Scribd
Upload
5 views7 pages

Lecture 4

Uploaded by

freehur7
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
5 views7 pages

Lecture 4

Uploaded by

freehur7
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 7

Lecture 4

Discrete-time transition
matrix
Dept. Of Electrical Engineering/ College
of Engineering/ Misan University
Control Engineering
Fourth Year
State Transition Matrix

• The exponential matrix eAt in equation is called the state-transition matrix


Ф(t) and represents the natural response of the system. Hence

The first term represents the response to a set of initial conditions, whilst the
integral term represents the response to a forcing function.

The characteristic equation is given by:

4
• Example 1: For the spring-mass-damper system, the state equations are shown in
equation

Evaluate,
(a) the characteristic equation, its roots, wn and
(b) the transition matrices ф(s) and ф(t)
(c) the transient response of the state variables from the set of initial conditions

(d) the transient response of the state variables to a unit step input assuming zero
initial conditions

• Solution

6
Inverse transform

(c) the transient response is given by

(d) the state vector equation may be written

8
Discrete-time solution of the state vector differential equation
• The discrete-time solution of the state equation may be the vector equivalent of the
scalar difference equation method developed from a z-transform
The continuous-time solution of the state equation is given

If the time interval (t — t0) in this equation is T, the sampling time of a discrete-time system,
then the discrete-time solution of the state equation can be written as

• The discrete-time state transition matrix A(T) may be computed by substituting T =t

• The discrete-time control matrix B(T)

10
• Example 2: (a) Calculate the discrete-time transition and control
matrices for the spring-mass- damper system in Example 1 using a
sampling time T = 0.1 seconds.
(b) Using the matrix vector difference equation method, determine
the unit step response assuming zero initial conditions.

• Solution

Taking the series as far as k = 2.

11

An approximate value of B(T ) is found from equation B(T), taking the series as far
as k = 2.

12
(b) Using the values of A(T ) and B(T ) together with the matrix vector difference equation

13

14

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy