, Xz= X1 -2X2 +X3 +2u
.
X3
r; 3 1
AT[ATcr]..l 1 -2
l0
QQ u ~2: _:]
IQ ! 0 = 0 and I~!- ~ = 0 thus 2 x 2 determinant is zero
a11d that 11(1) = e-1 and y(t) :: 2 - ate-1 , fi11d Xi(t) and Xi(t).
Find also Xi(O) and Xz(O). Wlrat happens if a =0 ? (VTIJ : Ja.nJFeb.-2005)
Solution : A = ro
LO -1
a} B = [0} C
1
= (I 0)
[sl-A]
[~ -a]
s+l , Adj [sl-A] = [s+l
0
Adi (sl-A]
Isl-A I
s(s~l)l
s+l
Modem Control Theory 4 ·63 Solution of State Equations
(.(C-1
s~ -~+ s:1
L-1 s2(s+D = e-1 L-1 ... Using partial fractions
c-1
[ 1 1
s(s+ 1) s+I
X(t)
and
l.f « = 0, XI (I) =2
,,_. Example 4.35 : Given Ilic state model of a system : (VTU: July /Aug.- 2005)
X= [~~ -~Jx+[~Ju
y = (1 01 x
Modem Control Theory Solution of State Equations
Determine:
i) Tire stat< trn11sitio11 matrix.
ii) The state transition equation X(t) a11d output Y(I) for an unit step i11p11t.
iii) Inverse stale tra11Sillon matrix.
Solullon: ii A s
Isl-A) = -1]
s+S
:. Adj (s!-AJ = [ s+S 1]
-4 s
I
s2+5s+4 (s+l)(s+4}
•1
s+5
(s+1Xs+4) I
(s+1Xs+4)
¢(s) (sl-A] =
l
-4 s
[
(s+1Xs+4) (s+1Xs+4)
-t
--:-c23
8
+~-e
- ·ll
-·II
l
3 3
s+S
l
[
(s+ l) (s+4) s+I - s+4
---e
I 1 -t +-e
I -4t
ZIR 4 3 12
I -t --c
[ -c I -41
3 3
c!)-1(t) a Cl>(-t)
,,_. Example 4.36 : Determine tire co11tro//ability attd oburvability of tire following stair
model.
1
x 0
-ll
A = [~
-6
- ~I -~J B = m, C = ~O 5 I]
AB
[_~6 -~1 -~J m =L~l
A (AB)= [ ~
-6
0 ~
-11 -6
l [ ~1 [-l~l
-12 61
o, ~ [~ -1°2 -1~
61
l
Now I Q< j = - 84 "' 0 hence rank of Q< = n = 3.
The system is completely controllable.
ATCT =[~ ~0 1
-~ 1 [l~l =[=tl
-6 1 -1 J
J\ T2CT
0
-6]
AT[ATcTJ=[~ 0 -11
-6 [=t] = [~]
Q,, = [~o -6 -1
- 1 !l
Now IQ j=96
0 ,eQ hence rank of Q0 = n = 3
The system is completely observable.
111• Example 4.37 : A system represented by followi11g state model is controllable but 1101
observable. Slww that tire no11-01'urvability is due to a pole-zerocancelkuion in C(sl-Af1B.
(VTU: July/Aug.-2005)
X r~
-6 -n
0
-6
JO] X+[~]
1
II
Y = (1 I OJ X
Solution : From the given mod,cl,
A ;
[~-6-11-6
~ ~].B=[~] 1 ,C = (1 1 0)
Modem Control Theory 4 ·67 SoluUon of State Equations
T
s2 +6s+11 -6 -6s
0 ]
-1
s+6
Adj[sl-A]
[
s+6
l
+s(s+6) -(1 ls+6)
s2
I
Adj fsl-AJ ['' ''""
-6
-6s
s+6
s(s+6)
-(lls+6) ,; I
Adj fsl-A] Adi [sl-Aj Adi (sl-AJ
fsr-Ar1
Isl-Al s3 +6s2 +11s+6 (s+l) (s+2) (s+3)
- 1
- (s+l)(s+2)(s+3)
l [
[
l t-
1 1 0 1s
] s2
Thus the factor (s+l) gets cancelled from the numerator and denominator.
·- s+ 1
(s+l)(s+2)(s+3)
This shows that as then: is pole-zero cancellation in C(sl-Ar1 B which is the transfer
function of the system, the system is not observable.
X(t)
X(O) = [-~]
;,. [.;:l ~- f :1
X(Ol = 1~~ :: 1
A7 A8
AA36 X(O)
A9
r-1] = r".I
A1-A2+2A3=-1 . .. (I)
Solving the equations (1) to (9), the system matrix A is given by,
s -1 (s+l) (s+S)
[sl-AJ = ~
[
s+S o]
-1 Adj [st-A]= (s~l)
-6($+!)
s(,+1)
0 ]T
0
0 s+l [
s 2 +5s+6
s2 +6s+5
-6(s+l)
(s+I)
s(s+l) s
l
[si-Ar1
Adj (sl-A)
--Isl-Ai "
[
0
s3+6s2+tts+6
0 s2 +~.J
-----
s+S
(s+2)(s+3) (s +2)(s + 3) --------
(s+l)(s+2)(s·•3)
-6
(s1-Ar1
(s+2)(s+3) (s+2)(s+ 3) (s+l)(s...2)(s+3)
1
0 0
s+l
3 2 ..Y!:._ __ 1_.~_
(s+2)- (s+3) (s+2) - (s+ 3j (s+l) (s+2) (s+3)
-6 6
--+-- .2...._3_ ..Y!:._ +-3- - .2E... ... Partial
(s+2) (s+3) (s+2) (s+3) (s+t) (s+2) (s+3) fractions
1
0 0
(s +1)
Modem Control Theory 4-70 Solution of State Equations
3c -21 _ Zc -Jt
0 0
I,.. Example 4.39: Obtain the lime response y(t) of Ille system giMt bekn» by first
transforming the state model into a 'Canonica/ model'.
l
(VTU: [an, /F~b.·2006)
X = [~ ~ Ol X + [~] u, y = [1 O OjX
-6 -ll -6 2
(i,1-AJ = [~ -~.
6 1t
-~
).+6
/
l
[)J-A] t..3+6/..2+111..+6=0
i.e. (l..+1)(/.+2)(1..+3) = O
~l· ~ ·[~:J[-:+Hl
-1
For >..2 = -2, [>..I - A] = r-20 -2
L6 11
[-3 -1
For >..3 = -3, p,I-AJ = ~ -3
11 ~JMJ =[~::] =[~:]=[+]
M [ ~1 ~2 ~] = Vander monde matrix
Modem Control Theoiy 4. 71 Solution of State Equations
M-1 -'
M
-=-'
-2
-= -31
Ad.M Ad.M [3 Z·S
-4
i.s o-s
O·S]
-1
M-1AM [~
0
~2
0 -3
~i
=A
C=CM=(l I 11
Z(t) [~ -~ ~] Z( t)+[~z]u
0 0 -3 I
Y(t) = [1 1 1] Z(t)
X(t) "' MZ(t) i.e, Z(t) "' M -1xct)
.~. l
ZIR ... ,,., . r:· 0
0
0
.,-3t
l[ 1 ] = [ -2.,-21
-2
1 c...J•
c-• l
Z.SR L-1 { o(s)BlJ( s)}
Modern Control Theory 4-72 Solution of State Equations
0 0
s+I
1,-I 0
s+2
0
[;2] [l/•1
0 0
s+3
L-1
s(s+l)
_:i_
s
1
s+l
1
L-1 _!+_I_ J
s{~+2)
I 1 l/~_\~~
l
l
s(s+3) s s+
ZSR -1::-21
1 -I
[ ---eI -Jt
1
3 3
= !. +~ c-Jt -c-11
3 3
II* Example 4.40: Git~I the system X=[~' ~1] x+[~ ~] U. Find the input vtcior Ult!
to give the fo//oruing lime respons« : (VTU : July/Aug.· 2006)
x111J 6 (1-··-1)
X2(1) 3'--31 -2e-l1 +6(t -e-1)
Solution : The given time response must satisfy the state equation.
[6-6c:,1~;:~~-~2c- ]+[~ ~] U
41
[33 0)2 u
[~ ~r =
u
[
3
-1 4
I
O
l 18-12e-•
[-6+12 e •1 -6e"31 +6c-l1
l
J
6-4c-1 ]
U(t) [ _12+l2c.1 -3c_31 + Jc_41 ••• Required input vector
1• Example 4.41 : Tiie foll11Wingis the state space representation of a linear systtm wl,_
eigtn wlitcs are -3, -2, -1. (VTU : July/Aug.·2006)
X =[ ~
-6
~
-11 -6
~. lJ (X) +[~]
2
II
:. {sl-AI ~
[
s
0
6
-1
s
11
-1
0
s+6
l , Adj {sl-A) n
[
s2 +6~+11
s~6
-6 -6s
s(s+6J -{11s+6)
s2
l
r
fsl-A) = s3+os2+11s+6=(s+1)(s+2}(s+3)
j
s2 +6s+ II s+6
(s+ 1)(s+2)(s+ 3) (s+ l)(s+2){s+ 3) (s+ ll(s+2)(s+ 3)
:. {sf-Ar'= Adilsl-AI -6 s(s+6)
Jsl-AI (s+1)(s+2)(s+3) (s+l)(s+2)(s+3) (s+ l)(s+2)(s+ 3)
-6s -(I ls+6) s~
(s+l)(s+2)(s+3) (S+l)(s+2)(s+3) (s+l)(s+2)(s+3)
Adj[sl-A)
s+ I
= (s+2)(s+4) (s+2)-1(s+4) I
l
Isl-Al 3 (s+S)
[
(s+2)(s+4) (s+2)(s+4)
-0.5 1.5
--+- -0.5
--+- 0.5
s+2 s+4 s+2 s+4
1.5 1.5 1.5 0.5
[ ---
• s+2 s+4
---
s+2 s+4
A2
[-5 -I] [-5 -1] [ 22 6]
3 -I 3 -t = -18 -2
A2t2 A3t3
l
I+ At+--+--+ ...
2! 3!
,,.. Examplo 4.43 : Obtain the stale transition matrix usi11g : ()anJFcb.-2007)
I) Laplace tansformmethod
- 4. 77
s+4
l
Solution of State Equations
l
Adj!sl-AI _ (s+2}. (s+\)2
ls! -Af - - _.:.'.!.__
(s+2)? (s+s2)2 J
[
I
-4
(s+2)2
2
s+2 + (s+2)2
_!
s+2
(s+2)2
1 2_
(s+2)2
I , .
... Partla! fractions
~e''
d). l•=I "2 ~~!ao+r'11.
,..) .J! ,),).2
... (1)
This is the property of state transition matrix if A1A2 = AiA1. So verify this condition.
[~ ~) ( _0 00 ~) (-~ro 6:)
0 6rol
A2A1 = [ _000 ~] [~ ~] [ -6U> 0 J
As A1A2 = A2A1, the above property holds good. So calculate cA 11 and c"2' and
then multiply to obtain e'".
e"t' L-1(s1-A .r
(sl-A [s-6 0 ] rs-6 0 )
1) 0 s-6 'Adj (Sl-A2J = 0 s-6
+: . .'..l
isl-A 11 (s-6)2
Adj[••-A,j
(st-A 1 r 1
jsl-A11 0
,_.. Example 4.45 : Obtain tlie timt response of lht folluwing V«tor 11111trix differential
input and the initial conditions art X1(0) = Xz(O) = 0. (VTU: July/Aug.·2007)
Solution: A c [_ 06 ~5).B=[~lC=[l OJ
[sl-Af [s
6
-1 ] ,J\dj[sl-Af=
s+S [s+S
_6 :]
(sl-A) s2 +Ss+6=(s+2)(s+3)
[s•-Ar'
Adj[sl-AJ
Isl-Al -
[ "''
_ (s+2)(s+ 3)
-6
(.+2):.+3) ]-~·)
(s+2)(s+ 3) (s+2)(s+3)
X(t}
,..,. Example 4.46 : Oblai11 lire observabl< phase variable stale model ~f 'l'T,
Y(s} _ b0s3+b1s2+b2s+b3
U(s) - s3 +.11s2 +d2s+a
3
:. (s3+d1s2 +a2s+a 3
l Y(s)=b s
0 3 +b1s2 +h2s+b3(U(s)I
Y(s} = b0U(s)+1(-a1
s
Y(s)+ b1 Ll(s)] +.},
s·
1-a 2Y(s)+b2U(s)) +-\- f-.i 3 Y(s)+ b3 U(s)I
s
... (!)
Now define the state variables as,
X3(s} ~lb1U(s)-d1Y(s)+X2(s)l (2)
.::.<~
U(s)
Y(s)
Where Y(s)
Y(s)
x.(s) Q(s).
sX1(s) X2(s)
sX2(s) X3(s)
Taking inverse Laplace transform,
.
X1 = X2, X2
. = X3,
i.e,
.
X3
1X 3(s)-a 2X2(s)-a 3X1(s)+
Modem Control Theory 4. 83 Solution of State Equations
From (2),
Review Questions
1. WNzl is homogtn<1>us and nonhomognreous sliltt "'lualion 7
2. Otfi•t statt transition 1tmlrix usi•g classiail mtlhod of obtaining soluNon.
J. What is zero input response and uro slate response ?
4. Obtain lht romp/tit solution of nonhomogtntous slalt equation using timt domain method.
S. State tht imporlance of state transition matrix.
6. State tht various proptrlits of slalt transition matrix.
7. Obtain llrt solution of nonhomogtnt0us •lat< tquatian using Laplace lmnsform met/rod.
8. Whllt is resolrxtnt matrix ?
9. Explain IAplare transformmtthod of obtaining 1. i
10. Expwn p<n«r Strits mttlwd of obtaining /•1.
11. Explain Caylty Hamt11on method of obtaining 11•
12. Expwn simil1trity transformaJion rntlhod of obtaining t111•
13. Obtain t11t for following matrices using all tht methods,
a[-~ -~1
b. [: ~]
Ans.: [ •' 0]
le
I
e
I
I 1
Ans.:
f
cos./2 t Tzsin ../21
-.fi. sin ./21 cos./2 t I
Modem Control Theory 4 .'a4 Solution of State Equations
14. Oblai11 llU! ltomogenoous solutio1t of Iii• tqualiD1t ')({I} =A X(I) wlttrc
X(t) = [ -12
0 1 ] X(t} + lPJ Ult)
-7 I
. . . strp
Tirt inpu! U(I) ts unit ( = [10]0
mid X 01
(Ans.:Ylt)=~ ... ~e-31 145e,1)
3 3
16. Show that tlzc following syst<rn is completelyslate con/rol/JJblt and observable.
XII}=[-~
l
=~ -:1
0 -lJ
Xfl) + [~] U(ll
1
c, A=
r-1
I 0
c 0
-1
0 -2
~1 H =[~ ~l
3 0J (Ans.: a. Controllable. b. Controllable c, Not controllable)
28. £untuatt llu: obseroobility cf tire folfowi11g sy:<frms witll,
2 I 0'
n. A =
fl o0 0 2,J I· r
2 =[ ~ ~ ~]
c, A·[~ I 0] c ~
0 I , (4 5 1)
-6 -11 -6 (Ans.: a. Observable b, and c, Not observable)
DOD
(4. 86)
Pole Placement Tuchnique
5.1 Introduction
This chapter deals with the problem of pole placement. The pole placement technique
or pole assignment technique is a method for design of control system which ls discussed
in this chapter.
