Practical lesson 3

Markin Nikolay
Linear time-invariant models (LTI)
A linear state space system can be represented by
The matrix form

x  Ax  Bu
y  Cx  Du
where A, B, C and D are constant matrices. Such a system is
said to be linear and time-invariant, or LTI for short. The
matrix A is called the dynamics matrix, the matrix B is called
the control matrix, the matrix C is called the sensor matrix
and the matrix D is called the direct term.
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 Practical lesson 3 Markin Nikolay
Linear time-invariant models (LTI)
Systems of linear differential and algebraic
equations
 
x
  1  a11 .. a1n   x1   b11 .. b1m   u1
 :    : :: :    :    : :: :    : 
         
 x n  an1 .. ann   xn  bn1 .. bnm  um 
 
 y1  c11 .. c1n   x1   d11 .. d1m   u1 
 :    : :: :    :    : :: :    : 
         
 yk  ck1 .. ckn   xn  d k1 .. d km  um 
 The forms of linear differential equations nth-
order system
A different form of linear differential equations is an
equation of the form
dny d n 1 y d n2 y dy d mU
a0 n  a1 n 1  a2 n  2  ...an 1  an y  b0 m  ...  bmU
dt dt dt dt dt
where t is the independent (time) variable, y(t) is the
dependent (output) variable and u(t) is the input. The
notation d k y / dt k is used to denote the kth derivative of y with
respect to t, sometimes also written as y(k). The controlled
differential equation is said to be an nth-order system.

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 The Cauchy form of linear differential
equations nth-order system
dx1 The designations
 x2 x2 
dy
dt x1  y dt
dx2 i 1
 x3 d y
xi  i 1 u  d j 1
U
dt j 1
dt j
dt
dxn 1 b0 bm
  (a1 xn 1  ...an 1 x2  an x1 )  um  ...  u1
dt a0 a0 a0

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 The matrix form of linear differential
equations nth-order system
     
x
  1  0 1 .. 0   x 1   0 .. 0   u1 
 :  : ::   
:  :   :  
:: :   :  
    an1 ann  b bnm 
 
x n   ..   
 n
x   n1
..  um 
   a0 a0   a0 a0 
i 1 j 1
d y d U
xi  i 1 uj 
dt j 1
dt
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 Linearization
Nonlinear model

Taylor row

1  2
f   f

R( x , x)  x  ...  
2
f ( x)  f ( x  x)  f ( x )  x
2! x 2
x
  f
Linear difference f ( x)  f ( x  x)  f ( x )  x
x
Linearization factor Linearized equation
 f 
a( x )  
x x  x   x  a x 6
 Matrix form for Linearized state space system

x  Ax  BU ; x  x1 , x2  xn ; u  u1 , u2  um 

x1 a11a12  a1n x1 b11b12  b1m u1

x 2  a21a22  a2 n 
x2

b21b22  b2 m

u2
    
 an1an 2  ann xn an1an 2  anm um
xn
y  Cx  Du
The matrix A is called the dynamics matrix, the matrix
B is called the control matrix, the matrix C is called the
sensor matrix and the matrix1 D is called the direct term.
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The state space system representation
Data: A  [a11...a1n 
... ... ... 
an1...ann ] 
 entry Wds11Wds12 Wds1m
Wds21Wds22 Wds2 m
Wds 
...........................
The same B=[…], C=[…], D=[…]
Сonts=ss(A,B,C,D)
Wds n1Wds n 2  Wds nm

Transfer function matrix

Wds=tf(Сonts)
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 First order inertial system
  a1 b0
a0 x  a1 x  b0u [ x]  [ ][ x]  [ ][u ]
a0 a0
[ y ]  [1][ x]  [0][u ]
vA  [ a1 / a0 ]
Example 1
B  [b0 / a0 ]

C  [1] T x  x  Ku
Сonts=ss(A,B,C,0) T  1.3
Wds=tf(Сonts) K  3 .1
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 Second order inertial system
 

a0 X  a1 X  a2 X  b0u x1  X x2  X

x1  x2
 a2 a1 b0
x2   x1  x2  u
a0 a0 a0
  
    
 x1   0 1   x1   0 
      
   a         [u ]
a1   x   b0 
 x 2   2   2
   a0 a0  a 
 0
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 
Example

2
T X  2T X  X  Ku
2

T  2.4   0.34 K  4.2

1 0

C  The unit matrix

0 1 С=eye(2)

Сonts=ss(A,B,C,0)
Wds=tf(Сonts)
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Example accelerometer model.
linear spring Fk=k·q
Fd Linear damper force Fd=c·V
Inertial force Fu=m·a
Fu

