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x ( t0 ) = x 0
y = Cx + Du
x& Ax = Bu
e At x (t ) e At 0 x (t0 ) = e A Bu ( )d
t0
e At x (t ) e At 0 x (t0 ) = e A Bu ( )d
t0
x (t ) = e At e At 0 x (t0 ) + e At e A Bu ( ) d
t0
t
= e A( t t 0 ) x (t 0 ) + e A( t ) Bu( )d
t0
A ( t t0 )
x (t0 ) + e A( t ) B ( )u ( )d
t0
y (t ) = Ce A( t t0 ) x ( t0 ) + C e A( t ) Bu ( ) d + Du ( t )
t0
x ( t ) = qi ( t )i
i =1
qi ( t ),
i = 1, K , n
B ( t ) u ( t ) = i ( t ) i
i =1
B ( t ) u ( t ):
i (t ) denotes the
scalar coefficients
i eigenvectors
Gives . . . . .
i =1
i =1
i =1
q& i (t )i = qi (t ) Ai + i (t )i
Re-arranging,
(q& i (t ) qi (t ) A i (t ) )i = 0
i =1
Recall
A i = i i
for
i = 1, K , n
Eigenvalue/Eigenvector Problem
q& i ( t ) = q i ( t ) i + i ( t )
for
i = 1, K , n
such that
q& = M 1 AMq + M 1 Bu
y = CMq + Du
Jordan
Form
q& = M 1 AMq + M 1 Bu
y = CMq + Du
J = M 1 AM
t
Initial Conditions
q (t ) = e J ( t t0 ) q (t 0 ) + e J ( t ) M 1 B ( )u ( )d,q( t0 ) = M 1 x ( t0 )
t0
after which
x ( t ) = Mq ( t )
=e
n t
and
e At = Me Jt M 1
Whenever two matrices A and J are similar, we can
compute our function of J and perform the reversesimilarity transform afterward. That is,
if J = M 1 AM ,
then f ( A) = Mf ( J ) M 1 and
f ( J ) = M 1 f ( A) M
Often
Often in
in large-scale
large-scale or
or infinite-dimensional
infinite-dimensionalsystems,
systems,some
some
modes
modes are
are negligible
negligible and
and are
are discarded
discarded after
after modal
modal
expansion,
expansion, thus
thus reducing
reducing the
the size
size of
of the
the system.
system. For
For
example,
example, when
when aa beam
beam vibrates,
vibrates, we
we have
have an
an infinite
infinite
number
number of
of terms
terms in
in aa series
series expansion
expansion of
of its
its
displacement
displacementfunction,
function,but
butonly
onlythe
thefirst
firstfew
few(2
(2--5)
5)may
may
dominate.
dominate.
Phase Portraits
Consider the homogeneous system
x& = Ax
A phase portrait is a graphical depiction of the
solutions to this equation, starting from a variety
of initial conditions. By sketching a few such
solutions (trajectories), the general behavior of
a system can be easily understood.
Phase portraits can be constructed qualitatively,
from knowledge of the eigenvalues and
eigenvectors, and are often used for nonlinear
system analysis as well.
Some examples:
.
x
e2
x2
e1
x
x1
x=
x2
1 0 x1
x& = Ax =
x
0
2
= { 1 4}
1 0
M =
0
1
e1 e2
Eigenvectors
2 1
A=
x2
e2
e1
x1
Stable Node
= { 1 4}
evals
1 1
M =
1 2
e1 e2
evectors
Two Invariant
Subspaces
2 0
A=
0
1
x2
= { 2 1}
e2
e1
x1
Saddle Point
1 0
M =
0 1
e1 e2
stable
unstable
evals
evectors
Two Invariant
Subspaces
3 2
A=
2
2
= { 2 1}
x2
e1
e2
2 1
M =
1 2
stable
invariant
subspace
x1
Saddle Point
unstable
invariant
subspace
1 1
A=
1 3
= { 2 2} eval
- 1
one eigenvecto r :
1
x2
e1
One Invariant
Subspace
x1
Stable Node
2 1
A=