If it is assumed that all the state variables for a given system arc measurable and
available for the feedback then it can be proved that for a completely state controllable
such system, its closed loop system poles can be placed at any desired location through
state feedback by means of an appropriate state feedback gain matrix.
The desired closed loop poles are firstly evaluated based on transient response and/or
frequency response requirements such as say damping ratio, speed, bandwidth as well as
the steady state requirements. Let us consider that the desired closed loop poles arc to be
located at s=a1, s=u2 ......... s=a n- Then by properly selecting gain matrix for state
feedback. il is possible to locate the closed loop poles al the desired locations provided
that the original system is completely state controllable.
In the following sections, we will consider the control signal to be scalar. It can then
be proved that the necessary and sufficient condition that the closed loop poles can be
placed at any arbitrary locations in the s-plane is that the system is completely state
controllable Le. it is possible to transfer the system state from any initial state X(t0) to any
other desired state X(t1) in a specified finite time interval (t1) by a control vector U(t). The
required state feedback gain matrix can then be evaluated using various methods.
In this chapter, It is considered that the control signal is a scalar quantity and not a
vector quantity. Under such case, the mathematical aspects of the pole placement technique
is complicated as the state feedback gain matrix is not unique.
(5 - 1)
Modern Control Theory 5-2 Pole Placement Technique
Fig. 5.2
Modem Control Theory 5-3 Pole Placement Technique
The stability and the transient response cha.racteristics arc determined by the eigcn
values of matrix A - BK.
Depending on the selection of state feedback gain matrix K, the matrix A - BK can be
made asymptotically stable and it is possible to make x(t) approaching to zero 3$ time t
approaches to infinity provided x(O) ,. 0.
The eigen values of matrix A - BK are called regulator poles. These regulator poles
when placed in left half of s plane then x(t) approaches zero as time t approaches infinity.
The problem of placing the closed loop poles at the desired location is called a pole
placement problem.
x = Ax+ Bu . .. (1)
The eigcn values of the matrix (A - BK) are nothing but desired closed loop poles.
The necessary and sufficient condition for arbitrary pole placement is that the system
is completely state controllable.
If suppose the system is not completely state controllable then there arc eigcn values
of matrix A - BK that can not be controlled by state feedback.
According to Kalrnan's test for state controllability, the system is said to be completely
state controllable if the rank of the composite matrix Qc is n.
Q,, = [B: AB:A2B: An-ls]
Let us suppose that the system is not completely state controllable. The rank of the
controllabiUty matrix is less than n,
rank(B:AB:A2B: :A0-1B] = s<n
Thus there are s linearly independent column vectors in the controllability matrix. Let
these s linearly independent column vectors as c1, c2, c•. Also let us select n - s
additional vectors t,.1, ts.2, ....... t,, such that
Modern Control Theory 5.4 Pole Placement Technique
By using matrix Pas the transfomation matrix, let us define r·1AP=A. p·1B=B
Now we have AP = PA
'
a~t
' . a,, : a~1•1 aan
-----------------r-----------------
'
······················ : 8-•ts•1···· ···· 8.s•tn
'' ;
''
;
:
I :;
'' :
I' :
;: •
............. ........ : a"'., 8m
?'
Modem Control Theory 5.5 Polo Placement Technique
Let us define
u ~ zcromatra • b., ~
We have,
(Ac,: A~ ....... : Ac,: Ai..1 ; ....... : A1,,]e(c1: ~: ...... : C,,: 1,,,: 1>•2: ....... : •n] [.:'!~-~-~'.L]
0 ' Az2
Hence we have,
Modern Control Theory 5-6 Pole Placement Technique
Now we have, B PB
B (c1: c2: ........• : c,:t •._1:t 2: : t.,]B
Now B can be eXJ>resscd in terms of s linearly independent column vectors
c1, ei, c;. Therefore we get,
B = b11c1 +b21c-2+ b51c,
'o· I
0 J
b~l
b11]
Let us define
bs1
We have u= [-~n
Now we define K
We have
jsl-A+BKj 1r-1(sI-A+BK}Pj
jsr-r-1AP+r·1 sKPj
But P·I AP= A=
"' [ •••••
An :1. ••••
A12 ]
0 : ~
Modern Control Theory 5-7 Pole Placement Technique
Substituting
jsl-A+BKJ = js1-fi.+i3xkl
In the Identity matrix I, we have n rows and the diagonal clements as 1. nus matrix
can be split as we have the matrix A.
1 o 0 0
1······· .
"•..... I
0 ::·., : 0 0
I• ---------------i---------------
0 0 1 ::::.:::: ~
0 0 0 .: ..,,
...................... a , o 0
''
''
I :;
' :
.................... 1
': 0
:
0
--------------+---------------
...................... 0 ·: 1 :::·············· .. ··· 0
..
I
I
'·, ••
· · .... "•,,
.......... 0 : 0 :·:::1
Modern Control Theory 5-12 Pole Placement Technique
[ B:i\B:i\ 2B] r: ~1
a11
0
[B:AB:A
2 s) [~] = 8
T [~] B
r 1T·m r-18
r1B = m
The results which are proved for n = 3 can be extended and generalised so Iha! we
have equations (2) and (3) as given below.
0 1 0··· 0
0 0 1 0
-1
T AT=
0 0 o.... 1
-an -an-1 -an..2 -a,
Modem Control Theory 5 ·13 Pole P,lacement Technique
0
9
~ = r-1ATx+l1Bu
The above equation can be transformed into the controllable canonical form if the
system is completely state controllable. The state vector x can be transformed into state
vector x by use of transformationmatrix T = MW.
Now we will select a set of desired eigen values as a1,a2, a0• Then the
desired characteristicequation becomes,
( s-a1 )( s-a2 ) (s-an) =sn +o1sn-l + on-ts +on .:o. ...(7)
When u = -f<x = -KTx is used to control the system having the equation
.
x (r1AT-11BKT) x
The characteristicequation is,
!sr-r-1AT+r1BKTI c o
This characteristic equation is the same as the characteristic equation for the system
defined by ; =Ax+ Bu when u; = - Kx Is used as· a control signal. This ts proved below.
; = Ax+Bu=Ax+B(-Kx)=Ax-BKx=(A-BK}~.
Modem Control Theory 5· 14 Pole Placement Technique
!sl-A+BKI =I r1(sl-A+BK)Tl=ls1-r1AT+r1BKTI
Now we will simplify the characteristic equation of the system in the controllable
canonical form.
I 0 0 0
Iisl-
0 0 0 9 I
I sl-T-1AT-r1BKTI I
+: [µ11µ11-1 ...... µ iJ I
! 0 0
I """" -an-l """1 I
-1 0
0 0
l.L
This is the characteristic equation for the system with state feedback. It is same as
equation (7).
0I d I+µ I
o.z a2 +µ2
sn an +µn
The above equations can be solved for µ; 's and substituting in equation (8)
If the system is completely state controllable, all eigen values can be arbitrarily placed
by choosing matrix K according to above equation no (9). nus is the sufficient condition.
Modem Control Theory 5-15 Pole Placement Technique
Thus the necessary and sufficient condition for arbitrary pole placement is proved and
it requires the system to be completely state controllable.
For a system which is not completely state controllable but is stabilizable, then the
total system can be made stable by placement of closed loop poles at the desired locations
for s controllable modes. The rest n - s uncontrollable modes are stable which shows that
the total system can be made stable.
.
u = - Kx .
x=Ax+B(-Kx) = Ax-llKx=(A-BK)x
The state feedback gain matrix K forces the eigen values of (A - BK) to be
a 1• a2 ..•••...••..... n". Then the desired characteristic equauon is
( s-tt.) ( s -n2 ) ..•...•..... (s-tt0) # s" + 61s0• 1 + i>2s0•2 + + 611_ 1s + 60 = 0
The desired cigen values 1x1,u2 n0 can be obtained from following steps.
Step I: The controllability condition is checked for the system. For the
system which is completely state controllable following steps can
be used.
Step II: The characteristic polynomial for matrix A is given by
J sl-A I = s" +a 1s11-1 +a2s0-2+ +i111_1s+a0
From this values a 1,.12 a" can be obtained.
Step Ill: The transformation matrix T is determined which converts the
system state equations into controllable canonical form. For system
equations which arc already in controllable canonical form T = I.
The system state equations are not required to be written in
controllable canonical form but matrix T is found from.
where Q., ts controllability matrix
Modem Control Theory 5 -16 Pole Placement Technique
0n-l 0ra-2 a1 I
011:-2
°n:-3
1 0
1 0 0
0 0 0
Step IV: Using the desired eigen values which arc desired closed loop poles,
the desired characteristic equation can be obtained
( s-«1 )( s-«2 ) (s-an) = s" +l>1sn-l +l>2s"-2+ l>.,_1s+l>n·
Step V: The state feedback gain matrix K can be obtained from following
equation
K = (l>n-an lin-l-an-t·············li1-a1JT-I
Lei A-BK
x iix
The desired characteristic equation is,
isl-A+ UKI
The above equation can be used for deriving Ackermann's formula. Let us consider the
case of n .r 3 for simplification of derivation.
We have following identities
A A-BK
.i\2 (A-BK)2=A2-2ABK+B2K2
A 2 -ABK-ABK+B2K2 =A 2 -ABK-BK(A-BK)
A2-ABK-BKA
No~" consider
+ o2(A -BK)+o31
A 3 -A 2BK-/\BKA-BKA 2 +o1A 2 -61ABK
- 61BKi\-A 2BK-ABKA-llKi\ 2
B111 0
11, the system is completely state controllable, the inverse of the controllability matirx
Q., ~ [ 13: AB: A 2 B] exists. Multiplying bolhsides by inverse of controllability matrix.
K to 0 1)[13:/\B:A213]o(A)
The above equation gives the required state feedback gain matrix K for arbitrary
positive integer n,
K = (0 0 [
0 I] 13:AB:A·ll: , :A0•1n 1·1 O(A)
This equation is called Ackermann's formula for the evaluation of state feedback gain
matrix K.
Modem Control Theory 5·19 Pole .Placement Technique
x = Ax+ll11
totier« A
By using the state feedb<rck control 11 = - Kx, it is desired lo have the closed loop poles
at s=- 1 ± j2. s = - 10. Det!'Tmirre the state feedbackgai11 matrix K.
Solution : Let us first check the controllability matrix of the system. The controllability
matrix, Q,, = [n:AB:A2n]
B
[H AB=[~ -1
ro o] = ro 0
A2 =A.A.
l~t
I
0 1
01[0
0
-5 -6J -1
1
0
-5 -6
1 -1
c+6
-5 ~6]
29 31
0
A2B
[~ -5 ~6] [~]=f ~]
+29 31 1 l 31
Modem Control Theory 5-20 Polo Placoment Tochnique
~ =
[1
o o
0 I -6
-6 31
l
1 .
The rank of matrix ~ is J. ·111e system is controllable and hence it is possible to place
the poles arbitrarily.
Now the state. feedback gain matrix K can be obtained by using any of the three
ro~
methods discussed previously.
-1 -5 -6
The characteristic equation for the system is,
s ls(s+ 6) +5 J+ 1[1]
s [s2+6s+s]+1
s3 +6s2 +5>+1 =O
Comparing this equation with s3+a1s2+a2s+,t3 =0
:. a1 = 6. a2 = 5, a3 = I
(s+ 1-j2)(s+ 1+j2)(s+10) = [Cs+ 1)2 +4] (s+ IU) =[s2 +2s+5] Is+ 10(
s3 +tos2 -t- 20s+2s2 +Ss·~SO
s3 +12s2 +25s+S(l
s, =12, 02 =25. 03 =50
K = fo3-a3 62-a2 o1-a11rl
As the given stale equation is given in controllable canonical from T = I.
11 r
K Lo3-a3 1>2-.i2 1>1-a.J =[50-1 25-5 12-6]
K [49 20 6)
Modem Control.Theory 5-22 Pole Placement Technique
o -6 0
-5
=[~1 29 31_ -1
•no 0
-5 :]
-5
- r-16 29 ~l
-31 -1~9 -1571
[~l or
I
0
-5 -6
1 - 0 [o
-1
1
0
-5 :][~
I
0
-5 ~] =[~1 0 -6
-5 1
29 31
l
0 1 0
¢(A)
r-1
6
-31
-5
29
-149 -157
~ j+1{~-6 -5
29
~6]+25[ ~
31
0
-1 -5
~]+so[~ 1
0 ~]
[ ·19
18 20 6 ]
19 -16
-128 74 115
[ B: All: A 2Bf1
K "'
0
1
l
-6
i·lr 18 49 20 6]
19 16
-6 31 l-128 74 115
~ ~] [ ~: ~~ -~6}
0 0 -128 74 115
[1 0 0) [ ~: ~~ -~6]
-128 74 115
[49 20 6]
Modem Control Theory 5-23 Pole Placement Technique
,._. Example 5.2 : It is desired to place tire closed loop poles of tire followi11g system al s = -3
and s = - 4 by a slate feedback controller witlr Ille control u = - Kx. Detennine tire state
fttdbackgain matrix K a11d the control signs]. (VTU : Aug.-2005)
y = [1 O]x
.
Solution : Equating
x e
the state equations
Ax +Bu and y=Cx we get
with standard equations with standard form
B = [~] c = [1 0)
The given equation is not in the controllable canonical form because B is other than[~]
T Oc·W
W=["i 1]=[3 11
1 O 1 OJ
x ; Ax+Bu
y Cx
Let us considerx as the observed state vectors. The observer is basically a subsystem
which reconstructs the state vector of the system. The mathematical model of the observer
is same as that of the plant except the inclusion of additional term consisting of estimation
error to compensate for inaccuracies in matrices A and 'B and the lack of the initial error.
The estimation error or the observation error is the difference between the measured
output and the estimated output. The initial error is the difference between the initial state
and the initial estimated state. Thus the mathematical model of the observer can be
defined as,
x Ax+Bu+K.(y-Cx)
Ax+Bu+K.y+KeCx
(A-K.C)x+Bu+K.y
x x
Here is the estimated state and C is the estimated output. The observer has inputs
of output y and control input u. Matrix K0 is called the observer gain matrix. It is nothing
but weighting matrix for the correction term which contains the difference between the
measured output y and the estimated output CX.
This additional term continuously corrects the model output and the performance of
the observer is improved.
Full order state observer
The system equations are already defined as
x ; Ax+Bu
y Cx
The mathematical model of the state observer is taken as,
Modem Control Theory 5-26 Polo Placement Technique
x = Ax+Bu +K.{y-Cx)
i from
..
