Lect 12 Dynamic Solution

Lecture 12: Dynamic Solution in State Space
Lecture 12: Dynamic Solution in State Space

MAE3406/TRC3600 Aerospace Control/Modeling and Control
Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization
Dr Chao Chen
Monash University
2010
Conclusion
Motivating Problems
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
What have we learned?
Laplace transform. Model a system in frequency domain, by means of Laplace transform. Model a system in time domain (state space).
Objectives
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples Solving Homogeneous State Equations
Solving homogeneous state space equations. Solving nonhomogeneous state space equations. Introduction of pole-placement method.
Solving Nonhomogeneous State Equations Stabilization Conclusion
Example: Inverted Pendulum
Lecture 12: Dynamic Solution in State Space Chao Chen Outline
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization
State variables: x1 = y, x2 = , x3 = y, x4 = These four equations can be put in state-space form (u = f ): x = Ax + Bu, or
x1 0 x2 0 x3 = 0 x4 0 0 0 mg/M (M + m)g/Ml 1 0 0 0 0 0 x1 1 x2 0 + u 0 x3 1/M 0 x4 1/Ml
Conclusion
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations
Assume M = 1kg, m = 1kg, g = 10m2 /s, and l = 1m. The state-space equations become into
0 x1 x2 0 x3 = 0 0 x4 0 0 10 20 1 0 0 0 0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
Stabilization Conclusion
We are interested in the behaviour of this inverted pendulum with certain inputs and initial conditions.
The state-space equations become into

x1 0 x2 0 x3 = 0 x4 0 0 0 10 20 1 0 0 0 0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
A trivial example is no input with zero initial conditions, i.e., x1 = x2 = x3 = x4 = 0

l
The state-space equations become into

x1 0 x2 0 x3 = 0 x4 0 0 0 10 20 1 0 0 0 0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
How about a tiny deviation in y, i.e., x1 = 0.01, x2 = x3 = x4 = 0
How about a tiny deviation in , i.e., x2 = 0.01, x1 = x3 = x4 = 0
Homogeneous and Time-Invariant System
x = Ax no forcing, no changing of system with respect to time.
Homogeneous Differential Equation

An ordinary differential equation is given by x = ax The solution is given by x(t) = eat x(0) A vector-matrix differential equation x = Ax It can be proved that the solution is given by x(t) = eAt x(0) where eAt Ak tk k=0 k!
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State Transition Matrix

x(t) = e x(0) The state transition matrix (STM) is dened as (t, t0 ) e If t0 = 0, then (t, t0 ) = (t) eAt Properties of the STM (t)
1. 2. 3. 4. 5. (t, t) = I (No change in time = no state change) 1 (t) = (t) (Reverse time = reverse state change) (t1 + t2 ) = (t1 ) (t2 ) [ (t)]n = (nt) (t2 t1 ) (t1 t0 ) = (t2 t0 ) = (t1 t0 ) (t2 t1 ) (Reversible)
A(tt0 ) At
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Computing State Transition Matrix

(t) e
At
Ak t k k=0 k!
Cayley-Hamilton Theorem: Consider n n matrix A and its characteristic equation given by | I A| = n + a1 n1 + . . . + an1 + an = 0 Then, An + a1 An1 + . . . + an1 A + an I = 0 Theorem eAt = 0 I + 1 A + . . . + n1 An1 ei t = 0 + 1 i + . . . + n1 in1 where i are the eigenvalues of the matrix A.
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Computing State Transition Matrix

x(t) = e x(0) = (t)x(0) Step 1: Find all eigenvalues of A. Step 2: write down a set of equations with eigenvalues,
e 1 t e
2 t
Lecture 12: Dynamic Solution in State Space Chao Chen
At
Outline Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
= = = =
n1 0 + 1 1 + . . . + n1 1 n1 0 + 1 2 + . . . + n1 2
. . . e n t
. . .
n1 0 + 1 n + . . . + n1 n
Step 3: solve these equations for i . Step 4: compute the state transition matrix by eAt = 0 I + 1 A + . . . + n1 An1
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Example