Fk
 c k
 Fu  Fk  Fd V  V  qa
V m m
m 
 q V
q V

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Example 3 accelerometer state space model

System
    c k  V  1
 
m        a 
V
 m
 q   1 0   q  0

Sensor
VS  1 0 V  0
q   0 1   q   0  a 
 S      
Data: m=1; k=100 ; c=10
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 Linear discrete-time system
τ – the time step u(t)→u[n τ ]=u[n]
We begin to use difference value Δx=x[(n+1)τ]-x[nτ]=x[n+1]-x[n]
We can describe differential value as difference
dx x(t   )  x(t ) x[( n  1)  x(n ) x[n  1]  x[n]
  
dt   
We call equation a difference equation since it tells us how x[n+1]
differs from x[n].

x  Ax  Bu x[n  1]  A x[n]  B u[n]
y  Cx  Du y[n]  Cx[n]  Du[n]
As before, we refer to the matrices A, B, C and D as
the dynamics matrix, the control matrix, the sensor
matrix and the direct term. 14
 Linear state space discrete-time system
τ – the time step; Dt=τ; u(t)→u[n τ ]=u[n]
We call equation a difference equation since it tells us how x[n+1]
differs from x[n].
 x[n  1]  A x[n]  B u[n]
x  Ax  Bu
y[n]  C x[n]  D u[n]
y  Cx  Du
Сonts=ss(A,B,C,0) Disk=c2d(Conts,Dt)
[At,Bt,Ct,Dt]=c2dm(Conts,Dt,’zoh’)
Disk=ss(At,Bt,Ct,Dt)
As before, we refer to the matrices At, Bt, Ct and Dt
as the dynamics matrix, the control matrix , the
sensor matrix and the direct term. 15
Example 3 Compare the characteristics
of continuous and discrete models
Poles:
damp(Conts) pole(Conts)
Ltiview for comparison Conts & Disk pzmap
Magnitude and phase characteristics as
function of frequency
nyquist bode
Responses step impulse
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Example 4 The angle plane motion
The Aeroplane’s Axes and Planes of Rotation

The three axes of an aeroplane intersect at the center of gravity (CG) and are
those about which an aeroplane moves in flight. They are the longitudinal,
the lateral and the normal axes
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 The Control Surfaces

The Elevators. Control of the aeroplane about its lateral axis, or pitch control, is
accomplished by using the elevators.
Angle of Attack. This changes the pitching moment of the tail plane and requires a
deflection of the elevators to maintain a given attitude. The control of an aeroplane
about its normal or yaw axis is accomplished by using the rudder.
The ailerons provide roll control.
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Aircraft oriented coordinate systems
1. Aircraft body axis system (OXYZ)
2. Flight path coordinate system (OXkYkZk)

- path angle
(the slope of trajectory)
- track angle
(the direction of trajectory)

- speed

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 Aircraft oriented coordinate systems
1. Aircraft body axis system (OXYZ)
2. Aircraft centered gravity direct system (OXgYgZg)

- pitch angle

- roll or bank angle

- yaw angle

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Aircraft oriented coordinate systems
1. Aircraft body axis system (OXYZ)
2. Speed coordinate system (OXaYaZa)

- angle of attack

- sideslip angle

- speed

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 The plane pitching

The linear pitching moment

 M z   M z  M z  z  M z   M z   M z  B
z  
 

The linearization
   Mz
  z 
 Iz
    
 
V   n y
 
   n y   n     n   е
    z y y


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 Linearized equation
  z  
  M z  B
   z  M z  z  M z   M z 

   ny 
 ny
    z       е
 V V
 
    z
 
     
 n  n
  z  ( M z z  M z ) z  ( M z  M z )  ( M z  M z ) B
y y

 V V
   ny  ny
    z       е
 V V
 
    z
 B
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 The designations
  P cos(   ДВ )  q  S  qS


n y  C y    n y  Cy 
 qS  mg mg

 mz  q  S  ва  qSва
Mz   Kz  mz ; Kz  ; M z  Kz  mz ;
Jz Jz
qSв 2 _ C y qS
M z z  K z'   n ; Kz'  а
; M z  Kz'  mz ; Y  ;
J zV mg
_
  Z
mg 
Cy 
gC y mZ
C yГП  ; ny  ; Y  , n  m 
Cy
.
qS C yГП VC yГП Z


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 Data: Define Poles:
 damp pole
( M z z  M z )  0.6
  Magnitude and phase
  
 n
 )  1.1
y
(
 zM M z characteristics as function
V

  
 n  of frequency nyquist bode
 )  0.38
y
 z
( M M z
 V Responses step impulse
  ny
  0.038 W z
 V Define Transfer
  ny
  0.0041 function matrix: W
 V
W
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