To determine the observer error equation, subtracting equation of
x-x [Ax+Bu]-(Ax+Bu+K.(y-Cx)]
~ we gel
Ax-Ax-K,(y-Cx)
A(x-x)-K0(Cx-CX)
.. A{x-x)-K.C(x-x)
Let
x-x
e
(A-K.C) (x-x)
x-x
...
:. e=x-x
e : (A -K,C)e
The block diagram of the system and full order state observer is shown in the Fig. 5.3.
>--------Y
u
-----------------------·x·------------
Fig. 5.3
The dynamic behavior of the error vector is obtained from the cigen values of matrix
A-K.C. If matrix A-K.C is a stable matrix then the error vector will converge to zero for
any initial error vector e(O). Hence x(t) will converge to x(t) irrespective of values of x(O)
and x(O).
II the eigen values of matrix A-K.c are selected in such a manner that the dynamic
behaviour of the error vector is asymptotically stable and is sufficiently fast then any of
the error vector will tend to zero with sufficient speed.
If the system is completely observable then it can be shown that it is possible to select
matrix Ke such that A-K.C has arbitrarily desired eigen values. Le, observer gain matrix
I<• can be obtained to get the desired matrix A-K.C.
Modem Control Theory 5. 29 Pole PlacementTechnique
T NW
As w w•
rr-r' (WN'r1
Taking conjugate transpose of both sides of equation I
Bn -an
On-1 ._-an-I
la'rz ''n-3
1 0
Herc w
I ,
l ·~i 0 ~ ~
N I c- : NC' : (N)2 c- : : (N)n-l c· I
The second method is based on direct substitution method to get the state observer
gain matrix K,. This is applicable for system having low order. TI1e matrix Kc is directly
substituted in the desired characteristic polynomial.
Let us consider
K~ : r~:~Jl
Ko3
By equaling the like power coefficients of s on both sides. the values of Ke1• K02 and
I<,,3 can
be determined. This method is restricted for value of n at the most 3.
The third method is use of Ackermann's formula. For the original system defined as
x=Ax+Bu and y = Cx we have already derived the formula known as Ackermann's
formula given as,
Modern Control Theory 5. 30 Pole Placement Technique
z A"z + c·v
y n•z
The Ackermann's formuln for dual system is modified as
K = [O 0 . 1 ]I C' : A"C' : : (A')n-l c• r' O (A ')
Both observer gain matrix, K0 = K'.
-1
() c 0
r c~
l ;
0 C.A 0
:.Kc= K' = q>(A ')' = q>(A) ... (II)
CA n-2
LCA"-l Ci\ n-1
With the appreciable noise produced by sensor then the observer poles can be selected
to be slower than two times the controller poles. The bandwidth of the system will then
be less and noise wiU be smoothened. The system response is dependent on observer poles
in such case. The observer poles arc located to the right of controller poles in left half of
s-plane so that the system n.'Sponsc is influenced by observer poles.
While designing thc state observer, it is required to evaluate various observer gain
matrices Ke based on number of various desired characteristic equations. For each of these
different matrices K. r the simulation tests can be run to check the overall system
performance. Based on the performance, the best possible K. om be selected. In many
systems, the best value of K0 is obtained after a compromise between fast response and
sensitivity to disturbances and noise signals.
x = r: -~l !J x +mll
y " ll 0 O].r
Design 11 full order observer s11cl1 t/1111 the observer eige11 oalues nre nl -2 ± j2./3 mrd
-5. (VTU: Aug.·2005)
Solution:
A= r~ 0
-6 -11
1
c = [1 0 01
~IJ m =m
()
c· ~ m; A'C• =[~ 0
3 3 OJ =Ior1 0
(A-)2 =
[~ ~][~ o L2 ~2]
-1 -1 2
1
7
-I
0
(A"l2 c·
[~ ~][~]=[~]
7
-1
0
I c· : NC• : (A")2 C- I
[~ 2 ~2]
2
0
The rank of above matrix 3. Hence the original system is observable.
Let Ke = [K•l]
K.i
K•3
be observer gain matrix
I
Now consider sl-(A + K0 -C)j =
2
[~ :]-([:
0
s
0
-1
2
~]-[~:~] (0 0 tJ)
0 2 0
[~ ~]-( [~ ~] -[~
0
-1
2
0 K,2
K<tl)
0 K._,
0
OJ0 - [l3 -12 1-K.i
-K.1 ] I
I [~ 0 s 0 2 -Ke3
= I r-l-3
-2
s+l -I K.1
+K.2 ] I
0 -2 s+K03
Modem Control Theory 5.37 Pola Placement Technique
(A-K0C) (x-x)
[~1
•
eJ
= [A-BK
0
BK J
A-K,C e
[x] ... (Ill)
Equation (Ill) shows the dynamics of observed state feedback control system. The
characteristic equation for the system is
l sl-A+BK
o
-BK
sl-A+K.c
I 0
lsl-A+DKHsl-A+K0Cj = o
The closed loop poles of observed state feedback system consists of the poles due to
pole placement design alone and poles due to observer design alone. Thus the pole
placement design and observer design arc independent of each other. The design of each
can be done independently and it can be combined to get observed state feedback control
system. For n as the order of the plant, the order of the observer is also n whdc the
resulting characteristic equation of the total dosed loop system is of order 2n.
To derive the transfer function of observer based controller, let us consider the system
defined as
x Ax+ Bu
y Cx
Let the plant be completely observable and let the observed state feedback control is
u=-KX.
x Ax+Bu+K.(y-G)
:.x
. (A-OK-K0C')x+ Key
U(s) = K(sl-J\+KCC+BKr1Kc
-Y(s)
The block diagram representation of above system is shown in the Fig. 5.5
Fig. 5.5
The transfer function obtained above is called observer based controller transfer
function. It can be seen that the observer controller matrix A - KcC - BK may or may not
be stable even though A - BK and A - K.c are selected to be stable. In certain cases, the
matrix A - K0C - BK may be poorly stable or even unstable also.
,,.. Example 5.5 : A system represented by followi11g state model is controllable but 11ot
obstrvablt. Show that lht 1101H1bsm;ability is due to a pole-zero cancellatio11 in Clsl - AJ-1.
(VTU: July/Aug.·2ll05l
x [ ~ ~ ~] x+[~]u
-6 -11 -6 1
Y (1 1 o) x
Modem Control Theory 5-39 Pole Placement Technique
Solution:
x
[-6~ -110 -6~ jx+[~]u
l
Y = (1 I 0) x
Herc, A
[~6
l
0
-11
q;
-6
8 = m; c = (1 I 01
[~ ~]-[~
0 1
[sl-A]
0 s -6 -II
0
lJ [~ -1
s
11
0 ]
-1
5*-6
(s+l)(s+2)(s+3)
Adj of fsi-A]
[s1-Ar1
jsl-A!
rs +6s+ll
1
(s+l)(s+2)(s+ 3) l 2
+s+6
1
-6
s
-6s ]T
s2 +6s -lls-6
s2
s2 +6s+ll s+6
I 6 s(s+6)
(s+l)(s+2)(s+ 3) [ .
-6s -(11s+6)
Y(s)
T.F. D(s) = C(s1-Ar'n+o = C[sl-AJ-1B = (·: O=O)
[1 1 0 J
1
(s+l)(s+2)(s+3)
r s"+6s+11
l
'
-6
-6s
s+6
S(H6)
-(lls+b)
IS
s2
l [010
I
·,
(s+ l)(s+2)(s+ 3)
(s2 +6s+l1-6 (s+6)H(S+6) 1+s] r~l]
1
s+l
(s+l)(s+2)(s+3) [. J
Modem Control Theory 5 -40 Pole Placement Technique
s+ l
(s+i)(5:.:.2)(s+3)
Y(s) s+l
T.F. = --
U(;)
=------
(>+ l)(H-2)(~+ 3)
Clearly it is seen that the factor {s.,.1) is cancelled from numerator and denominator.
Fig. 5.6
There is no coupling between x3 and y due to which state x3 can not be observed from
measurement of output y. Thus the system is not completely observable due to pole-zero
cancellation as matrix C contains one of the terms as zero.
1m+> Example 5.6 : A regulator system has the plant (VJ'U: J•n.!Feb.-2006)
i) Compute K so that the control law 11 = - Kx + ru), r(I) = reference input, places
the closed loop poles at -2 ± jM,-5. (81
ii) Design an observer such that tne eigen values of the observer are located al
-2±j./f2,-s. (61
iv) Obtain the stale model of the observer based stale feed back control system. (31
Modem Control Theory 5 ·41 Pole Placement Technique
Solution:
y
x
[~ ~]
0
0
(0 0 1) x
-.
[r ~];
0
A 0
B = [~} C = [O 0 1]
i) Let us first check the controllability matrix of the system the controllability matrix
=
for n 3 is given by,
o, [B:AB:A2B]
0
B m; AB=
[~ ~][~] m
0
A·A
0
[r ~][~ ~]= [~
0
0
0
-6
-11
-6
:i
25
-6
[~ EJ[~l = m
-11
-6
[~ ~] = =
1
0
IOcl t(t) l;t o
Rank of Q, = 3
The system is completely state controllable as the rank of controllability matrix
QC: n: 3.
Now the desired characteristics equation is,
(s+5)[s2 +4s+16]
Modem Control Theory 5-46 Pole Placement Technique
[~ ~s][~] [~sl
0
A2B = -6 =
30 19 1 19 J
0
QC
[~ ;:] .I
-5
;
IQd = 1co-1i = -1 ... o
Rank of Oc = 3
The system is completely state controllable as rank of matrix Oc = n. Hence it is
possible to place the poles arbitrarily. Let us now find the stale feedback gain matrix by
use of transformation matrix T.
a1 =5 ; a2 =6 ; a3 =0
The desired characteristic equation is,
[Cs+1)2 +1J(s+SJ
[10 6 21[~ 01 OJ
0 0 I
0 = [10 6 2)
Y(s) 10 10 10
U(s) s(s+l)(s+2) s(sz +3s+2) s2+3s2+2s
o(t)
Fig. 5.9
The complete slate diagram is as shown in the following Fig. 5.10 after simulating the
numerator by shifting take off point.
y(t)
Fig. 5.10
Modem Control Theory 5-49 Pole Placement Technique
s3 +4s2 +6s+4
Comparing above equation with s3+ o1s2 + o2s + &3 we have,
&1 = 4; o2 = 6; o3 =4
Let us now find state feedback gain matrix by direct substitution method. Let the
desired state feedback gain matrix K be,
K (K1 Ki K3)
I
0 1 0
3 + K3 =4; K3 =1 2 + Kz =6 .'. Kz = 4 K1 =4
., State feedback gain matrix, K = [4 4 1]
Modem Control Theory 5-50 Polo Placement Technique
,,_. Example 5.9: Consider tire 5ystem described l>y Ilic state model x = Ax. Y = Cr where
A
-1
"lr 1
Jl
2
J C = [l 0 I Design a full order stat( oltserver. The tlesi"·d eigL'>I talue» for the
A (~l ~l C=[l OJ
Let K0 = [~cl]
<2
be observer gain matrix
Consider,
![s+ 1 + K,.1
J -l+Kc2
-1
s+2
]I
Modom Control Theory 5. 51 Polo Placoment Technique
s2 +(l+K,1 +2)s+(1+2Kc1+Kc2)
.=
Example 5.10 :
A= 0
0
[ -]
l
0
-5
0
I
-6
l Consider I/re systtm drfined by
Ol
/l = ~
[
J By 11si11g statt feedback control
.r Ax + 811, toher«
lltt closed loop poft<s at s =-2±j4 ands = -10. Determin« lilt stale fe£dbackgoi11 matrix
"K" lJy any one method. (VTU : J~n.fFeb.· 2008)
Solution : We have
B =
[0101:
lj
All =[~
-1 ~5 :][~]=[:]
1
:J[~t q
I n
= I ]
A2 = A ·A
(~1 0
-s
0
-5 -6
=[~I
6
-5
29
-6
.}t
Modern Control Theory 5.52 Pole Placement Technique
0 l
1 -6
-6 31
l :.IQcl = 1[31-(36)]= -5 ~ o
I[~ ~]-[~
0 I
Jsl-A+BKj 0
:J+m lK1 Kz K3)1
0 s -1 -5
I[~ ~]-[
0 1 0
0 s
~ 0
-1 -5 -6
~ ]+[K,~ 0
K2 JJI
-1
Ke =
«•>[c~'r m
[74 25 0
-18
-42 ~] [~ ~im
41
-95 0
[74
~J m [~1l
25
K., = -18 41
-42 -95
Review Questions
J. Whal do you 17U'an be pole p/aremrnt probkm?
2. Prow the necessarya11d s11fflcinil rondilionfor arbitrary polt plactmtnl?
3 Write 5horl note of <1JOluation of stalef«dbiick gain matrix.
4. What art' the diffemtt tnrlhods of <1JOluating stolt fttdbackgain matrix? Explain any ont mtlhcd
in dttnil.
5. lks<ribe Aekennann's formula method for deltrmining the 11Jttt f•tdbackgain matrix K.
6. Writt a note 011 sdtttiot1 of /ooztion of tksiml c/OShl loop po/ts.
7. What do you mun by state obserwrs?
8. Write a note on full onler slate obstrwr?
9. What i• dual probltm?
IO. What is nt«SS11ry and suffidtnl conditionforstate observation.
11. Wh41 art different mtlhods of <1JOluation of sl#lt obstn,'l'f goin rnalrix K, ?
12. Write• note on stltction of suiloble wlut of ~r g•in mmrix K.,
13. Wrltt n 5hort nott 011 obstrotr bllstd controller.
14. Derite 11~ transfer [unction of observer hosed controlltr.
15. Con.sid" 11.. systtm defined hy
x = Ax+Bu
A
0
0
1
0
[ -1 -5
-6
~l r
By using the statt fudbnck control u = -Kx, it is tksirtd to havt I/it dosed loop poles at
s = -2 i j4 ands = -10. Dettrmine the state feedback gai11 matrix K. I Ans.: K = [ 199 SS 8 )J
Modem Control Theory 5. 59 Pole PlacementTechnique
x r~ :l\Tm"
-~l
y = [1 0 o] .r
Dt.<ig11a full order obstroer s11ch iha! the obs(rver t(~m oo/11es are at -2±p2J3 a11d - 5.
(july/Aug.-2005)
000
Controllers
6.1 Background
The concept of a control system is to sense deviation of the output from the desired
value and correct it. till the desired output is achieved. The deviation of the actual output
form its desired value is called an error. The measurement of error is possible because of
feedback. The feedback allows us to compare the actual output with its desired value to
generate the error. The error is denoted as e(t). The desired value of the output is also
called reference input or a set point. The error obtained is required to be analysed to take
the proper corrective action.
The controller is an clement which accepts the error in some form and decides the
proper corrective action. The output of the controller is then applied to the process or final
control clement. This brings the output back to its desired set point value. The controller is
the heart of a control system. The accuracy of the entire system depends on how sensitive
is the controller to the error detected and how it is manipulating such an error. The
controller has it' own logic lo handle the error. Now a days for better accuracy, the digital
controllers such as microprocessors, microcontrollers, computers are used. Such controllers
execute certain algorithm to calculate the manipulating signal.