l
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
x1 0 x2 0 x3 = 0 x4 0
0 0 10 20
1 0 0 0
0 x1 1 x2 , 0 x3 0 x4
x1 (0) 0 x2 (0) 0.01 x3 (0) = 0 x4 (0) 0
x(t) = eAt x(0) Step 1: nd all eigenvalues, 1 = 0, 2 = 0, 3 = 4.47, 4 = 4.47
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Example
Step 2: write down a set of equations with eigenvalues,
e1 t e2 t e3 t e4 t with 1 = 0, 2 = 0, = = = =
3 0 + 1 1 + . . . + 3 1 3 0 + 1 2 + . . . + 3 2 3 0 + 1 3 + . . . + 3 3 3 0 + 1 4 + . . . + 3 4
3 = 4.47,
4 = 4.47.
Here we encounter a special case with two identical eigenvalues. In order to deal with it, we need to build another equation, which can be done by
de t d0 + 1 + . . . + n1 n1 = d d te t = 1 + 22 + . . . + (n 1)n1 n2
This is a general rule for identical eigenvalues. Times of differentiation is equal to the repeat number.
15
Example
Therefore, we setup a set of equations as follows,
e 1 t te2 t e e with 1 = 0,
3 t 4 t
= = = =
3 0 + 1 1 + . . . + 3 1
1 + 22 2 + 33 2
3 0 + 1 3 + . . . + 3 3 3 0 + 1 4 + . . . + 3 4
2 = 0,
3 = 4.47,
4 = 4.47.
Step 3: solving these equations yields

0 = 1 1 = t 2 = 0.05 + 0.025e4.47t + 0.025e4.47t 3 = 0.05t 0.005e4.47t + 0.005e4.47t
Step 4: compute the state transition matrix by (t) = eAt = 0 I + 1 A + . . . + n1 An1
16
Example
Step 5: write down the solutions as x(t) = (t)x(0) where x(0) = 0 0.01 0 0 . The solutions are
x1 x2 x3 x4 = = = = 0.005 0.0025e4.47t 0.0025e4.47t 0.005e4.47t + 0.005e4.47t 0.011e4.47t 0.011e4.47t 0.022e4.47t + 0.022e4.47t
T
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Example

l
18
Example
l
Question: how can we stabilize this system? Using input force f . How? Lets choose some inputs for test.
x1 0 x2 0 x3 = 0 x4 0 with x(0) = 0 0.01 0 0 0 10 20 0 .
T
1 0 0 0
0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
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Inhomogeneous and Time-Invariant System

x = Ax + Bu
Rewrite the state equations as x Ax = Bu Multiply both sides by eAt : eAt ( Ax) = eAt Bu(t) x Considering a function of eAt x d At e x = eAt Bu(t) dt Time integration from t0 to t: eAt x(t) eAt0 x(t0 ) =
t t0
eA Bu()d
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Inhomogeneous and Time-Invariant System

x = Ax + Bu Rearranging: x(t) = eA(tt0 ) x(t0 ) + So x(t) = (t, t0 )x(t0 ) + In case of t0 = 0, we have
t t t0 t t0
eA(t) Bu()d
eA(t) Bu()d
x(t) = (t)x(0) +
0
eA(t) Bu()d
21
Example

l
x1 0 x2 0 = x3 0 x4 0 with x(0) = 0 0.01 0
0 0 10 20 0 .
T
1 0 0 0
0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
Given an input u = f = 2N, nd out the state response of the system.
22
Example
The solution is
t
Motivating Examples
x(t) = (t)x(0) +
0
eA(t) Bu()d
Solving Homogeneous State Equations Solving Nonhomogeneous State Equations
where
0 0 A= 0 0 0 0 10 20 1 0 0 0 0 1 , 0 0 0 0 B = , 1 1 0 0.01 x(0) = 0 , 0 u=2
Further (t) has been computed.
23
Example
The solutions are given by
x1 (t) = 0.005 0.0025e4.47t 0.0025e4.47t +0.025 x2 (t) = 20t2 e2(2.23t) 2e2(2.23t) + 1 + e4(2.23t) e2(2.23t) 2e2(2.23t) + 1 + e4(2.23t) 0.005e4.47t + 0.005e4.47t 0.05 e2(2.23t)
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Example
How about another input f = u = 0.95 sin(t)N. The solution is
t
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples
x(t) = (t)x(0) +
0
eA(t) Bu()d
Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
25
Example
l
x1 0 x2 0 x3 = 0 x4 0 with x(0) = 0 0.01 0
0 0 10 20 0 .
T
1 0 0 0
0 x1 0 1 x2 0 + u 0 x3 1 0 x4 1
Given an input of u = f = 2N, the balance is maintained for about 0.3s Given an input of u = f = 0.95 sin(t)N, the balance is maintained for about 1.2s. Is there an input to stabilize the system constantly?
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State Feedback
x = Ax + Bu
We can choose the control signal to be u = Kx The original system is now converted to a homogeneous system (a CL system): x = (A BK)x = A2 x The characteristic equation of the CL system is given by |sI A2 | = 0 If all the CL poles are in the left-half s plane, the system is stable. We can choose K properly to enforce the CL poles in the left. How?
27
Example
l
0 x1 x2 0 x3 = 0 0 x4
0 0 10 20
1 0 0 0
0 x1 0 1 x2 0 + u, 0 x3 1 0 x4 1
0 0.01 x(0) = 0 0
Assume u = Kx = (K1 x1 + K2 x2 + K3 x3 + K4 x4 ) The CL system is hence given by

