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    This document discusses techniques for solving state space equations over continuous and discrete time. It covers finding the transition matrix using inverse Laplace transforms or the matrix exponential of the system matrix. It also describes obtaining the discrete time state equation from the continuous time state equation through approximations or more accurate evaluations using Taylor series expansions. The objectives are to learn how to find the time solution of the state space equation, the transition matrix, and the discrete time state equation.

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    This document discusses techniques for solving state space equations over continuous and discrete time. It covers finding the transition matrix using inverse Laplace transforms or the matrix exponential of the system matrix. It also describes obtaining the discrete time state equation from the continuous time state equation through approximations or more accurate evaluations using Taylor series expansions. The objectives are to learn how to find the time solution of the state space equation, the transition matrix, and the discrete time state equation.

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    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
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    11 views33 pages

    Chapter 10

    Uploaded by

    leo232
    This document discusses techniques for solving state space equations over continuous and discrete time. It covers finding the transition matrix using inverse Laplace transforms or the matrix exponential of the system matrix. It also describes obtaining the discrete time state equation from the continuous time state equation through approximations or more accurate evaluations using Taylor series expansions. The objectives are to learn how to find the time solution of the state space equation, the transition matrix, and the discrete time state equation.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 33

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10. Time Solution of the State Space Equation Theory Contents:


    10.1 The continuous solution 10.2 Finding the Transition Matrix 10.2.1 Inverse Laplace Transforms 10.2.2 Using the Modal Transformation 10.3 The Discrete State Equation 10.3.1 Approximate Evaluation of E and F 10.3.2 More Accurate Evaluation of E and F Objectives: I Learn how to obtain the time solution of a State Space Equation. I Learn how to find the Transition Matrix. I Learn how to use the time solution of the State Space Equation to obtain the Discrete Time State Equation

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution


    To find the solution we will calculate first the complimentary function:

    The complimentary function must obey:

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution


    So far, we have obtained the solution of the homogeneus equation, also known as complimentary function:

    Since we want to obtain the full solution of the differential equation, now we have to calculate the particular integral. Remember the solution of:

    Is:

    Particular Integral

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution


    Particular Integral Calculation:

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.1. The Continuous Solution

    Complimentary Function: Particular Integral:

    10

    10.2 Finding the Transition Matrix 10.2.1 Inverse Laplace Transform

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    11

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.1 Inverse Laplace Transform

    This looks very nice until you try an example:

    12

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.1 Inverse Laplace Transform

    Now we just need to carry out a partial fraction expansion of all the above terms and calculate the Inverse Laplace Transform of the individual terms. Problem (BIG): We have to calculate n3 partial fraction coefficients. Very boring.

    13

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation


    For a first order system (t)=eat. For an n-order system, can we say that (t)=eAt? A being the system matrix. First of all, we need to define the matrix exponential (eAt), and then we have to prove that the matrix exponential shows all the properties of a transition matrix. Matrix exponential definition:

    14

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    Property 1: eAt should obey i.e.

    Therefore the matrix exponential is solution of the homogeneus equation.


    15

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    Property 2: (0)=I Clearly:

    Properties 3 and 4 are also satisfied as well. Therefore:

    16

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    Obtaining the matrix exponential using the power series is extremely tedious (although the Caley-Hamilton theorem can help) Therefore, we are going to obtain an easier alternative:

    17

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    18

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    19

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    20

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    21

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    22

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    23

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    24

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

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    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.2.2 Finding via Modal Transformation

    26

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.3.1 The Discrete State Equation


    If you try to simulate the behaviour of the system, You will need to know the values of x(t0) and u(t0). Then, from the state equation you will obtain the GRADIENTS of x(t0) . Afterwards, you can estimate the new value of x, i.e. x(t1)= x(t0)h, being h = t1- t0 It is possible to write a computer program to do this for you, then you will obtain something like this:

    This equation is known as the DISCRETE TIME STATE EQUATION. It provides the value of x for t=t1=(k+1)h, given the values: x at t=t0=kh u at t=t0=kh The problem is: given the continuous matrices A, B, how do we calculate E,F?
    27

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.3.1 Approximate Evaluation of E and F

    If we have the system:

    28

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.3.2 More Accurate Evaluation of E and F

    If we have the system: The time solution will be:

    29

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.3.2 More Accurate Evaluation of E and F

    30

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.3.2 More Accurate Evaluation of E and F

    31

    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.3.2 More Accurate Evaluation of E and F

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    ADVANCED CONTROL TECHNIQUES Universidad de Magallanes

    10.4 Examples
    You should solve the following examples by next week: Ex. 4.1 Ex. 4.2 Ex. 4.3 Ex. 4.4 Ex. 4.5

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