This chapter explains the basic discontinuous controllers such as on-off controller,
continuous controllers such as proportional, integral etc. and composite controllers such "5
proportional plus integral, proportional plus derivative etc. Let us study first the general
properties of the controller.
Controller output
• (p)
r(I) ett)
Controller
l Process lo Controlledoutpul
be conlrotled ~ c(t)
Errot Sensing
detector
'--/-~------! Feedback element 1-------'
Feedback
signal
•• Example 6.1 : The rattgt of measured variable for a certoi11 co11trol system is 2 m V to
12 mV and a sttpoinl of 7 mV. Firrd the error as percent of span wlu"rl tire measured
tariabl« is 6.5 m V.
5%
Modem Control Theory 6-3 Controllers
The controller output as a percent of full scale when the output changes within the
specified range is expressed as,
p = u-umin xlOO
um4x -umin
Nothing happens in the system, during this time though the error occurs. This part is also
called dead band. The effect of such dead time must be considered while the design of the
controllers.
... (!)
100%t--------~~~~~~--·
50(14 __ ..
I
I
'
----~---..J----------
'
Po= 50 %
1 '
I
I 'I
I 0
0 ...
f
--- --------r---1---- ·-----
I '
-· . ,__ Q
Narrow
,
'
I,..
~
.
!
t,. Error%
error band
Fig. 6.2
The proportional band is mathematically defined by,
6.5.2 Offset
The major disadvantage of the proportional control mode is that it produces an offset
error in the output. When the load changes, the output deviates from the setpoinl Such a
deviation is called offset error or steady state error. Such an offset error is shown in the
Fig. 6.3. The offset error depends upon the reaction rate of the controller. Slow reaction
rate produces small offset error while fast reaction rate produces large offset error.
Modem Control Theory 6·7 Controllers
Oull)Ul
6.5.3 Applications
The proportional controller can be suitable where,
1. Manual reset of the operating point is possible.
2. Load changes arc small.
3. The dead time exists in the system is small.
d p(t) = K e(I)
dr I
(+)
dp(t)
0
di
(-)
-'-------''-------Error
0
Fig. 6.5
Modem Control Thoory 6·9 Controllers
I. If error is zero, the output remains at a fixed value equal to what is was, when
the error became ·~ro.
2. If the error is not zero, then the output begins to increase or decrease, at a rate
K; % per second for every ± l % of error.
In some cases, the inverse of K, called integral time is specified, denoted as 1;.
Modem Control Theory 6 -10 Controllers
6.6.3 Applications
The comparison of proportional and integral mode behaviour at the time of occurrence
of an error signal is tabulated below,
Table 6.1
It can be S(.'Cn that proportional mode is more favourable at the start while the integral
is better for steady state response. In pure integral mode, error can oscillate about zero and
can be cyclic. Hence in practice integral mode is never used alone but combined with the
proportional mode, to enjoy the advantages of both the modes.
K d c(t)
p(t)
J di
The advantage of the derivative control action is that ii responds to the rate of change
of error and can produce the significant correction before the magnitude of the actuating
error becomes too large. Derivative control thus anticipates the actuating error, initiates an
early corrective action and tends to increase stability of the system improving the transient
response.
e(t)
Error 0
Timet
p(%)
100%
Conltoller
output 50%
0%
Timet
Fig. 6.7
The controller output is SO% for the zero error. When error starts increasing, the
controller output suddenly jumps to the higher value. It further jumps to a higher value
for higher rate of increase of error. Then error becomes constant, the output returns to
50 %. When error is decreasing i.e. having negative slope, controller output decreases
suddenly to a lower value.
Modem Control Theory 6-12 Controllers
I. For a given rate of change of error signal, there is a unique value of the
controller output.
2. When the error is zero, the controller output is zero.
3. When the error is constant i.e. rate of change of error is zero, the controller
output is zero.
4. When error is changing, the controller output changes by Kd % for even I % per
second rate of change of error.
6.7.2 Applications
When the error is zero or a constant, the derivative controller output is zero. Hence it
is never used alone. Its gain should be small because faster rate of change of error can
cause very large sudden change of controller output. This may lead to the instability of the
system.
e(I)
Error
p(I)
Conlrollor
output
------~--- --- }------- ----- --· Riso in output duo to intcg1et
------' : J: V1 . action between limes 11 and ti
} VP _ _.'-------- Immediate rise due to
prol)0'1ionul action
Tome
0 1, ti
'---v--'
Integral acton time
6.9.2 Applications
The composite Pl mode completely removes the offset problems of proportional mode.
Such a mode can be used in the systems with the frequent or large load changes. But the
process must have relatively slow changes in the load, to prevent the oscillations.
The behaviour of such a PD control to a romp type of the input is shown in the
Fig. 6.10.
Error e(I)
Ramp
0 lime
P(I)
Controller
output
...
0t----..t.t1---, Time
2--------
0.02(3t+7j+0.02x0.04 J (3t+7)dt+0.5
()
3:2
(0.06t]+0.14+8xl0-4[ +7{ +0.5
u• Example 6.3: Suppose the error shown i11 the Fig. 6.14 is applitd lo a PD controller with
KP = 6 and K,1 = 0.4 sec with p(O) = 25 %. Dr11w the graph of the controller output.
e(t){%)
Fig. 6.14
i J\K
+ p
= 0 for the step input
Lim s G(s)H(s) = ~;
• -o 2<;
e,.., =
So there is a finite error for the ramp input of magnitude A, which depends on ~and
--"'-"--
s(s + ~••nl
Ptanl
Fig. 6.17
Modem Control Theory 6·24 Controllers
C(s)
and
R(s)
Comparing denominator with standard form, oo., L~ same as in the previous P type
controller.
( = <, .. oon2Td
Lim
KP = s _.... O G(s)H(s) = ..
Lim oo
K, = 5 -.a" s G(s)H(s) = 2~
As there is no change in coefficients, error also will remain same.
Key Point: Hence PD co11troller has folluwing effects on system.
i) It increases damping ratio.
ii) ·oo,,' for system remains unchanged.
ill) 'TYPE' of the system remains unchanged.
iv) It reduces peak overshoot.
v) It reduces settling time.
vi) Steady state error remains unchanged.
Key Point : In generRI P.O. controller improves transient part unihout affecting steady
state.
__.,,,__2
s (s + 2~w.)
Plant
Fig. 6.18
Assuming K = 1, we can write,
G(s) ~~
s(s + 2~0),,)
(K, +sl%
s2 (s+ 2~ro0)
i.e, system becomes TYPE 2 in nature.
C(s) (K, + s) ro~
and
R(s) = s 3 + 2~ Cl),, s 2 + s % + K; w~
i.e. it becomes third order.
Now as order increases by one, system relatively becomes less stable as K; must be
designed in such a way that system will remain in stable condition. Second order system
is always stable.
Key Point: Hence lransitnl rtsponse gets a/Jtcled badly if controller is not dtsig11£d
properly.
While Lim
..... G(s)H(s) = ... c.,. = 0
5 0
Lim
K, = ..... s G(s)H(s) = - , c.,. = O
5 0
Key Point : Hence as type is increased by ont, error becomes zero for ram.~ t.VPe of inputs
i.e. steady state of system gets improvtdand system bteomes more accurate in nature.
Modern Control Theory 6 -26 Controllers
Plant
and
Contror.e<
Fig. 6.19(a)
Key Point: 1 Time co11sta11t 'T' is tire time required by tire system output to reach 63.2 %
of its final value d11ri11g the first attempt.
The equation for the actual response c(t) is,
C(s)
Fig. 6.21
R(s)
E(s)
1 + C(s)H(s) for nonunity feedback
R(s)
E(s) = I+ C(s) for unity feedback
This E(s) is the error in Laplace domain and is expression in "s'. We want to calculate
the error value. In time domain, corresponding error will be e(t). Now steady state of the
system is that state which remains as t ~ ...
Steady state error, e..
. . ..
= Um L'(t)
Now we can relate this in Laplace domain by using final value theorem which states
that,
...
,Lim F(t) Lim s F(s)
s-+O
Where F(s) = L I f(t) I
For negative feedback systems use positive sign in denominator while use negative
sign in denominator if system uses positive feedback.
From the above expression it can be concluded that steady state error depends on,
i) R{s) i.e. reference input, its type and magnitude.
ii) C(s)H(s) i.e. open loop transfer furu:tion.
iii) Dominant nonlinearities present if any.
•• Example 6.4: Thefigure slurnrs PD controller used for the system. Determine the value of
T4 so tltat system will be critically damped. Calculate its settling timt.
... ,
Modern Control Theory 6. 32 Controllers
i) In tile abse11a of derivative feedback controller (K0 = 0). Find E, and ron' ii) Find K0,
if E, is lo be modified lo 0.5 by use of controller.
C{s)
H(s)
C(s) G(s) _ 50
R(s) 1 + G(s)H(s) - 82 + 3s + 50
14
~ = 0.9695 sec.
(l)d
4
T, i; w,, = 2.1381 sec.
11.+ Example 6.7: For tlu system shown determine % M1, a11d T,, when it is excited by 1111it
~tep i11p11t. If fbr the same system, I'D controller liaving constant T0 ~ 1/30 is used in
fbr«Jard path, determine new values of damping ratio, MP andT,. Draw rtsptclive
waveforms.
0)2
n 100 :. Oln = 10 rad/sec.
12 ~ = 0.6
OJ0 J1 - ~2 = 10x 0.8 = 8 rad/sec.
4
i;<On = 0.666 sec.
1 I •
Modem Control Theory 6. 35 Controllers
With controller
100
S('S'+i2i
G(s)
(1 +i )too (s+ 30) x 3.33 H(s) =1
s(s+ 12) s(s+ 12)
(s+ 30) 3.33
C(s) s(s + 12) 3.33(s ... 30) 3.33(s + 30)
R(s)
1
+ (s + 30) 3.33 s2 + 12s + 3.33s + 100 s 2 + 15.33s + 100
s(s+ 12)
2sro., 15.33
; ;:·3 :o = 0.7665
T5 = ~
~ = 0.5218 sec.
Comparison : Following figure shows comparison between system with controller and
system without controller.
0.47 %
t)
2.353%
and 2
~ 0.3162
This is the required damping ratio.
For error calculation :
5
C(s)H(s) ;
s (l + O.Ss)
Cs~ =
Case bl Tbe derivative feedback is introduced in the system.
The system becomes.
1
~ C(sJ
$Ki
1+ ----
s ( 1•0.5s)
0.5s2 • s ( 1 + K1)
KA
C(s) s [0.5s + 1 + K1 J K,..
R(s) I+ K,, 0.5s2 +(1 + K1) HK,,
slO.Ss+ I+ K1 J
Modern Control Theory 6 -40
'.\+KP
and 0.4037
2xro.,
~ = 2.5449
'"* Example 6.10 : An integral controller is used for tem,,....aturecontrol witlrin a range
40 - 60 •c. 17u: st/ point is 48 •c. Th« controller output is initially 12 % when error 15
uro. Tire intrgral constant K1 = - 0.2 % controlleroutput per ~nd per percent11geerror.
If tire temperature increases to 54 •c, calcublte II~ controller output •fltr 2 s« for" constant
error.
Solution : For integral controller,
p(I) ... EP =error
111• Example 6.11 ; For a proportional controller,tire amtrolltd variable is 11 tnnpemturc willr
11 ra11gt of 50 to 130 'C with a st/ point of 73.5 •c. TM controlltr output is 50 % ftw uro
error. The offset error is corresponding to a lead clumgt which causes 55 % c:mitrolkr
011tp11t. If tire proportional gain is 2, find tlit % control/tr output if thr ltmptral11rt is
61 -c.
Solutlun : For a proportional controller,
p(t) Kp 6r(t) + Po
Where Kp = 2, Po = 50 'l'o
Modem Control Theory 6-43 Controllers
This is plollcd for 4 - 6 sec. After 6 S<.'C as error is zero hence output is accumulated
integral response of p3(t~1%6 =
34.6 %
The graph of p(t) against time is shown in the Fig. 6.23.
(Sec Fig. 6.23 on next Page)
,,_. Example 6.14 : A proportional controlkr is employedfor the control of temperature i11 the
range 50 •c - 130 •c •oith a set point of 73.5 •c. The zero error controller output is 50 %.
Wlrat will be the offset mar re>uiting from a change in t/Je controller output to 55 % ? The
proportionalgai11 is 2 % I %. Find tire offset in •c.
Solution : For proportional control mode
Modern Control Theory 6. 44 Controllers
Fig. 6.23
p KpEP +Po
Where Po = Controller output with no error = 50 %
2%per%
The rani;c of 50 "C to 130 "C so b'"'" = 130 "C and bmm = 50 "C.
c = r-b xlOO Where r = set point
bnl,\\ -blllHl
2.5 73.5-b 00
130_50x1
b 71•.s ·c
This is temperature corresponding to offset error.
Modom Control Thoory 6. 45 Controllors
2
0-'---+--_, _ _,.,,.... .,_ t Sec
-2
-4
Fig. 6.24
Ep - 2.St + C2
At (2, 2), 2 - 2.5 x 2 + C2, .: <; = 7
Ep - 2.St + 7 for 2 - 4 sec.
Ep +l.5t+<;
At (4, -3), -3 1.5 x 4 + C3,
... 1.5 t -9 for 4 - 6 S« .
Modem Control Theory 6 -46 Controllers
I dE
p 2EP+4.4JEPdt+4-af+40
0
I d
For 0 - 2 sec, Pt 2t +4.4J l di +4di(t)+40
0
I d
For 2 - 4 sec, P2 2(-2.5t +7) +4.4J (-2.St +7) dt +4 di(-2.St+7)+ 48.8
2
This is plotted for 2 - 4 sec. At the end of 2 S<.'C, the integral term has accumulated to,
For 4 - 6 sec,
I I
p3 2(1.St-9)+.JAJ (1.St-9) dt +4Ft(l.5t-9)+44 ..J
4
3t-18+4.4{01s(12 -t6)-9(t-4)}+6+44.4
After 6 Sl'C, error is zero hence the output will simply be the accumulated integral
response providing a constant output.
P1(6) ·l.4{075(t2 -16)-9(t-4)}1,.6 +~4.4
31.2 %
,,... Example 6.16 : A temperature control system has tire block diagram given in Fig. 6.25.
The input signal is a voltage and represents tire desired temperature 0, is a unit step
function and i) D(s) =1 ii) D{s) = 1 + Pf iii) D(s) = 1 + 0.3 s. What is tire effect of
the integral term in the Pl controller a•rd the derivative term in PD controller on tire steady
stale error ?
(VTU: July/Aug.-2006, 8 Marks)
O(r)
200 0
~
Plant
Fig. 6.25
Modem Control Theory 6 ·48 Controllers
Lim sl~s)
Lim sE(>)
1->.-,tl ,.~o I +G(s)H(s)
i) D(s}
0.02
sx-- 0.02
l.im s &.66x10·3
~-H 1 + l()O x0.02 ;:20<ixooi
(s+l)(s+2) 2
Due to Pl controller, the steady state error reduces drastically while PD controller has
no effect on the steady state error.
Review Questions
l. Whal is co11troller ? Explain its function i11 a systrrn.
2. Gill< /ht classification of controllers.
3. Stalt and txplain tlu: various J!TOJXrlks of controller.
4. State tlie various contin11ous controller mod.ts.
5. Explain tht prof}"'lional co11tro/ modr. State its d111racttristics.
6. Explain the integro!control mode, State its cbamctrristics.
7. Explain ti~ derivatiw control mode. State its tharocteristics.
8. Explain how constant K, •JJ<ct tflL output of Pl control modL.
9. Wiry dtrivatiw mode is ca/ltd •rrtici,,.,tory control mode ?
IO. Stale the various CO!lfposite rorr!rol modes.
Modem Control Theory 6 -49 Controllers
0.5s1 + s( I+ Kil
al For KA a in in absence of derioative fttdbtuk (Kh a 0) dtlmnint 11" damping ratio and
naluralfrtqutncy of oscillations. Also find IN s s trror for unit ramp input.
bl Determine tire constant K1, if th< damping foe/or nquired is 0.6, with KA = 10. With this oolue
of Kh, dtter111inc ss error for writ ramp input. (Ans.: 0.316, 3.16 rad/sec, 0.2, 1.8, 0.38)
ODD
(6. 50)
Nonlinear Systems
(7 • 1)
Modem Control Theory 7-2 Nonlinear Systems
which are not dependent on the applied input and other system parameter
variations. ln nonlinear system, such periodic oscillations arc nonsinusoidal having
fixed amplitude and frequency. Such oscillations are called limit cycles in case of
nonlinear system.
4. Another important phenomenon which exists only in case of nonlinear system is
jump resonance. nus can be explained by considering a frequency response. The
Fig. 7.1 (a} shows the frequency response of a linear system which shows that
output varies continuously as the frequency changes, Similarly though frequency is
increased or decreased, the output travels along the same curve again and again.
But in case of a nonlinear system, if frequency is increased, the output shows
discontinuity l.e. it jumps at a certain frequency. And if frequency is decreased, it
jumps back but at different frequency. nus is shown in the Fig. 7.1 (b).
0Utpu1 Output
Peak resonant
Ouiput Output
(a) o,,_off with doadzone (b) On·off with doadzone and hysteresis
Fig. 7.7
7.4.6 Backlash
This type of nonlinearity is generally found in the mechanical linkage where coupling
is not perfect. A common example Is the existence of free play between teeth of drive gear
and driven gear of a gear train. This is shown in the Fig. 7.9 (a). The driven ge..r docs not
work until there is contact between drive and driven gear. So input member has to travel
the distance B to have the output, as indicated by input-output characteristics shown in the
Fig. 7.9 (b). Once the contact is made output follows the input. If Ule motion is to be
reversed, then input member has lo travel distance of 2B in reverse direction, as shown in
the Fig. 7.9 (b),
Modem Control Theory 7-6 Nonlinear Systems
(a} (b}
Frequency
k'>O
Hard spring
k'<O
Soft spring
Amplitude
The frequency-amplitude curves for a system with nonlinear spring arc shown in the
Fig. 7.10. For k' > 0, as the amplitude decreases, frequency also decreases. This is hard
spring. For k' < 0, as amplitude decreases, the frequency increases. This is soft spring. For
a linear spring such characteristics is a straight line.
These curves are often used to find out whether them exists a nonlinearity in the
spring and also to find the degree of nonlinearity.
Output
· :]~-
~__..
Relay
(a) (b)
Thus the output is not affected by the direction of the input applied.
Phase Plane Method
8.1 Introduction
The phase plane method is an important method used for the analysis of nonlinear
systems. The phase plane method is applied normally to first order and second order of
linear and nonlinear systems. The system behaviour is qualitatively analysed ;ilong with
design of system parameters so as to get the desired response from the system. The
periodic oscillations in nonlinear systems called limit cycle can be identified with this
method which helps in investigating the stability of the system.
(8. 1)
Modem Control Theory 8-2 Phase Plane Method
t
Response
.'
I\
Fig. 8.1 Llnoar system
.,_
~
[f\
: t:
F0tk,>O
Due to the presence of a nonlinear term k2 x 3, the resonant peak is bent towards the
higher frequencies. As the input frequency is gradually increased from zero with input
amplitude fixed, the measured response follows the curve through the points A, B and C.
But at C, an increment in frequency results in a discontinuous jump down to the point D,
after which with further increase in frequency, the rcsponsc curve follows through DE.
If the frequency is decreased, the response follows the curve EDF with jump to B
occurring at F and then move to A. For certain range of frequency the response function is
double valued.
For k, < 0, the resonant peak bends towards lower frequencies which is shown in the
Fig. 8.4. similar Jump resonance takes place with the difference that there is upward jump
when frequency is increased and downward jump when frequency is decreased.
Response D
w-
Fork2< 0
Fig. 8.4 Jump resonance
Tile overall curve shows the familiar hysteresis or jump resonance phenomenon. It is
well known in nonlinear mechanics and is frequently observed in high gain servo systems.
In such cases, the response is multivalued and depends not only on the present value of
the input but also on the past history.
.. . . .
form,
y-h(y,y)y+g(y,y)y =0
At any particular moment,. the state of the system can be represented with the help of
a point having coordinates (y, y) in rectangular coordinate system. This coordinate plane is
called a 'phase plane'.
Modem Control Theory 8-5 Phase Plane Method
t,
Fig. 8.5
The starting point A with initial condilion but no initial velocity. the system comes to
equilibrium i.e. to the origin with damped oscillatory behaviour.
y(t) arc plotted in a two axes plane. The trace of the phase
plane plot as time t increases is called trnjcctory. The starting point of the trajectory
depends on the initial conditions imposed on the system.
For different sets of initial conditions, various trajectories can be plotted. The complete
dynamic behaviour of the system for various initial conditions can be obtained from the
trajectories plotted in phase plane.
The dynamic performance and analysis of given second order system differential
equation can be made based on destination point of trajectories. The method has limitation
of its application restricted to second order as for higher order system equations, three or
higher dimensional plane is needed which is not much convenient to construct and
visualise. But transient response of second order system excited by step input can be
studied by this method. This method is thus applicable to linear time functions and can
not be applied to systems excited by sinusoidal signals.
The phase plane method can be considered as a special case of state space. With the
use of slate variables known as phase variables, the state of second order system can be
defined.
Modem Control Theory 8-7 Phase Plano Method
111e slope m of trajectory at any point in the phase plane is given by,
dx2 m = f2(xpx2)
~ f1("1·"2)
The point (x1,x2.' of the phase plane has with it associated slope of the trajectory except
at singular point where the slope is indeterrniante.
lsodines are the lines in the phase plane corresponding lo slopes of the phase portrait.
In order to construct the phase trajectory, it is necessary to integrate the slope equation.
This is very difficult except for few simple cases.
We have,
(~ ( x~.x2 )= m1f1(x1.x2)
The above equation gives locus of all points in the phase plane where the slope of
trajectory is m1. Such a locus is called isocline. TI1c direction of phase traiectroy at any
point (x1,x2) can be obtained from the sign or ax1 and ax2 for small increment in at.
Based on various slopes of trajectories, isoclines arc drawn as shown in the Fig. 8.7
Fig. 8.7
From the given initialconditions, the starting point is 0 which is the point on
isocline 1 corresponding to
slope m1. The phase trajectory which is drown from point on
the isocline whose slope is
m1. The phase trajectory which is drawn from point 0 on the
isodine whose slope is m1 to that having slope m2 is a straight line whose slope is the
m +rn
average of m1 and m2 i.e. -1-2--"This2• line intersects isocline 2 at point P which has a
slope of m2• Thus we get line segment OP. This procedure is continued at point P to get
subsequent line segments PQ QR and so on as shown in the Fig. 8.7
Now consider undamped second order system such that ~ = 0
d2y(t) +2~(00 dy(t) +~ y(t) = 0
dt2 dt I
d2v(t)
--·-+y(t) = 0
dt2
Let \IS now select the state variables
XI
X2
.
y(t)
y(t)
Initial oolldltion
~~~~--11---t-~--1--.~1----i~-t</~~~~-•1
Fig. 8.8
8. 7 Application of Phase-Plane Method to Linear Control System
Before: studying the application of phase-plane method lo non-linear systems, let us see
its application in linear systems.
Let us consider second order linear control system as shown in the Fig.8.9
1------ C(s)
Fig. 8.9
Modem Control Theory 8·11 Phase Plane Method
KE(s)
T1 c+c Ke
But e r-c
I! = r-<: .. c = r-c
e r- c .. C= r- f.'
"
r(I) r(I) =0
The above equation becomes
0 fort> 0
When the value of K is adjusted in such a way as to get the system overdampcd then
the phase plane trajectory is as shown in the Fig. 8.11
Fig. 8.11
For the linear systems, where analytical solution can be computed for c and c then it is
not required to draw phase portrait. It can be effectively applied in case of non-linear
systems.
y-µ(1-y•)y+y
., . =0
x2 )' .. µ(l-xi)x2-'1
The equilibrium point of this system is origin of the phase plane. Now there are two
cases viz. µ > 0 and µ < 0. The phase portraits for both these cases is shown in the
Fig. 8.12.
When µ > 0 and initial value of x1 [i.e. x1 (0)1 is large then the system response is
damped. The amplitude of x1(t)[ .. y1(1)] decreases till the system enters the limit cycle. This
is shown by the outer trajectory. For small initial values of xi' the damping is negative.
Modem Control Theory 8·14 Phase Plane Method
- Stable
llmilcycie
Fig. 8.12
The amplitude of x1(t)[=y1(t)] increases till the system stale enters the limit cycle which is
shown by inner trajectory. The limit cycle is stable as the paths in its neighbourhood arc
converging. The limit cycle for µ < 0 is unstable.
With increase in order of the system, the complexity is involved in applying phase
plane method. The method of phase trajectories is restricted normally lo second order
systems and ii is special case of phase space defined for nth order system.
ln case of lime invariant systems, the total phase-plane contains trajectories with only
one curve passing through every point of the plane except for some critical points.
Through these critical points either none of the trajectories or infinite number of
trajectories pass.
For lime varying systems, two or more trajectories may pass through a single point.
The phase portrait then becomes complex and not easy to interpret. Hence the method of
phase-plane is mostly applied lo second order systems having constant parameters with no
or constant input. Some simple lime varying systems can be analysed by this method.
c+2;col\ C+o>~C = 0
Let x1 a C and x2 a C. Therefore the state model is given by,
;l = X2i ;2:: -2~COnX2-(0~X]
Eliminating the time variable from the two equations by dividing the equations,
dx2 -2~Ctl0Xz -C1)~x,
~ X2
dx O
If we consider the point at which x1 = x2 = 0 then the slope al this point dx~ =
0
which is Indeterminate. This point is called singular point. We will study the behaviour of
trajectories which are dosed to this singular point.
To find out the singular points which arc nothing but the roots of characteristic
equation s2+2;rons+oT,; =
(s-y1)(s-y2) = 0. Depending on the values of Yt and y2, six
different types of singular points arc obtained. These arc described as below.
jo>axis
~----- ill
-a•I oaxis-
I
I
I
*-----
I
-jjl
Fig. 8.13
Modern Control Theory 8 -17 Phase Plane Method
t
jw
jp
o-
-JP
Fig. 8.15
The response obtained from the system is ovcrdamped. The singular point obtained
after plotting the phase trajectory on (x 1 = y, x2 = y) plane for this case is called a stable
node. The phase portrait contains two straight line trajectories having equations
=
x2(t)=y1x1(t); x2(t) y2x1(t) which satisfies the differential equation of the given system.
Assuming that the term eT2' decays faster in the transient response than the term cT 11.
As time t increases, x1 ~c,er11 ~a and x2 ~11C1cY1' ~a. All the trajectories are
tangential at the origin to the straight line trajectory 2(t)=)'1x1(t). The other trajectory is
given for initial conditions x2(0) = /2x1(0).
All the trajectories arc asymptotic to this straight line trajectory. If the roots are
repeated for stable systems then there is a single trajectory whose slope depends on value
of root.
Modem Control Theory 8·18 Phase Plane Method
jN
t
.
smaller root. The singular point in this case is called unstable node. The phase portrait on
(x1 = y, x2 = y) plane is shown in the Fig. 8.18.
Jh)
The trajectories emerge from the singular point and go to the infinity. The trajectories
arc tangential to the straight line trajectory x2(t) = 11x1(t) al origin and asymptotic al
infinity to other straight line trajectory. For the repeated roots, there is a single trajectory.
Modem Control Theory 8 -19 Phase Plane Method
8.9.1.6 Unstable System with One Positive and One Negative Real Root
ln this case we have two straight line trajectories which have slopes dependent on
values of root. The singular point obtained in this case is called a saddle. The stralghtli.ne
obtained due to negative root gives trajectory entering into the singular point while due to
positive part gives trajectory which leaves the singular point.
The other trajectories approach towards the singular point close to incoming straight
line then takes a curve away and leaves the singular point in its vicinity. It
approaches the second straight line asymptotically. The phase portrait on (x 1 = y, x2 =
.
y)
plane is shown in the Fig. 8.20.
The equation is similar lo that obtained for unforced system wilh the difference that
=
the singular point is shifted from origin to point C A on the Y axis.
The corresponding phase portrait for A > 0 is shown in the l'ig. 8.22.
~XI = -X7-A11{A~X2]
The corresponding phase trajectory is shown in the Fig. 8.22. The trajectory is
asymptotic to the line x2 = A.
If the initial point is different (xi (0), Xz(O)] then the trajectory will have same shape but
shifted horizontally by k units so as to pass through the point (x1 (0), x2(0H
The equation of trajectory in this case is given by,
~(x1-K) = -x2-Aln(A~xz)
Modem Control Theory 8 ·22 Phase Plane Method
The phase portrait for A < 0 is shown in the Fig. 8.23. The value of A = 0 is a special
case which is unforced system and the phase portrait consists of number of straight lines
' 1
having the slope of - 'T.
Xl c : Xz
Xz c =1A
Modem Control Theory 8 ·23 Phase Plane Method
J x~(t)
21\+C
J x~(O) +C
2A
C = X1(0)- J x~(O)
2A
The nature of trajectory ls parabolic for an initial state point (x1(0), x2(0)1 passing
through a point x 1 = C on the x-axis where C is given by above equation. This Is shown
in the Fig. 8.24 for A < 0 and A > 0.
"1 =v
Fig. 8.24
Modem Control Theory 8 -24 Phase Plane Method
With increase in time t, each trajectory is shown in clockwise direction. The direction
of phase trajectory is obtained from the relationship; 1 .. x2• As x1 increases with time in
upper half of phase plane, the state point hence moves from left to right in the lower half
of phase plane. When x1 decreases with time, the state point moves from right to left
The time interval between the two points of a trajectory Is given by 6t 6x 1 I x2.tv. =
With the aid of this equation the time scale can be given to the trajectories. But the phase
portrait is generally used to get an idea about transients in the system.
The phase portrait or A < 0 is shown in the Fig. 8.24 (b). The unforced system with
A = 0 is a special
case. -,
dx2 -
dx';- 0 ..· dx 2- - 0
J dx 2 o
x2(t) C
Where C is constant of integration obtained from initial conditions.