Prev. Example
1 1
(Jordan Form of
)
1 3
= { 2 2}
x2
e1
x1
Stable Node
1
one eigenvector :
0
One Invariant
Subspace Rotates
Space
2
A=
6
3
4
evals
= { 1 + j 3
1 + j1
M =
j2
evectors
x2
1 j 3}
1 j1
j 2
geometric interpretation
of invariant subspace
dissolves
x1
Stable Focus
1 2
A=
5 1
evals
= {3 j 3 j}
3 + j 3 j
M =
j5 j5
evectors
x2
oscillations for
all time
x1
Center
Time-varying case:
1
0
x1 ( t0 ) = ,
M
0
0
1
x 2 (t 0 ) = ,
0
M
0
M
x n (t0 ) =
0
1
x 2 (t ) L
xn ( t ) ]
Obviously,
X& ( t ) = A( t ) X ( t )
Since x& = Ax
matrix system
vector
system
Matrix
Identity
dX 1 (t )
dX ( t ) 1
= X 1 (t )
X (t )
dt
dt
dX
dt
(t )
= X 1 (t ) A( t ) X ( t ) X 1 ( t )
= X 1 (t ) A( t )
same
Identity
substitute
X& = AX
I
new identity
So X 1 (t ) qualifies as a valid integrating factor for the
state equations:
X& = A(t ) X (t ) + B (t )u (t )
premultiply both
1
X ( t )[x& (t ) A(t ) x ( t ) = B( t )u( t )] sides by X 1
X 1 ( t ) x& (t ) X 1 (t ) A(t ) x ( t ) = X 1 ( t ) B( t )u( t ) rearrange
X
dX 1 ( t )
(t ) x& (t ) +
x (t ) = X 1 (t ) B (t )u (t )
dt
Solving
1
dX
(t )
1
X (t ) x& (t ) +
x( t ) = X 1 ( t ) B( t )u ( t ) same
dt
product d
X 1 (t ) x(t ) = X 1 (t ) B(t )u (t )
rule
dt
(t ) x (t ) X
( to ) x( to ) = X 1 ( ) B( )u ( )d integrate
t0
or
x (t ) = X (t ) X
premultiply by X (t )
and simplify
(t 0 ) x(t 0 ) + X ( t ) X 1 ( ) B ( )u ( )d
t0
(t , ) = X ( t ) X 1 ( )
x (t ) = X (t ) x (to ) ).
d (t , ) d X ( t ) X 1 ( ) dX (t ) 1
=
=
X ( )
dt
dt
dt
= A( t ) X (t ) X 1 ( )
d ( t , )
= A( t )(t , )
dt
and
(t , t0 ) = (t0 , t ) X (t )X
1
(t0 )]
= X (t0 ) X 1 (t )
( t , ) = e A(t )
X (t ) = e At
1. Because
X ( s ) = ( sI A) 1 BU ( s) + ( sI A) 1 x (t0 )
and
x (t ) = e
A( t t0 )
x ( t0 ) + e A( t ) Bu ( ) d
t0
e A ( t t0 ) = L1 (sI A )1
Note that
}t t
( t , ) = ( t , 0)
= (t , t0 )
0
property of
the exponential
function
( t , ) = Me J (t ) M 1
4. "Sylvester's Expansion" (explained in Brogan)
5. Taylor series expansion:
(t , ) = I + A( t ) +
1 2
A (t ) 2 + L
2!
2. Define B ( t , ) = A( )d . Then if AB = BA ,
( t , ) = e B( t ,)
t0
t0
t0
(t , t0 ) = I n + A( 0 )d 0 + A( 0 ) A( 1 ) d 1d 0 + L
x ( t0 ) = x 0
x (t k +1 ) = ( tk +1 , t k ) x ( tk ) + (t k +1 , ) B( )du (t k )
tk
This can be further simplified if the system has a constant Amatrix, so that:
( t , ) = e A ( t )
t k +1
x(t k +1 ) = e A( tk +1 tk ) x( tk ) + e A( tk +1 ) B( )du (t k )
tk
t k +1
x(t k +1 ) = e AT x( tk ) + e A( t k +1 ) B ( ) du (t k )
tk
Ad
Bd
x ( 2 ) = A2 x ( 0) + ABu ( 0) + Bu (1)
x ( 3) = A3 x ( 0) + A2 Bu ( 0) + ABu (1) + Bu ( 2 )
.
.
.
x ( k ) = A k x ( 0 ) + A k 1 Bu ( 0 ) + A k 2 Bu (1) + K + Bu ( k 1)
x ( k ) = A k x ( 0) +
Or
k 1
A k j 1B ( j ) u( j )
j =0
or
k
x ( k ) = A x ( 0) + A k j B ( j 1) u ( j 1)
k
j =1
change the
index
Leading to:
( k , j ) = Ak j
k 1
Ad (i )
i= j
q ( k + 1) = M 1 AMq ( k ) + M 1Bu ( k )
y ( k ) = CMq ( k ) + Du( k )
and
x ( k ) = Mq ( k )