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Lecture 7

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7 views15 pages

Lecture 7

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tony2682022
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© © All Rights Reserved
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Control Systems I

Lect.7 Laplace Transform Solution of


State Equations

1
9.1 Laplace Transform Solution of
State Equations

Taking the Laplace transform of both sides of the state equation yields

Taking the Laplace transform of the output equation yields

2
Eigenvalues and Transfer Function
Poles

We have

The roots of denominator are the poles of the system


The system poles = eigenvalues= det(sI - A) = 0.

3
Example 7.1
PROBLEM: Given the system represented in state space

do the following:
a. Solve the preceding state equation and obtain the output for the
given exponential input.
b. Find the eigenvalues and the system poles.

4
Example 7.1
SOLUTION: we have

then

Since U(s) (the Laplace transform for 𝑒 𝑡 ) is 1/(s + 1), X(s) can be calculated.

5
Example 7.1

The output equation is found

b. The denominator of Eq., which is det(sI - A), is also the denominator


of the system's transfer function. Thus, det(.sl - A) = 0 furnishes both the
poles of the system and the eigenvalues - 2 , - 3, and -4.

6
7.2 Time Domain Solution of State
Equations
We now look at another technique for solving the state
equations. Rather than using the Laplace transform, we solve the
equations directly in the time domain using a method closely
allied to the classical solution of differential equations.
We have 𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝑢(𝑡)
Homogenous Forcing

Need to solve the Homogenous part first


𝑑𝑥
𝑥ሶ 𝑡 = = 𝐴𝑥(𝑡)
𝑑𝑡
From Diff. Eq. 𝑥 𝑡 = 𝑒 𝑥(0) OR
𝐴𝑡 sx(s)-x(0)=Ax(s)
x t = ∅(𝑡)x(0) 𝑥 𝑡 = 𝑙 −1 (𝑠𝐼 − 𝐴)−1
∅ 𝑡 = 𝑒 𝐴𝑡 = 𝑙 −1 (𝑠𝐼 − 𝐴)−1
Where ∅(𝑡): State transition matrix (represent the free response of the system
7
7.2 Time Domain Solution of State
Equations
∅ 𝑡 = 𝑒 𝐴𝑡 = 𝑙 −1 (𝑠𝐼 − 𝐴)−1
Where ∅(𝑡): State transition matrix, The state-transition matrix
is defined as a matrix that satisfies the linear homogeneous
state equation.
1 2 2
𝑒 𝐴𝑡 = 𝐼 + 𝐴𝑡 + 𝐴 𝑡 +⋯
2
• Because the state-transition matrix satisfies the
homogeneous state equation, it represents the free response
of the system. In other words, it governs the response that is
excited by the initial conditions only
• the state-transition matrix ∅ 𝑡 completely defines the
transition of the states from the initial time t = 0 to any time t
when the inputs are zero.
8
7.2 Time Domain Solution of State
Equations
Now we can solve the whole State Eq. (State transition Eq.)
𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝑢(𝑡)
We have 𝑥 𝑠 = (𝑠𝐼 − 𝐴)−1 𝑥 0 + (𝑠𝐼 − 𝐴)−1 𝐵𝑢(𝑠)
Taking the Laplace inverse ∅(𝑠)
𝑥 𝑡 = 𝑙 −1 (𝑠𝐼 − 𝐴)−1 𝑥 0 + 𝑙 −1 (𝑠𝐼 − 𝐴)−1 𝐵𝑢(𝑠)
𝑥 𝑡 = ∅ 𝑡 𝑥 0 + ∅ 𝑡 ∗ 𝐵𝑢 𝑡
𝑡
𝑥 𝑡 = ∅ 𝑡 𝑥 0 + න ∅ 𝑡 − 𝜏 𝐵𝑢 𝜏 𝑑𝜏
0
Natural Forced
Zero Input Zero State
Response Response

9
Example 7.2
PROBLEM: For the state equation and initial state vector shown
below, where u(t) is a unit step, find the state-transition matrix and
then solve for x(t).

SOLUTION: Since the state equation is in the form


∅ 𝑡 = 𝑙 −1 (𝑠𝐼 − 𝐴)−1

𝑠+6 1
∅ 𝑡 = 𝑙 −1 𝑠 2 + 6𝑠 + 8 𝑠 2 + 6𝑠 + 8
−8 𝑠
𝑠 2 + 6𝑠 + 8 𝑠 2 + 6𝑠 + 8

10
Example 7.2

11
Example 7.2

12
Example 7.3
Consider the state equation

The problem is to determine the state-transition matrix ∅ 𝑡 and the


state vector x(t) for t > 0 when the input is u(t) = 1 for t > 0.

Solution: The coefficient matrices are identified to be

13
Example 7.3

The state-transition matrix of A is found by taking the inverse Laplace


transform of above eq.

14
Example 7.3
The state-transition equation for t > 0 is obtained;

OR

As an alternative, the second term of the state-transition equation can be


obtained by taking the inverse Laplace transform of (sI- A)−1 BU(s).

15

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