C = x2(0)
:. We have equation of trajectory as x2(t) = x2(0). This equation represents the
trajectories of straight lines parallel to x 1 axis.
,... Example 8.1 : Determine the kind of singularity for eaclt of tltt following differt11tial
.
equations.
...
i) y+3y+2y=O
x1=y=x2; x2=y=-3x2-2x1
Eliminating the time variable,
dx2 -3x2 - 2x1
dXi' X7
Modem Control Theory 8. 25 Phase Plane Method
s2 +3s+2 0
(s+2)(s+t) 0
s = -2; s =-I
We have, y1 = -1 and y2 = -2
The nature of phase trajectory is as shown in the Fig. 8.25 and the type of singular
point obtained is stable node.
o--
(a) (b)
Fig. 8.25
The response in this case is given by y(t) = c1eYJ1 +C2cY21. The transient term eY2•
=
decays at faster rate than eYt1• As time t-+~, x1 -.C1eY:1 -+0; x2
. 'Yt<'Y11 -+0. The
ii)
.
singular point node obtained in this case (0, OJ is stable in (y, y) plane .
y-8y+17y 34
.. .
y-8y+t7y-34 0
d2(}'-2) d 0
dt2-8dt(y-2)+17(y-2)
Modem Control Theory 8 ·26 Phase Plane Method
(s2 -4s+4)-8s+t6+17s-34 0
s2+5s-14 = 0
(s+7)(s-2) 0
Y1 -7; y2 =2
There arc two roots one positive and one negative root. The singular point obtained In
this case is called saddle point which is shifted from origin by 2 units. The slopes C1f the
two straight line trajectories with slopes dependent on root values. The nature of phase
trajectory is shown in the Fig. 8.26.
t
joo
Fig. 8.26
By equating the numerator and denominator equations to zero i.e, solutions of the
equations f(x1, x2) =
0 and x2 =
0 gives the locations of the singular points along with Its
number.
It is also Important lo know the behaviour of the trajectories in the vicinity of a
singular point of a nonlinear system. The nonlinear equations are Ilnearized at the singular
Modern Control Theory 8 -27 Phase Plane Method
point using say Taylor series expansion and then the nature of phase trajectory around the
singular point is determined by linear system analysis which is described earlier.
Where f must be continuous and single valued l>ut may be nonlinear and time
dependent.
The equation (1) is written as
... (2)
The constant ooij may be determined from the equation (1) itself or m~y have to chosen
from other information. Once again it is convenient to introduce the definitions 1 = °'o t
dx .
an d v = dt so as to give,
ooij vdx+
dv ooij x+(f(v,x,,t)-Cl>(jx) , 0 ... (3)
1
where li(v, x, t) x, t)-x ... (5)
2f(v,
(l1j
·' Equation (4) is similar to that one used for the case of isocline method. Because of the
. Jay, in which it is set up, the S method is most immediately applicable to the equations
with oscillatory solutions, although it is not limited to this class of equation. Function o of
equation (5) depends upon v, x and 1 but it is assumed constant for small changes in these
variables. Under this assumption, the variables ol equation (4) can be separated and
integrated to give,
Equation (6) represents a circle of radius R and centre at (-ll, 0). Thus for a suitable
increment, the solution curve is the arc of a circle having these properties. The construction
Modem Control Theory : I ·28 Phase Plana Method
is shown in Fig. 8.21 where [x(O), v(O)) represents a point on the solutiof\ curve at the time
1(0). These values used in equation (S) allow the ~kulatlon. of 6. This values of 6
determines the centre of the drcular arc located on the x-axis. The radius R Is
1utomatically fixed. A short drcular arc represents • portion of 10lulion curve. Actually it
is more accurate to use the average values of v, x, 't for that Increment. Again, the
allowable length of the arc is a rompromiae.
Fig. 8.27
Examples with Solutions
,,_. Example 8.2 : A linear secottd order snw is described by tht! equation
C+2l;w0 C+w~C = 0 where i; = 0.15, ~ = 1 rod/sec, CCO) = 1.5 and C ~ 0. Determine the
singular point. Construct the phase trajectory, using the method of isoclines
CVTU: July/Aug.·2006)
Solution : Consider the equation
C+21;w0 C+w~C = 0
c+2(o.15H1>c+12c o
C+0.3 C+C 0
Consider s2+0.35+1 0
-0.15±j0·9886
Modem Control Theory 8 ·29 Phase Plane Method
The roots arc complex conjugate and located in left half of s plane. In time domain the
response will be underdampcd consisting of oscillations and the singular point is thus
sta bel focus.
Consider again the differential equation
d2qt) +0.3 dQt) +Qt) 0
dt2 dt
.
. .
Let
:. XI = Qt) = X2,
X] = C(t),
X2 = Qt) = -
X2 "' Qt)
.
C(t) - 0.3 C(t) " -X1~.3X2
m
dx21 = dx2fdt = -x1 -0.3x2
dx , dx1/dt x2
-X1~-3X2
-x,
-[m~o.3]x1
The above equation is an equation of isocline.
At initial point (1.5,0)
0 --1-(1-5)
m+0.3
m -0.3-- = --
Due to this trajectory moves downwards
Using the method of isocline, the phase portrait can be drawn as shown in the
Fig.8.28
Considering various values of m
1 •2 = - 0.7692 ., 45'
10 •2 =- 0.0970 •1 84.28°
-
-1
•2.
Xz =
0
1.4285 .,
90-
-45'
-5 •2 • 0.2127 "' -78.69'
- •2 c 0 -90'
Modem Control Theory 8 ·32 PhasePlane Method
ii) Consider, y + 3 y+ 2y
.
The type of singular point obtained is stable focus .
=0
Let the state variables be x 1 = y and x2 = y
.
. . .
The corresponding state model is
x1 =y=x2; x2 = y=-3x2-2x1
s2+3s+2 0
(s+2)(s+l) 0
-2; s = -1
We have, y1 =-I and y2 = - 2
t
j(J)
x, =y
(a) (b)
Fig. 8.30
The nature of phase trajectory is as shown in the Fig. 8.30 and the type of singular
point obtained is stable node.
The response in this case is given by y(t) = C1e111 +C2el21• The transient term eY2•
decays at faster rate than cl1'. As time t ~ -, x1 ~ C1cYJ1 ~ O; x2 = y1c111 ~ 0. The
singular point node obtained in this case (0, 0) is stable in (y, y) plane.
Modem Control Theory 8-33 Phase Plane Method
Iii) Consider,
.
y + 3 y - 10 =0
Let the state variables be x1 = y ; x2 = y
X2
.
Y =-3y+10=-3X2.,_JQ
s2+3s-10 0
s2 +Ss-2s-10 0
s(s+5)-2(s+5) 0
(s + 5) (s - 2) 0
Y1 = -5; Y2 = 2
There are two roots one positive and one negative. The singular point obtained in this
case is called saddle point. The slopes of the two straight line trajectories with slopes
dependent on root values. The nature of phase trajectory Is shown In the Fig. 8.31.
v, =-5 x, =y
Fig. 8.31
Modem Control Theory 8. 35 Phase Plane Method
Fig 8.32
C I M
Modem Control Theory 8 ·36 Phase Plane Method
1 Y2 • - 0.825y1 45•
2 Y2 • - 0.3846y1 63.43°
5 Y2 c - 0.1785 Y1 78.69°
10 Y2 • - 0.0943y1 84.28°
M
Y2 • 0 90"
_, Y2 • 2.5y1 -45'
-2 Y2 • 0.7142Y1 -63.43"
-5 Y2 • 0.2272Y1 -78.69"
-10 Y2 • 0.1063y1 -84.28°
- Y2 • 0 -90'
The phase-plane plot is shown in the Fig. 8.32.(See Fig. 8.32. on previous page)
i• Example 8.5 : Draw IM phase-plane trajtctoryfor lht following equation using isocline
method : '.;+2!;(1);+w2x=O Given, 1;=·0.5, w2 l, Initial point (0, 6)
(VTU: JanJ Feb.-2007)
'x"+21:,(1)11 ;+~x = 0
x+ x+x 0
Let Yt x
Y2 = x
Yt x = Y2 ; y 2 = x = -x - x = -y2 -y I
dy 2 dy ifdt -y l - )' 2
m ~ = dyifdt = _y_2_
Modem Control Theory 8 .37 Phase Plane Method
(m+l)y2
Y2
m+t = _l'..J.
Y2
m = _l'..J._1
Y2
ll t initial point (6, 0).
1 Y2 =- 0.5 Y1 45°
2 Y2 =- 0.33 Y1 63.430
5 Y2 =- 0.166 Y1 78.69"
10 Y2 • - 0.090 Y1 84.28'
~ Y2 =0 90'
-2 Y2 = 1Y1 -45°
-5 Y2 • 0.25 Y1 -63,43'
- Y2 = 0 -90"
Fig. 8.33
(8. 40)
Liapunov's Stability Analysis
9.1 Introduction
.
11'e state equation for a general time invariant system has the form x = f [x, u). If the
input u is constant then the equation will have form x = F(x). For this system, the points,
at which derivetives of all state variables arc zero, arc the singular points. These singular
point' are nothing but equilibrium points where the system stays if it is undisturbed when
the system is placed at these points.
The stability of such a system is defined in two different ways. If the input to the
system is zero with arbitrary initial conditions, the resulting trajectory in phase-plane,
discussed in earlier chapter, tends towards the equilibrium state.
If U1e input to the system is provided then the stability is defined as for bounded
input, the system output is also bounded.
For linear systems with non-zero eigen values, there is only one equllibrium state and
the behaviour of such systems about this equilibrium state totally determines the
qualitative behaviour in the entire state space.
In cruse of nonlinear systems, the behaviour for small deviations about the equilibrium
point is different from that for large deviations. Hence local stability for such systems does
not indicate the overall stability in the state space. Also the non-linear systems having
multiple equilibrium states, the trajectories move from one equilibrium point and tend to
other with time. Thus stability in case of non-linear system is always referred to
equilibrium slate instead of global term stability which is the total stability of the system.
Jn case of linear control systems, many of the stability criteria such as Routh's stability
test. Nyquist stability criterion etc. arc available. But these cannot be applied for non-linear
systems.
The second method of Liapunov which is also called direct method of Liapunov is the
most common method for obtaining the stability of non-linear systems. nus method is
equally applicable to time varying systems. stability analysis of linear, time in variant
systems and for solving quadratic optimal control problem.
(9 • 1)
Modem Control Theory 9·2 Llapunov's Stability Analysis
!Ix - Xe :J S R
U x - xc II is called Euclidean norm and is defined as
9.5 Instability
An equilibrium state "• is said lo be unstable if for some real number E > 0 and any
real number Ii > 0, irrespective of how small it is, there is always a state "o in S(o) such
that the trajectory starting at this slates leaves S(e).
definitions apply to the neighbourhood of the equilibrium slate only if S(I'.) is not
corresponding to the entire state plane.
S{t) S(t)
S(6) S(6)
Flg. 9.1
In Fig. 9.1 (c), the trajectory is leaving S(E) and shows that the equilibrium state is
unstable. It can not be stated that the trajectory will go to infinity as it may approach a
limit cycle outside the region S(e). In case of linear, time invariant system if it is unstable
trajectories starting near the unstable equilibrium state will go to infinity which is not
necessarily true in case of non linear systems.
The definitions of stability that we have seen so for are not the only ones defining the
stability or equilibrium state. There arc other ways of defining st4bility also. In classical
control theory, the systems which arc asymptotically stable are called stable systems and
those which are stable in the sense or Liapunov but are not asymptotically stable are called
unstable.
9.7.5 Indefiniteness
A scalar function F(x) is said to be indefinite in the particular region if it assumes both
positive and negative values irrespective how small the region is
e.g.
e.g.
e.g. F(x)
The stability analysis in state space the Hermitian form is commonly used than the
quadratic from as it is more general. The positive definiteness of the quadratic form or
Hermitian form F(x) can be determined by Sylvester's criterion which states the necessary
and sufficient conditions for quadratic or Hermitian form to be positive definite is
Modem Control Theory 9-6 Liapunov's Stability Analysis
F(x) = x" Px is positive semidefinite ii P is singular and all the principle minors arc
non-negative.
F(x) is negative definite if - F(x) is positive definite. Similarly F(x) is negative
semidefinite if - F(x) is positive semidefinite.
Llapunov functions depend on x1, x1, ... xn and I. It is given as F(x1, x2, .•• Xn• t) or as
F(x, t). In Liapunov's second method, the sign behaviour of F(x, t) and its time derivative
F(x, t) " dF(x, t)/dt gives us information about stability, asymptotic stabil.ity or instability
of an equilibrium state without requiring to solve the equations directly to get the solution.
. .
exists a scalar function V{x, t) having continuous first partial derivatives and V(x, t) is
positive definite, V (x, t) is negative semidefinite V (o (t : "& to), I) does not vanish
Identically in t <! 'o for any to and any "o ~ 0 where o (t : xo- to) denotes or indicates the
solution starting from "o at to then the equilibrium slate at origin of the system is
uniformly asymptotically stable in the large.
The equilibrium state at origin is unstable when there exists a scalar function U(x, t)
.
having continuous, first partial derivatives and satisfying the conditions U {x, t) is positive
definite In some region about the origin and U (x, t) is positive definite in the same region.
which can be used to test sufficient conditions for asymptotic stability of nonlinear
systems.
We shall study in detail Krasovskii's method for asymptotic stability test.
Consider the system described by following equation. x = f(x); f(O) = 0. The origin is a
singular point.
Lei us consider Liapunov's function as,
V = fT Pf
Now, v
(If ax_ JI
~·Ti-
Modem Control Theory 9-9 Llapunov's Stability Analysls
~ CJx;- ~
.
Substituting ( in expression for V we have,
.
V fT JT pf + fT PJf
= (T (IT P +PI) f
Let Q
As V is positive definite, for the system to be asymptotically stable, Q should be
negative definite. If in addition V(x) is tending to infinity as norm of x tends to infinity
(II x II~-) the system is asymptotically stable in the large.
Alternatively if Liapunov function is taken as
V(x) a fT(x) . f(x)
<IX1
n i)fn
";ix2
iJf,,
;rx;; -
I
() f(xl Clx •
We have f (x) "'"Tx di = l(x) x ee l(x) . f(x)
Now we have, V (x) = f~ (x) · f(x) + fT(x) · (x) i = [ J(x) · f(x)IT f(x) + fT (x) · )(x) · f(x)
Let j(x) : JT (x) + J(x). lf j(x) is negative definite then Vex) will also be negative
definite. Therefore V(x) is Liapunov function and the origin is asymptotically stable.
If V(x) is tending to infinity as I! x II -1 - then the equilibrium state is asymptotically
stable in large.
The Krasovskii's theorem is different from the normal lincari:zation technique. It is not
limited to small departures from the equilibrium stale. The Liapunov function V(x) and
V(x) arc expressed interms of f(x) or ~ rather than in terms of x, Krasovskii method gives
sufficient condition for asymptotic stability of non-linear systems and necessary and
sufficient condition in case of linear systems.