x1 0 x2 0 x3 = K1 x4 K1 0 0 10 K2 20 + K2 1 0 K3 K3 0 x1 1 x2 K4 x3 x4 K4
28
Example
The CL characteristic equation is then given by
|sI A2 | = s4 + (K3 K4 )s3 + (K1 K2 20)s2 10K3 s 10K1 = 0
We can create a CL characteristic equation with all poles on the left-half s plane, i.e.,
(s + 3)(s + 4)(s + 5)(s + 6) = s + 18s + 119s + 342s + 360 = 0
4 3 2
Comparing these two characteristic equations yields a set of equations on Ki ,

K4 + K3 18 = 0 139 K2 + K1 = 0 10K3 342 = 0 10K1 360 = 0
Solving the above equations yields

K1 = 36, K2 = 175, K3 = 171/5, K4 = 261/5
29
Example
The state-feedback system is given by

x1 0 x2 0 = x3 36 x4 36 0 0 165 155 1 0 171/5 171/5 0 x1 1 x2 , 261/5 x3 261/5 x4 0 0.01 x(0) = 0 0
Motivating Examples Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization
Solving it yields
x1 (t) = 1.38e4t t 0.415e3t 0.13e5t + 0.55e6t x2 (t) = 3.68e4t t + 1.63e3t 1.15e5t 0.46e6t
Conclusion
30
Example

l
31
Motivating Problems
32
Summary
Solving homogeneous state space equations. Solving nonhomogeneous state space equations. Introduction of pole-placement method.
33
What is Next?
Lecture 12: Dynamic Solution in State Space Chao Chen Outline Motivating Examples
We will not discuss the state-space technology further in this unit. More advanced topics and systematic studies in state space will be in MEC4418, Control Systems. We will study the technologies in classical control engineering in the rest of this unit.
Solving Homogeneous State Equations Solving Nonhomogeneous State Equations Stabilization Conclusion
34

Lect 12 Dynamic Solution

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Lect 12 Dynamic Solution

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Lecture 12: Dynamic Solution in State Space

Lecture 12: Dynamic Solution in State Space

What have we learned?

Solving Nonhomogeneous State Equations Stabilization Conclusion

Example: Inverted Pendulum

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

Example: Inverted Pendulum

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

Example: Inverted Pendulum

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

The state-space equations become into

A trivial example is no input with zero initial conditions, i.e., x1 = x2 = x3 = x4 = 0

Example: Inverted Pendulum

The state-space equations become into

Solving Nonhomogeneous State Equations Stabilization Conclusion

How about a tiny deviation in y, i.e., x1 = 0.01, x2 = x3 = x4 = 0

How about a tiny deviation in , i.e., x2 = 0.01, x1 = x3 = x4 = 0

Homogeneous and Time-Invariant System

x = Ax no forcing, no changing of system with respect to time.

Solving Nonhomogeneous State Equations Stabilization Conclusion

Homogeneous Differential Equation

State Transition Matrix

Computing State Transition Matrix

Computing State Transition Matrix

Lecture 12: Dynamic Solution in State Space Chao Chen

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

x1 (0) 0 x2 (0) 0.01 x3 (0) = 0 x4 (0) 0

x(t) = eAt x(0) Step 1: nd all eigenvalues, 1 = 0, 2 = 0, 3 = 4.47, 4 = 4.47

Step 3: solving these equations yields

Step 4: compute the state transition matrix by (t) = eAt = 0 I + 1 A + . . . + n1 An1

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

Inhomogeneous and Time-Invariant System

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

Inhomogeneous and Time-Invariant System

Solving Nonhomogeneous State Equations Stabilization Conclusion

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

x1 0 x2 0 = x3 0 x4 0 with x(0) = 0 0.01 0

Given an input u = f = 2N, nd out the state response of the system.

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

Solving Homogeneous State Equations Solving Nonhomogeneous State Equations

Further (t) has been computed.

x1 0 x2 0 x3 = 0 x4 0 with x(0) = 0 0.01 0

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

Solving Nonhomogeneous State Equations Stabilization Conclusion

Assume u = Kx = (K1 x1 + K2 x2 + K3 x3 + K4 x4 ) The CL system is hence given by

Comparing these two characteristic equations yields a set of equations on Ki ,

Solving the above equations yields

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

The state-feedback system is given by

Lecture 12: Dynamic Solution in State Space Chao Chen Outline

Solving Nonhomogeneous State Equations Stabilization Conclusion

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