Feedback Control Systems (FCS)

• Now Let us convert a space model to a transfer function model.

x (t ) = Ax(t ) + Bu (t ) (1)

y(t ) = Cx(t ) + Du(t ) (2)

• Taking Laplace transform of equation (1) and (2) considering initial

conditions to zero.
sX ( s ) = AX ( s ) + BU ( s ) (3)

Y ( s ) = CX ( s ) + DU ( s ) (4)

• From equation (3)

sX ( s ) − AX ( s ) = BU ( s )
( sI − A) X ( s ) = BU ( s )

X ( s ) = ( sI − A) −1 BU ( s ) (5)
1
 Transfer Matrix (State Space to T.F)
• Substituting equation (5) into equation (4) yields

−1
Y ( s ) = C ( sI − A) BU ( s ) + DU ( s )

Y ( s ) = [C ( sI − A) −1
]
B + D U (s)

Y ( s)
= C ( sI − A) B + D
−1

U ( s)

2
 Example#1
• Convert the following State Space Model to
Transfer Function Model if K=3, B=1 and
M=10;

 x   0 1   x  0 
   = − K B    +  1  f (t )
 v   M −  v   
M M 

 x
y (t ) = [0 1] 
v 
3
 Example#1
• Substitute the given values and obtain A, B, C
and D matrices.

x
   0 1   x  0 
=
 v  − 3 1    +  1  f (t )
   10 −  v   
10  10 

 x
y (t ) = [0 1] 
v 
 (t ) = Ax (t ) + Bu (t )
x

4
y( t ) = Cx( t ) + Du( t )
 Example#1
 0 1  0
A= 3 1 B=1
−
 10 −  10 
10 
D=0
C = [0 1]

Y ( s)
= C ( sI − A) −1 B + D
U ( s)

5
 Example#1
 0 1  0
A= 3 1 B=1
−
 10 −  10 
10 
D=0
C = [0 1]

−1
Y (s)   s 0  0 1  0
= [0 1]   − 3 1  1
U (s)  0 s   − −  10 
  10 10  

Y ( s)
= C ( sI − A) −1 B + D 6
U ( s)
 Example#1
−1
Y (s)   s 0  0 1  0
= [0 1]   − 3 1  1
U (s)  0 s   − −  10 
  10 10  
−1
Y (s)  s −1   0 Appendix C
= [0 1]  3 1  1 (Ogata 5th)
U (s)  s +  10 
 10 10  
 1 
Y (s) 1  s + 10 1  0 
= [0 1]   1
U (s) 1 3 3
s( s + ) +  − s  10 
10 10  10 
7
 Example#1
 1 
Y (s) 1  s + 10 1  0 
= [0 1]   1
U (s) 1 3 3
s( s + ) +  − s  10 
10 10  10 

Y (s) 1  3  1
 0
= − 10 s  
U (s) s(s + 1 ) + 3   10 
10 10

Y (s) 1 s
=
U ( s ) s ( s + 1 ) + 3 10
10 10
8
 Example#1
Y (s) 1 s
=
U ( s ) s ( s + 1 ) + 3 10
10 10

Y (s) s
=
U ( s ) s (10 s + 1) + 3

9
 Forced and Unforced Response
• Forced Response, with u(t) as forcing function

 x1   a11 a12   x1   b1 

 x  = a    +  u(t )
 2   21 a22   x2  b2 
• Unforced Response (response due to initial conditions)

 x1   a11 a12   x1( 0)

 x  = a   
 2   21 a22   x2 ( 0)
10
 Solution of State Equations _unforced

• Consider the state equation given below

x (t ) = Ax(t ) (1)

• Taking Laplace transform of the equation (1)

sX ( s ) − x(0) = AX ( s )
sX ( s ) − AX ( s ) = x(0)

(sI − A)X ( s) = x(0)

X ( s ) = (sI − A) x(0)
−1

1
X (s) = x(0)
sI − A 11
 Solution of State Equations
1
X (s) = x(0)
sI − A
• Taking inverse Laplace

x(t ) = e At x(0)

φ (t ) = e At
State Transition Matrix

  S 0 0 − 2  −1 
φ (t ) =  [( SI − A) ] =   
−1 −1 −1
 −   

  0 S   1 − 3  
12
 Example-3
• Consider RLC Circuit obtain the state transition matrix ɸ(t) and
the inverse state transition matrix.
 1 iL Vo
vc   0 −  v   1  + +
C c
+  C u(t )
 i  =  1   
R  iL   
Vc
 L  −   0 - -
L L

R = 3, L = 1 and C = 0.5

vc  0 − 2 vc  2

 i  = 1 − 3  i  + 0u(t )
 L   L   

13
 Example-3 (cont...)
vc  0 − 2 vc  2
 i  = 1    +  u(t )
 L  − 3  iL  0
• State transition matrix can be obtained as

  S 0 0 − 2  −1 
φ (t ) =  −1[( SI − A)−1 ] =  −1    −   

  0 S   1 − 3  
• Which is further simplified as

 (S + 3) 2 
 −
−1 ( S + 1)( S + 2)
φ (t ) =   ( S + 1)( S + 2) 
1 S 
 
 ( S + 1)( S + 2) ( S + 1)( S + 2)  14
 Example-3 (cont...)
 (S + 3) 2 
 −
−1 ( S + 1)( S + 2)
φ (t ) =   ( S + 1)( S + 2) 
1 S 
 
 ( S + 1)( S + 2) ( S + 1)( S + 2) 
• Taking the inverse Laplace transform of each element

(2e − e ) (−2e + 2e )
−t −2 t −t −2 t
φ (t ) =  −t − 2t
−1
−t − 2t 
 ( e − e ) ( − e + 2e ) 

15
 Solution of State Equations_forced function
• Consider the state equation with u(t) as forcing function
x (t ) = Ax(t ) + Bu (t ) (1)
• Taking Laplace transform of the equation (1)

sX ( s ) − x(0) = AX ( s ) + BU ( s )
sX ( s ) − AX ( s ) = x(0) + BU ( s )

(sI − A)X ( s) = x(0) + BU ( s)

x(0) + BU ( s )
X (s) =
sI − A
16
 Solution of State Equations_forced function
x(0) + BU ( s )
X (s) =
sI − A
x(0) BU ( s )
X (s) = +
sI − A sI − A
• Taking the inverse Laplace transform of above equation.
t
x(t ) = φ (t ) x(0) + ∫ φ (t − τ )u (τ )dt
0

Natural Response
Forced Response

17
18
 Example#6
• Obtain the time response of the following system:
 x1   0 1   x1  0
 x  = − 2    +  u (t )
 2  − 3  x2  1
• Where u(t) is unit step function occurring at t=0.
consider x(0)=0.
Solution
Calculate the state transition matrix (The state transition matrix
ɸ(t) was obtained in Example 3)
φ (t ) =  −1[( SI − A) −1 ]

19
 Example#6
• Obtain the state transition equation of the system
t
x(t ) = φ (t ) x(0) + ∫ φ (t − τ )u (τ )dt
0

20