An equilibrium state of a non-linear system may be stable even if the conditions stated
above are not satisfied. So comments on stability of non-linear systems cannot be vigoursly
made by applying this method.
Let us have an illustration of Krasovskii's method consider a second order non-linear
system described by following equations
X:z x1 + bx2
Let us consider that g1(0) = g2(0) = 0 and g1 (x1) and g2("2) arc real and differentiable.
We will also assume that
lg1 (x1) + g2 {x2)J2 + (x1 + bxiJ2 -> ec as II x II -1 -
.
Now we will obtain the sufficient conditions for asymptotic stability of the equilibrium
slate x = 0 f1 = x, = f (x,) • g, (x1) + 112 {x2)
J(x) * ~1=1
~
ox,
iJf2
UX2
0~1 [:,(x,)+g7(X7)]
a;;-!x1 +bx2)
I
[g'1~X1) gl~2)]
By Krasovskii's theorem if i(x) is negative definite then the equilibrium state x "' O of
the system considered is asymptotically stable in the large.
Hence if g'1(~1) < 0 for all x1"/.0 and 4b g'1(x1)- [1 + s2(x2))2 > 0 for all Xt "/. 0, x2 7' 0
then the equilibrium state at x : 0 is asymptotically stable in the large. This two conditions
arc sufficient for asymptotic stability.
x = Ax
The linear system described by above equation is asymptotica.lly stable in the large at
the origin if and only if for any symmetric, positive definite matrix Q there exists a
symmetric positive definite matrix r which is the unique solution A Tp + PA = - Q.
The proof of above theorem can be given. For this we will assume the symmetric
positive definite matrix P exists which is the unique solution of the equation V(x) xT Px. =
Consider the scalar function, V(x) = x1 Px
Herc V(x) > 0 for x 7' 0 and V(O) =0
We have, V(x)
.
V(x) A{x)1 Px + x1 PA x
x1 (ATP+ PA) x
-XT Qx
.
As Q is positive definite, V(x) is negative definite
Modern Control Theory 9 ·12 Llapunov'sStabilityAnalysis
V(x) II x 112
V(x) -[~1Px+xrp;)
-( - XT Qx)
XT Qx > 0
'"* Example 9.2 : Determine tire stability of a non-linear system governed by tire eouations
X2 =- X2
Solution : Let us select the Llapunov's function to be V =xi +x~
We have, xf +x~
i)V dx , i)V dx2
Fx";.. dt + dXz". dt
i)V i)V
Now,
~ 2x1; dXz" = 2x2
dxt • 2
dt Xt = - XI + 2Xl X2
dx2
dt X2=-X2
Substituting,
dV
dt
- 2xi (1 - 2 x1 xv - 2x~
Thus ~y is negative definite if 1 - 2x1 x2 > 0. Thus Liapunov's criterion is satisfied
and hence the origin of the system is asymptotically stable.
11* Example 9.3 : Determine the stab;Jity of tire system described by tire followingequation
.
x=Ax;A= [-1 1]
-2 -4
-1
[ 0 -1
o]
-2 P11 - 4 P12 - 1
-~ ~~ 01
=-1(25+4)+4(0-2)
-2 =-29-8
I -1 2 -5 =-37
1-2 -1 01=-2(0-2)+1(-5)
1 0 -2 =4-5=-1
I 0 -1 -5
-~ ~ -~1 rt-2(5)+4-1(2)
=-10-4-2
I 0 2 -1 =-16
Pu
6Pt2 -1 1
P12 Pit = -ll- = -78 = 78
Modem Control Theory 9·15 Liapunov's Stability Analysis
Using Sylvester's criterion it can be seen U1J1l P is positive definite. Therefore origin of
the sytcm under consideration is asymptotically stable in the large.
i• Example 9. 4 : Use Krasouskii's theorem to show that the equilibrium state x = 0 of tllr
system describedIn;
.
x1 = - 3 X1 + X2
x1 = x1 - x2 - xl
is asymptotically stable in the large. (VTU: Jan./Feb.-2005)
~ = f2(x) = x1 - x2 - xi
a12 ar, ,
1 ; ~=-1-3xi
~ 2
(-3 1 ]
1 -1-3x~
Q 1 ][I OJ [I 0 ][-3
[~3 -1-3x~ 1 ]
0 1 +0 l 1 -1-3xi
Q I ] [-3
[~3 -l-3xi l ] [~ 2 ]
+ 1 -l-3x~ = 2 -2-6x~
Modem Control Theory 9·16 Llapunov's Stability Analysis
2 ] [ 6 -2 ]
-Q = - [-{>2 -2-6"i = -2 2+6x~
Using Sylvester's criterion, 6 > 0 and 12 + 36 x~ - 4 > 0 i.e, 12 (1 + 3x~) > 4 then the
equilibrium state x = 0 is asymptotically stable in the large.
,,... Example 9.5 : lnwstigate th« stability of the follmving no11-/i11erar sysl<!m using direct
method of Liaupnov.
•
Xz = - X1 - Xl2 X2 (VTU: July /Aug.· 2005,J•nJFeb.-2005)
2x1 X2 - 2x1 X2 - 2 xf x~
- 2 xi xi
It ran be seen that V < 0 for all non-zero values of x1 and x2. Hence the function is
negative definite. Therefore the origin of the system is asymptotically stable in large.
·
x=AxwhereA= [o 1]
-1 -I
Solution : ; = Ax
Let p
[P11 P12}
P21 P22
Q-[' - 0
CJ1
/
Modem Control Theory 9 ·17 Uapunov's Stability Analysis
1 3
P11 P12 + Pzz = 2 + 1 = 2
' [! '.]
Using Sylvester's criterion, P can be tested for positive definiteness
Solution : To check the stability of the system described by equation x =Ax. We will solve
the equation, /\ T P+ PA =-Q where for any symmetric, positive definite matrix Q, there
exists a symmetric, positive definite matrix Q, there exists a symmetric positive definite
matrix P.
We can find out matrix P for any arbitrary choice of positive, definite, real symmetric
matrix Q. Let us select Q = I. where I is Identity matrix.
A TP+PA =-Q.
Let p = [Pn
P21
P12]
P22
A = [-1 -2]
I -I , AT=[=~ ~]
-2p11+P12+P21 -1
-2p11 -SP12 +r22 0
-2P12 -2r21 -8P22 -1
Solving these three equations using Cramer's rule
Modem Control Theory 9 -19 Llapunov's Stability Analysis
1 =-lliQ+fl-1(16+ ~+ 1(4-10)
6 = [-2
-2 -5
-2 -2 is] =-2(42)-18-6
=-84-18-6=-108
-1 !fn
[-2 =-2(0+ 1) +!.{!§_+~+
"'Pu = -2 0
-2 -1 ~sl =-2+11i+2
ill
[-2
6p22 = -2 -5
-2 -2 -1
~I] =-?:.{5!-1(2)-1(4-10)
=-10-2+6=-6
tipll -86 86
P11 -6- = -108 108
6P12 1.8
P12 P21 -ti- = -108
6P22 -6 6
-ti- = -108 108
86 -18]
p - 108 106
[ -18 6
108 108
Using Sylvester's criterion, it can be seen that P is positive definite. Therefore origin of
the system under consideration is asymptotically stable in the large.
.. • ,3
>m+ Example !Lii ; Consider lire system willr differential equalio11 c +kc+ k 1 c + ( = 0. Examine
Lite stability by Uapu110t•'s met/rad, gi1Je11 tlrat k > 0 and k1 > 0.
CVTU: July/Aug.-2007)
Let e
">
M
..
Modom Control Thoory 9. 20 Liapunov's StabilityAnalysis
df
dt
The above equation is negative semidefinite and hence the system is stable.
I»* Example 9.9 : Exami11e the stability of ti~ system d~cribed lly tlte foll1r.ui11g equation by
Krasovaskii's theorem.
XI= -X1
We have,
r~l
L
()
-1-3x~
]
Let Q )T P+P)
r-1 I ] [-1 0 ]
= [-21 l ]
LO -1-3x~ + 1 -1-3x~ -2-6x~
Modem Control Theory 9 ·21 Llapunov's Stability Analysis
-2 1 ]
Q = [ 1 -2(1+3xn
-2 1 ] [2 -1 ]
- Q = -[ 1 -2(1+3xl) = -1 2(1+3xn
Using Sylvester's criterion, 2>0 and 4+ 12x~ -1 >0 i.e. 4+12xi > 1 i.e. 4(1+3xD > l
then equilibrium state x = 0 is asymptotically stable in the large.
Consider,
4
-1
=~] [:~1
1 x3
Modern Control Thoory 9 ·22 Llapunov's StabllltyAnalysis
10 > 0;
1
10
1 ~I = 39 > o;
10 1 -2]
1 4 -1
[-2 -1 I
10(-1-1)-1(1-2)-2(-1+8)
30+1-14 =17 >0
As all the successive principal minors of the matrix P are positive, Q(x1,x:z) is positive
definite.
I"* Example 9.11 : Using Lyap1111ov's direct met/rod, find tire range of K lo guarani~
stability of the system slrown in the Fig. 9.3. (VfU: JanJFeb.· 2006)
Solution:
Fig. 9.3
~----------<Kt----------~
Fig. 9.4
'The state equations arc,
Modem Control Theory 9. 23 Liapunov's Stability Analysis
.
XI
X2
X3
[!
0
-1 -:][:;l
-1 X3
0
Here A
[~ -1 -:i
-1
:.AT=[~
-K
-1
0 IJ
To find the range of values of K for stability, we will solve the equation
A r P+PA =-Q.
Let us select Q
This selection of Q is valid as this docs not make xT Qx identically equal to zero
except at the origin.
-l
0
~
-1
l [::; ::: :~ l
PtJ P23 P33
+ [::;
P1;
P12
Pn
p23
:~] [~ ~1
p33 0 0 -1
-:1-[~ ~ ~1
0 0 -I
K>0;2-K>0,2>K
Thus for 0 < K < 2, the system is asymptotically stable.
Review Questions
1. Wrilt a note on stability in the sense of Liapunot1.
2. Define ii stability iii Asymptotic sta/lility iill Asymptotic stability in the large.
J. Shotv the graphical rrpres<t1tation of stability,a5ymplotjc stability and instability.
4. Define i) positive definitmess ii) negative definitrness iii) positive stmidefiniten<.<s iv) ntgativt
semirkfi11ittnt55vi inrkfinitmtss
5. Disc11ss Quadraticform mid Hermitian form.
6. Erplai11 Unpunov's second method and /Jap1111ov's stability theortm.
7. Write a nott 011 stability of lintJJr and nonlinear systems.
8. Write a short note on Kra5ovskli's mtlhod of constnicting Uapunov's functions for nonlinMr
systems.
9. Examine th« stability of ti~ origin of the fo/lOtving systtm
X2 - 6 XI - 5 X2
JO. Write a Liapuno»function for the system
X1 - X1 - 2Xl: +2
.\'2 X1-4xz-]
14. Investigate tl"' stability of folluu1ing non-lineer system using direct mtthod Uap1111cro.
Xl = X2
X2=-x1-xl X2
15. A 5'QJnd ordrr system is rrprtstnted by
~=Axrvl1LrtA=f0 ']·
L -I -I
Assuming matrix Q lo be U!entity matrix, sol<>e for matrix p in the equation ATP + PA ~ - Q.
Usr Liapuno» theorem and dtlem1i11e I/it stability of tht origin of systrm. Write tilt Uapunov
func!iDn V(x).
DOD
(9. 26)
Modern Control Theory
·-= •. .........
~ Chapterwise University Questions with Answer
Jon./Feb. • 2005
July/Aug. • 2005
Jon./Feb. • 2006
July/Aug.• 2006
Jon./Feb. • 2007
July/Aug.• 2007
Jon./Feb. • 2008
(P • 1)
CD State Variable Analysis and Design
Q.1 Mention tlie diS11dlHl11tages of conr>enlionAJ amtTol lhtory and nplain how ~ art
overco= in modern control lhtory with particulilr refermce lo (i) Non·lilWlr systems
(ii) Time varying system (iii) Analysis (iv) DtSign and (11) Computerapplications.
(Ja.nJFeb.-2005,10 Marks)
Ans. : Reier section 1.1.
Q.2 Explain the concepts of state NriAbk, state and state model of 11 lirmtr system.
(JanJFeb.·2006, 6 Marb)
Ans. : Refer section 1.2.
Q.3 Define the concept of i) Stott ii) S14te variJlbles iii) Stolt space tu) State vector.
(July/Aug.-2006,Jan./Feb.-2008,6 Marks; Jan.lFeb.-2007, 10 Marks)
Ans. : Refer section 1.2.
Q.4 Compare clsissical control theory against modern control theory.
(July/Aug.·2006,4 Marks)
Ans. : · Refer section 1.1.
Q.5 Ust advantages of modern control theory over conventional controt theory.
(July/Aug.- 2007, 4 M•rla)
Ans. : Refer section l.1.2.
Q.6 Drove Ille equationof the vector model differential state equation.
(July/Aug.- 2007, 1 Maries)
Ans. : Refer section 1.3.
ODO
(P • 2)
Modem Control Theory p.4 State Space Representation
(20)3 (20)5
20+-3-+-5-+ •29 in the neighbourhood of origin
20-30+2ueu12 +u3
d20
-0+2u ... neglecting higher order terms
dtT
d2a +9 = 2u ... lineanzed equation
dt2
X2(t) = - 0 + 2u = - X1(t) + 2u
[sl-A) = s[l0 1
OJ-[o-1 ']=(s -1]
0 1 s
Adj [sl-A[
[+1s -l]T
s [s 1]s =
-I
L-1 ![s~ l s :+
5 1
s +1 s
2
2
2+1
l l [~)[0.~2] =L-1 [s(~s~~)l+1 l
2
1 F
1 H 10 y{I)
Fig. 2
M
Modern Control Theory P-6 State Space Representation
Q.9 l'ig. 3 s/1ows tire />lock diagrcm of a speed co11lro/ system willi slate variable feedback. Th«
driue motor ;5 mt annature controlled de motor with armnturt resistanr« R0, '1rmature
inductance L,., motor torque constant Kr, inertia referred to motor shaft /, viscous friction
coefficient referred to Ilic motor slrafl B, back emf constant Kb and tachometer K1. '111<
applied armature voltage is controlled by a llrrce phase [ull-conoerter. c, is conlrol
•a
110/tage, is armature voltage. e, is lite reference t'Oltage correspo11di11g lo the desired
speeil. Taking X 1 = rn (speed) and Xz = ia (an11alure current) tis t/11• Mak variables.
u = e, as Ifie input, and y = (O as tl1e output, derive 11 state vanable mode for the
fe<>dbnck system. Uuly/Aug.·2006, 6 Marks)
Fig. 3
Ans. : Refer example 2.31.
