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State-Space Modeling
The state-space approach takes into account
intermediate variables between input and output:
state variables
The state variables may correspond to actual physical
quantities or may be just mathematical constructs
The state vector is composed of n state variables,
where n is the system order
Unlike transfer functions, state-space models can
include nonlinearities. Here we focus on linear,
time-invariant state-space systems
Digital controllers are based on state-space
representations of the control TF
It is possible to make conversions between TF and SS.
MCE441 p.2/22
State-Space Modeling...
To go from TF to SS is to obtain a SS realization of the TF
A given TF admits an infinite number of SS realizations
A general (possibly nonlinear) nth-order state-space model with m inputs and
p outputs has the form:
x 1
x 2
x n
y1
..
.
..
.
yp
MCE441 p.3/22
State-Space Modeling...
With SS, we replace a single n th order ODE by n 1st
order ones.
The column vector x = [x1 , x2 , ...xn ]T is called the state
vector
The set where x belongs is the state space
For MCE441 we use Rn as the state space. Others can
be used too.
The column vector u = [u1 , u2 ...um ]T is the input vector
The column vector y = [y1 , y2 , ...yp ]T is the output vector
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Example
b
k
m
u
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Example
Following our I/O approach we would have found:
m
y + by + ky = u
Y (s)
1
=
U (s)
ms2 + bs + k
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Another Example
Find a ss description of the the following RLC circuit. Find
the TF between the input and output voltages.
L
R
Vo
Vi
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Solution
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Solution
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2
s2 +s+1
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Solution
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System Matrices:
A=
0
0
..
.
1
0
..
.
0
1
..
.
...
...
..
.
0
0
..
.
0
0
0
... 1
an an1 an2 ... a1
MCE441 p.14/22
System Description:
x = Ax + Bu
y = Cx + Du
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Solution
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Solution
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u0 ,x0
u0 ,x0
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