me ryh Leb. ere _ System modo representihion —| ied conf uration form — OcKenrsin > 2 HEF Ge da We de Gn ob ee forte Be fe (Gast, $i Gye, Gut D he he OL oO Gh Where, ps 1 Gn ane generalized coordinates Ge Aa pe, Gn are gerocalized velocities | fOR fy are known as generalized (es and i i: eicaiiseeeeiicasta alg ebratc Panchos of qi Ge (eLeecnyand Assuming invtial time 1¢t-0 @ is subject te initial generalived _ trordinates 4.0). 4ul0r,---,Gq(0) and i attial gonctalized Velartier _ G02. 4x00), 9 Gn60? and is called the toe guration ae Ett + donfi question orm ee rm The epucbons of mation * mx, 4 0% +k - ks a= x= fen MmS2 + ke (Xr - = 0 de , _ linear Springs with stffress wefhurwnrs bike ay Techani cal sy stem j a linear damper vith wel dent of Viscous damping c. Me py Te ch- chth mtb fey] Sf Gm it) { & = th [-bm thn] = fe C81, Mie he ‘Sp unta where fond {, ore the generalized fortes. These, together with _ Pour _iartial tendittenq Xil0)= Xie. l= Xr, Kilo) = Xie, Nolo) = Nye > Constitute he tonfiquraction rn | + Sewond- order matrix form sreieeeesneteeieceereeteg Nn second-order differeatial epustbions =e MP + Ck + Ke = fF eta ewe Page ee ee eae fea vedeyEx 42+ Eupest phe equation oP matin ofthe cyst in Exh in 1 que Secend= evder morttix form * * Tae 17 eth ke TER eae ‘m ae x fe a + stake space frem a i + one of the most lommon Parnas te_representi 0 systen pagdef_ gee Sap | : Define state variables a ae > Obtain stote-varia at *_Step> 3 Eypress the state variable e7uctions 1A partrix-fem a) Find the owtpick. epuotion Calo tn_mnatyix Porm) _ Stile- spar Lemm_; : nee Pe = AX + BR state eguetrn Y= Ce + Di output “equation + State voriables : the Smallest set independant variables thet vem plerely dexcribe the ‘cbe ot a syctem + How to define» state variables ? an Anas + Number of stile vanabler = number af ].C.'s ateded . Usually ckate variables = variables for which IC's ane i needed Norte: a 50% a stute variables ane ast UYue Ex: equation of motion: X4%+ x= fe) ey aeat _Ldentsy the ctate varrable eee ee tie | gels we tidal endramms, xd Rey, ore FE naaced to completely slve the di fferentral equotg Px ws thene ane “two state yariablec , deashed os x 2 Xo ie ___ The. state variables apo these variables -fer which initia | onditens “elthese variables one x 2% , the state variables ane selected a a. + State- variable uabions a = i + on stake variablg => n_ state variable. geuattionss | * Each one ig 0 Anst- order dr Flereectial epuation | si w= fm, Ma UY Ue) Und Bo AL Om, dee Xa t Wy Ue Mad) Rp et oi Uti aie ah oo Ung}) | Wile ete oe ete. ae “A the, plate varrableg and inputs, and ane jenetally aonlinear Ex: State - variable uations fee M4 R 42x = fee. lee Mer Mey ik i ee a ey ee MMe Ml ae eee Se he ee ee ee ee ee Ke = Gay mt Are ke tet ann $b Wy tt bam Um Xa = An Xi + An ¥s + an Xn + bp, Us tet bam lon + In mottix Pom, e = AR + Bu Ar md ove a ee ea ss ®se the “syckem hosp ou puts, he eee re eee ees fp =u htt ~t Can Xn dolly t+ drmlden . seep Cpa Xi chet Cpa Xn + ae +t. a um Ty mail form Y= CK + eo om px pxn NK) pxm a input veer OnPOr ix Voukot + state-space fev, ~The umbination vf the stale epustion and output efuabo4 is called he state-space form. For_a_hneor 34 com Unk th State variables Xi. x s+ Xn inputs Us la pees Um and outputs. , Youn Yp athe statent fens “tem & transmission mately, 5 outpucts are xe and %& , osive ge % = Xi = -2%) + x2 ~ x3 +xy, 44, Le = SD tg = xy + 4) |ra J een a Tig ee © ; have we | Lge fC as pats are ew, BM less xs ax iy. samy 7. a ane state-space fu ‘ a - ane a