Q.10 For a RLC network sho11111 i11 Fig. 4, write tire stale model in matrix 11ot11tio11 cl1oosing
X1(t) = i(I) and X2(tl =
vcW where X1(1) and X2W are stale variabfrs, Vc(t) is 011tp11t,
v(t) is input. Uuly/Aug.-2006, 8 Marks)
~T
~,, :u Tl Fig. 4
M
Modem Control Theory p.7 State Space Representation
Q.11 For a transfer ftmction gioen l1y G(s) = -,--2--write the stalt model i11 tltt ii Phase
s·+JF+2
variable form ii) Diagonal form. (Ju.ly/Aug.-2006, 8 Mari...)
Ans. : Refer example 2.32.
Q.12 Stott tire properties of [ordan matrix, (July/Aug.·2006, 6 Marks)
Ans. : Refer section 2.3.1.
Q.13 Obtain the state space representation model for tiff follcnving electrical circuit i11 Fig. 5.
Giw11 R = I MO and C = l µI'. (JanJFeb.·2007,10 Mades)
R R
u(t) y(t)
Fig. 5
Ans. : Refer example 2.22.
Q.14
... .. .
Obtain tit;, stale space representation of the folluwing system and draw its phase variable
dillgram: Y +6 Y +II Y +6Y=6tL
(JanJFeb.· 2007, 10 Marks; Ju.ly/Aug.·2007, 6 Marks)
Ans. : Taking Laplace transform of both sides and neglecting initial conditions we get,
Y(s) 6
U(s)- s3+6s2 +lls+6·
Then refer example 2.15.
Q.15 Obtai11 the state modd of the electrical network shown in Fig. 6 selecting 'V', 'i1 ·and
·;2•as state variables and voltage across R2 and cuntnt 12 through R2 are the output
variables Y1 and ¥2. (July/Aug.·2007, 8 Marks)
Fig. 6
Ans. : Refer example 2.19 for the procedure. The direction of i1 is opposite in this
example. Thus the matrices A and B are,
.I
Modem Control Theory P-8 State Space Representation
RI
-r; 0 +-
L1 Li
R2
A 0 -I-; +...!...
L2
B = 0
1 i
-c -c: 0
0
c [~ ~2]
Q.16 For tire network show11 in Fig. 7, dwosing i1(t) = X1(tl and iz(t) = X1(t} as state
uariables. obtain tlie stale eq11atio11 and output equatio11 i11 vector matrix form.
I
(JanJFeb.·2008, 8 Marks)
1 H Hl
IH
l~t)
u{t)
~------i
- i_t_)l~---~
10 1n y(t)
Fig. 7
G(sJ = Y(s) = 6
U(s) s3 + 6s2 + lls + 6
Q.2 Find t11e transformation matrix P I/tat transforms lht matrix A into diago11al or Jordan
Q.3 What are ge11raliud eigen vectors? How are they determined?
Quly/Aug.·2005, 5 Marks)
Ans. : Refer section 3.10.
Q.4 Convert the followi11gstate model into canonicalform QulyJAug.-2005,8 Marks)
Y = [1 OIX
Ans. : Refer example 3.21.
Q.5 Convert the following square matrix A into Jordan canonical form using a suitable
non-singular transformatio11 matrix P. QulyJAug.·2005, 7 Marks)
A=f~L-4 -9~ ~i
-6
Ans. : ~for example 3.22.
(P • 9)
Matrix Algebra & Derivation
Modern Control Theory p • 10 of Transfer Function
A=[~1 -:3 -1
~i
i) Find the eigen val11es and eigen vectors of A
ii) Write tlte modal matrix
iii) Show that lite modal matrix indeed diagonalizes A. (Jan.JFeb.-2006, 12 Marks)
Ans.: Refer example 3.23.
Q.7
Given the stale model X " AX - Bu, y " CX
toher« A =[ ~
-1
~
-2 -3
~i' B = [~]
l
and C = [1 0 OJ
i) Sim11/nle and find tire transfer function ~~~ using Mason's gai11 formula.
ii) Determine the transfer f1111ctio11 from tlie state model formulation.
(JanJFeb.·2.006, 7 Marks)
Ans. : Refer example 3.24.
Q.8
ti« vector [_~] is an eigm wetor of A = [-~ ~
-I -2
~1
0
Find tire cigen value of A
[~~]=[~ ~
X3 0 -4 -5
~1[;:]+[~1]11
X3 5
(July/Aug.·2007, 8 Marks)
Matrix Algebra & Derivation
Modem Control Theory p • 12 of Transfer Function
1 s+5
(; s(s+-l)(s+l)
1 s+5 5
s - s(s+4)(s+1) + s(s+4)(s+1)
1 -s-5+5 I s
s+ s (s+-1) (s+l) = ;;- s (s+4) (s+l)
(s+4) (s+l) - s
(s+.t)(s+l) s (s+4) (s+l)
s2 +5s+4 -s s2 +4s+4
T.F. = s(s+4)(s+l) s (s+4) (s+l)
Q.11 Obtai11 eigen values, eigm vectors a11d stale model in canonical form for a system
described by the following stale model : (July/Aug.·2007, 10 Marks)
[~;:]3 = [-12
~ ~ ~]
-7 -6
[=:]
.T3
+ [~] w11d y
2
= [1 o o J [=:]
X3
Ans. : Refer example 3.14 for obtaining M. Once M is obtained find M""1 and the new
[
M= -I -4
-1 1 3
l
matrices B = M"1B and C =CM
1 2 -3.1 M""1= -3
[4.5 2.5-2 -1I } B= [6.-55}
2.5 1.5 1 4.5
C=(I 2 1].
Q.12 Obtain tht model matrix for tire matrix givt11 btlow : (JanJFcb.·2008, 4 Marks)
A-[~~ -12 -7
~1
-6
Q.1
For a o1Jslem represerrted by X = AX tire respc~ lo one set of i11itial co11diti1ms L~ X(I)
2''-41]
= [ c-1• .r initia
a11d anot I1er set oJ ... I cond.ition
' ts. X( I) = c-it]
[4c_21 . D etermine
. matix
. A and
Q.2 Mr11tio11 ilu: ccmditions for complete controllability and complete obsavability of
conti11ous time systems. Using these, explain Ille principle of duality between
controllability and observability.
<J•nJfeb.-2005,JanJFeb,-2008 10 Morks,;July/Aug.-2007 6 Marks)
Ans.: Refer sections 4.12 and 4.13.
Q.3 Use controllability and observability matrices to determine wlretlier tlie system represented
by tlie flow grapli show11 i11 Fig. 1 is completely co11trollable and completely obstroablt.
-1
u y
Fig. 1
(JanJfeb.-2005, 10 Marks)
Ans. : Refer example 4.33.
Q.4 Given thr time i11varia11t system :
(P - 14)
M
Modern Control Theory p -15 Solution of State Equations
Q.S What is a stat« transition matrix ? I.isl tire properties of state transitio11 matrix.
(July/Aug.·2005, July/Aug.·2007,Jan.fcb.·2008,6 Marks; July/Aug.·2006, 5 Marks,
Jan./Feb.·2007, 10 Mari<s)
Ans. : Refer sections 4.3 ,111d 4.4.
X [~ :5] X +[~]II
Y (1 OJ X
Q.9 A system represented by following statt model is controllable but not obsnvablt. Show
t/ull tire no11-<Jbstruability is due to 11 pok-:uro ettnetllation in C/sl-Af18.
x [! :Jx +mu
-~1
[ i:: lJ' [
.-1 ,-21
_;~-21
l[ l
three solulio11 for three different initial comfitions art 111N1i111ble,
2r31
' -6~-31
X=[ ~
-6
~
-11 -6
~1 X + [~] u, Y
2
= [1 0 OJ X
X(I)= [~ ~]X(O)
(JanJFeb.-2007, 10 Marks)
Ans. : Refer example 4.43.
Q.18 State the conditions for C-Ompfetely controllability and complei« o/Jser.x1bility. Determin«
[ ,J 4) -11 6 X3 1
(JanJFeb.·2007, 10 M3rks)
Ans. : Refer section 4.11 and example, 4.36 for the procedure. The system is completely
controllable and completely observable.
Q.19 Obtain the olJS<'rmble phas« variable slate model of
T.F. = T(s) = )'(>) = bo>3 +bis2 +bi> +b3. Draw tire signal .flow grap/1 of Tis).
U(s) >3 +•1>2 ... azs +n3 (July/Aug.·2007, 8 Marks)
Ans. : Refer example 4.46.
(J;m./Fcb.-2008, 10 Marks)
Ans. : Refer example 4.36 for the procedure and the given system is completely
controllable and observable.
DOD
Modern Control Theory P-23 Pole Placement Technique
Q.11
Omsider the systcn defined by ; = Ax + Bu, w/1ere A=[~ ~ ~]
-1 -5 -6
B"' [~.J1
l
IJy
usitrg slate feedback rontrol u a -Kx, ii is desired to /rave the c/OS<?d loop po/ts at
s =-2±j4 and s = -10. Determine tire stale fredbadc gain matrix "K" by any one
metlwd. QanJFeb.-2008,8 Marks)
Ans. : Refer example S.10
Q.12
A=[~ ~
o l rol
Consider the systtm x =Ax+ Uu a11d Y = C><. w/rerr
-6 -11
I
-6
J B = loJ'
L1
1111d C = [t 0 0 ]. Determine lite obsm.'fr gai11 matrix by the US<' of:
i) The direct substitution me/hod.
ii) Ackermann's formula.
Assume that the desired Eige11 values of tlrt obserwr gai11 matrix arc
µI =-2+j3.4641 and µ2 =-2-j3.4641, µ 3 =-S. <J•nJFeb.-2008, 8 M•rksl
Ans. : Refer example 5.11.
ODD
'®
Q.1
Controllers
Q.2 Consider a typical second order, type one system with u11ityfeedback, being controlled l1y
a PD controller and stun» that i) Damping increase with PD control.
(JulylAug.·2005, 4 Marks)
Ans. : Refer section 6.14.
Q.3 A temperature control system has th« block diagram given i11 Fig.1. The i11p11t signal is a
voltage a11d represents the desired temperature er Find the steady-state error of the
0/
system whm !+ is a unit step function a1ul i) D(s) = 1 i1) D(s)= I+
=
iii) Dis) 1 + 0.3 s. What is tl:e effect of the i11tegral lmn i11 lite Pl controllerand tl:t
derivative term i11 PD controller on the steady state error ? (July/Aug.·2007, 8 Marks)
O(r) 200 9
~
Plant
Fig. 1
Q.5 Define controller. Explain properties of P, Pl and PIO controllers with llie help of block
diagram. (JulylAug.-2007, 8 Marks)
Ans. : Refer sections 6.1, 6.5, 6.9 and 6.11
Q.6 Deft11e co11tro/ler. Explain PD, Pl and PID coturollers. What are the advantages of PID
controller ? (JanJfeb.2008, 6 Marks)
Ans. : Refer sections 6.1, 6.10, 6.9 and 6.11
(P • 24) ono
M
jG) Nonlinear Systems I
Q.3 What are inherent nonlinearities ? Explai11 1my three of thmdJuly/Aug.-2006, 6 Marks)
Ans. : Refer section 7.4.
Q.5 Discuss tlte basic features of t/1t Back/as/1 non-linearities wit/1 suital>/efigures.
(July/Aug.-2007,4 Marks)
Ans. : Refer section 7.4.6.
(P - 25)
'®
Q.1
Phase Plane Method
Q.2 What is a phase 11/a11e 11/ot? Describe delta method or any other method of drawi11g phase
plane trajectories. (JanJFeb.·2005,10 Maries)
Ans. : Refer sections 8.1 and 8.5.
Q.4 Whal arc si11g11lar points? Explain tire classification of singular points based 011 the
location of dgm values of tire system. (July/Aug.·2005; JanJfcb.·2008,8 Mark$)
Ans. : Refer section 8.9.
Q.5 /'ig. 1 slunv« pl111se portraits for typt' • 0 systons. Classify tlrem i11to the categories. Stable
focus. stable node. saddle point and w-on. (See Fig. 1 011 next page.)
(JanJfcb.·2006;July/Aug.-2007,
6 Marks)
Ans. : Stable Iocus
Unstable node
x, ~y
Q.8 Using isocline method, draw lite phas<e trajectory for tltt system.
d2x+o.6'.!!.+x .. o
dt2 di
with x = 1 a11d dx
dt
= 0 as initial amditia11. (JanJFcb.-2006,8 Marks)
Ans. : Refer section 8.4.
Modorn Control Thoory p ·30 Phaso Plano Method
Q.9
.
A linfar second order sen» is described by the equation C+2E,ll\,C+or,c = 0 wliere
E, = 0.15. 10• = l rad/sec, CIOJ = l.5 and C = 0. Detmnirtt tile singular point. Constriid
lite phase trajectory, using the method of isodine». (July/Aug.·2006,10 Marks)
Ans. : Refer example 8.2.
Q.10 Define singular point on a pnase plm1e. &plain diffoent types of sit1gular points
· (July/Aug.-2006, 10 Marks)
Ans. : Reier section 8.9.
Q.11 What are singular points? Explain differc1t singular points adopted in 1wn-li11ear control
;-ystems. (JanJFcb.-2007,8 Marks)
Ans. : Refer section 8.9.
i) x +0.5x+2x=O
.
ii) .v+3y +2y=O
.
iii) y +3y -10=0 (JanJFcb.·2007,12 Marks)
Ans. : Refer example 8.3.
Q.13 Draw tlte phase-plane trajectoryfor thefollowittg equation using Isodine method:
x+2E,ro;+w2x=U
Q.2 Use Krasovskii's theorem lo show that lite equilibrium slate x = 0 of lite system described
by
.r 1 =-3x, +x2
.t2 =x1 -x2 -xi is asymptotically stale i11 I/re large. (Jan./Feb.·2005, 10 Marks)
Ans. : Refer example 9.4.
Q.3 Define:
Ii) Stability, Iii) Asymlolic stability (iii) Asymptotic stability in the large.
Quly/Aug.·2005, 5 Marks, July/Aug.-2007, 6 Marks)
Ans. : Refer sections 9.29.3, 9.4 and 9.5.
Q.4 Investigate I/re stability of tlie following non-linear system using direct method of
.
Liapunou.
x1 =x2
(P • 31)
- .. ,. .
Modern Control Theory p -32 Liapunov's Stability Analysis
Q.6 Using Liaprmovs direct 111etl1od, find tlrr range of K lo guarantee sta/1ility of tire system
show11 i11 Fig. I.
•O. _:~•~Ghl-f-
~~I s
Fig. 1
(JonJFeb.-2006,14 Marks)
Ans. : Refer example 9.11.
Q. 7 Choos« an appropriate Liapunov fimction and check tire stability of tire equilibrium state
of tire system described by
X2 = - X7 - X~ X2 O•nJFeb.-2006, 6 Muks)
Ans. : Refer example 9.5.
Q.13 Exnmme ti~ stability of the system described by th« following equation by Krasovdskii's.
Ouly/Aug.-2007,8 Marks)
Ans. : Refer example 9.9.
Q.14 A system is described by tire followingequation :
Assuming matrix Q to be tire identify matrix, solve for matrix P and comment on
the stability of tile system 11si11g the equation ATP+ PA -Q. =
Qan/Fcb.- 2008, 10 Marks)
~ Ans. : Refer example 9.7.
ODO
(P • 34)