Scribd
Upload
928 views30 pages

State Space Analysis of Digital Control System

The document discusses various methods for representing and solving state space equations for discrete-time linear time-invariant (LTI) and linear time-varying (LTV) systems. It describes representing state equations in state space form using matrices, solving the state equations using state transition matrices and the z-transform approach, and discretizing continuous time state space equations. Examples are provided to illustrate discretization of a continuous system for different sampling periods.

Uploaded by

sanjaysinghcoer
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
928 views30 pages

State Space Analysis of Digital Control System

The document discusses various methods for representing and solving state space equations for discrete-time linear time-invariant (LTI) and linear time-varying (LTV) systems. It describes representing state equations in state space form using matrices, solving the state equations using state transition matrices and the z-transform approach, and discretizing continuous time state space equations. Examples are provided to illustrate discretization of a continuous system for different sampling periods.

Uploaded by

sanjaysinghcoer
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 30

Digital Control Systems

State Space Analysis(2)


STATE SPACE REPRESENTATIONS OF DISCRETE-TIME SYS
Nonuniqueness of State Space Representations
STATE SPACE REPRESENTATIONS OF DISCRETE-TIME SYS
Nonuniqueness of State Space Representations

≡
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
Solution of LTI Discrete-Tim State Equations

x(k) or any positive integer k may be obtined directly by recursion, as follows:


SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
State Transition Matrix
It is possible to write the solution of the homogeneous state equation

as

state transition matrix(fundamental matrix) :


SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
State Transition Matrix
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
z Transform Approach to the Solution of Discrete-Time State Equations
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
z Transform Approach to the Solution of Discrete-Time State Equations
Example:

a)
b)
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
z Transform Approach to the Solution of Discrete-Time State Equations
Example:
a)
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
z Transform Approach to the Solution of Discrete-Time State Equations
Example:
a)
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
z Transform Approach to the Solution of Discrete-Time State Equations
Example:
a)
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
z Transform Approach to the Solution of Discrete-Time State Equations
Example:
a)
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
Solution of LTV Discrete-Time State Equations

solution of x(k) may be found easily by recusion

State transition matrix


SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
Solution of LTV Discrete-Time State Equations
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
Solution of LTV Discrete-Time State Equations
SOLVING DISCRETE TIE STATE-SPACE EQUATIONS
Solution of LTV Discrete-Time State Equations

Properties of
PULSE TRANSFER FUNCTION MATRIX

Pulse Transfer function matrix:


PULSE TRANSFER FUNCTION MATRIX
Similarity Transformation:

The pulse transfer function matrix is invariant under simiarity transformation.


The pulse transfer function does not depend on the particular state vector.
DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS
DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Solution of Continuous Time State Equations

Properties of matrix exponential


DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Solution of Continuous Time State Equations


DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Discretization of Continuous Time State Equations

Discrete-time representation of
DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Discretization of Continuous Time State Equations


DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Discretization of Continuous Time State Equations

Remember:

(1)

(2)

Multiplying (2) by eAT and subtracting it from (1) gives:


DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Discretization of Continuous Time State Equations

G(T),H(T) depend on the sampling


period C and D are constant matrices
and do not depend on the sampling
period T.
DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Discretization of Continuous Time State Equations

Example:

This result agrees with the z transform of G(s), where it is preceded by a sampler and zero order hold
DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Discretization of Continuous Time State Equations

Example:
DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Discretization of Continuous Time State Equations

Example:
DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

Discretization of Continuous Time State Equations

Example:

When T=1

T
ZOH G(s)
DISCRETIZATION OF CONT. TIME STATE SPACE EQUATIONS

MATLAB Approach to the Discretization of Continuous Time State Equations

Note:
Default format is format short
For more accuracy use format long

Example:

G and H differs for a different sampling period

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