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A general linear State-space model may be written on the following general form:
Sys_order2
Description
Constructs a model in state-space form. You also can use this
function to convert transfer function models to state-space
form.
Constructs the components of a first-order system model based
on a gain, time constant, and delay that you specify. You can use
this function to create either a state-space model or a transfer
function model, depending on the output parameters you
specify.
Constructs the components of a second-order system model
Example
>A = [1 2; 3 4]
>B = [0; 1]
>C = B'
>ssmodel = ss(A, B, C)
>K = 1;
>T = 1;
>H = sys_order1(K, T)
>dr = 0.5
>wn = 20
Faculty of Technology, Postboks 203, Kjlnes ring 56, N-3901 Porsgrunn, Norway. Tel: +47 35 57 50 00 Fax: +47 35 57 54 01
step
lsim
Example:
Given the following state-space model:
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[
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Solutions:
State-space model:
EE4107 - Cybernetics Advanced
>[A, B, C, D] = sys_order2(wn,
dr)
>ssmodel = ss(A, B, C, D)
>num=[1,1];
>den=[1,-1,3];
>H=tf(num,den);
>t=[0:0.01:10];
>step(H,t);
>t = [0:0.1:10]
>u = sin(0.1*pi*t)'
>lsim(SysIn, u, t)
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[]
Task 1.2
Given the following system:
Solution:
The state-space model becomes:
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Task 1.3
Given the following system:
Solutions:
State-space model:
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Where
position, speed/velocity, acceleration
- damping constant,
- mass,
- spring constant,
force
Task 2.1
Set the system on the following state-space form:
5
Assuming the control signal
Solution:
We set:
This gives:
Finally:
, i.e.:
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[
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i.e.:
[
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[
Task 2.2
Define the state-space model above using the ss function in MathScript.
Apply a step in u and use the step function in MathScript to simulate the result.
EE4107 - Cybernetics Advanced
6
Start with
Solution:
MathScript Code:
clear
clc
%
c
k
m
%
A
B
C
D
ss_model = ss(A,B,C,D)
step(ss_model)
This gives:
Task 2.3
Convert the state-space model defined in the previous task to a transfer function ( )
MathScript code.
( )
( )
using
7
Use
Do the same using pen and paper and Laplace. Do you get the same answer?
Solution:
MathScript:
In MathScript we can simple use the tf function in order to convert the state-space model to a
transfer function.
H = tf(ss_model)
This gives:
( )
( )
( )
We set
Laplace gives:
This gives:
or:
8
(
Which gives:
and
gives:
( )
( )
( )
Alternative metod:
The state-space model with
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[
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( )
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where:
[
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This gives:
( )
] ([
])
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Where:
[
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This means:
( )
( )
( )
Task 3.1
Find the state-space model from the block diagram.
Note!
and
Solution:
We get the following state-space model from the block diagram:
10
This gives:
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Task 3.2
Implement the state-space model in MathScript and simulate the system using the step function in
MathScript.
Set
And
Solution:
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Task 4.1
Find the state-space model on the form (pen and paper):
Solution:
First we do:
This gives:
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Task 4.2
Define the state-space model in MathScript and find the step response for the system. Discuss the
results.
Solution:
MathScript code:
clear,clc
A = [0 1; -1 -3];
B = [0 0; 2 4];
C = [5 6];
D = [7 0];
ssmodel = ss(A,B,C,D)
step(ssmodel)
Step response:
12
As you see we get 2 transfer functions because this is a so-called MISO system (Multiple Input, Single
Output).
Task 4.3
Find the following transfer functions:
( )
( )
( )
( )
( )
( )
Solution:
In MathScript we can simple do as follows:
H = tf(ssmodel)
This gives the following):
Transfer Function
Input:1 Output:1
7,000s^2+33,000s+17,000
-----------------------
13
1,000s^2+3,000s+1,000
Input:2 Output:1
24,000s+20,000
--------------------1,000s^2+3,000s+1,000
As you see we get 2 transfer functions because this is a so-called MISO system (Multiple Input, Single
Output):
( )
( )
( )
( )
( )
( )
Additional Resources
http://home.hit.no/~hansha/?lab=mathscript