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System Dynamics
Ogata
Fourth Edition System Dynamics
ISBN 978-1-29202-608-4 Katsuhiko Ogata
Fourth Edition
9 781292 026084
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ISBN 10: 1-292-02608-1

ISBN 13: 978-1-292-02608-4

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 State-Space Approach to Modeling Dynamic Systems Chap. 5

The steady-state value of z21t2 - z11t2 is zero, or

# #

z21 q 2 - z11 q 2 = 0
# #

For t = q , Equation (576) becomes

m1z11 q 2 = k[z21 q 2 - z11 q 2] + b[z21 q 2 - z11 q 2]
$ # #

or
10a = kb + b * 0
Also, Equation (577) becomes
m2z21 q 2 = -k[z21 q 2 - z11 q 2] - b[z21 q 2 - z11 q 2] + f
$ # #

or
20a = -kb - b * 0 + f
Hence,
10a = 60b
20a = -60b + f
from which we get
f 10 1
a = = =
30 30 3
and
10a 1 1 1
b = = * =
60 6 3 18
Thus,

z11 q 2 = z21 q 2 = a = m/s2

$ $ 1
3
z21 q 2 - z11 q 2 = b =
1
m
18
Problem A511
Obtain two state-space representations of the mechanical system shown in Figure 533
where u is the input displacement and y is the output displacement. The system is ini-
tially at rest. The displacement y is measured from the rest position before the input u
is given.
Solution The equation of motion for the mechanical system shown in Figure 533 is
f11u - y2 + k11u - y2 = f2y
# # #

Rewriting, we obtain
1f1 + f22y + k1y = f1u + k1u
# #

or
# k1 f1 # k1
y + y = u + u (578)
f1 + f2 f1 + f2 f1 + f2

230
Example Problems and Solutions

k1 f1

f2 y

Figure 533 Mechanical system.

Comparing this last equation with

# #
y + a1y = b0u + b1u (579)

we get

k1 f1 k1
a1 = , b0 = , b1 =
f1 + f2 f1 + f2 f1 + f2
We shall obtain two state-space representations of the system, based on Methods 1 and
2 presented in Section 54.
Method 1. First calculate b 0 and b 1:

f1
b 0 = b0 =
f1 + f2
k1f2
1f1 + f222
b 1 = b1 - a1 b 0 =

Define the state variable x by

f1
x = y - b 0u = y - u
f1 + f2
Then the state equation can be obtained from Equation (578) as follows:
# k1 k1f2
1f1 + f222
x = - x + u (580)
f1 + f2

The output equation is

f1
y = x + u (581)
f1 + f2
Equations (580) and (581) give a state-space representation of the system.
Method 2. From Equation (579), we have
Y1s2 b0s + b1
=
U1s2 s + a1

231
 State-Space Approach to Modeling Dynamic Systems Chap. 5

If we define
Z1s2 1 Y1s2
= , = b0s + b1
U1s2 s + a1 Z1s2
then we get
#
z + a1z = u (582)
#
b0z + b1z = y (583)
Next, we define the state variable x by
x = z
Then Equation (582) can be written as
#
x = -a1x + u
or
# k1
x = - x + u (584)
f1 + f2
and Equation (583) becomes
#
b0x + b1x = y
or
k1 f1 #
y = x + x (585)
f1 + f2 f1 + f2
Substituting Equation (584) into Equation (585), we get
k1f2 f1
1f1 + f22
y = 2
x + u (586)
f1 + f2
Equations (584) and (586) give a state-space representation of the system.

Problem A512
Show that, for the differential-equation system
$ # $ #
y + a1y + a2y + a3y = b0 u + b1u + b2u + b3u (587)
state and output equations can be given, respectively, by
#
x1 0 1 0 x1 b1
#
C x2 S = C 0 0 1 S C x2 S + C b 2 S u (588)
#
x3 -a3 -a2 -a1 x3 b3
and
x1
y = [1 0 0]C x2 S + b 0u (589)
x3
where the state variables are defined by
x1 = y - b 0 u
# # #
x2 = y - b 0 u - b 1 u = x1 - b 1 u
$ $ # #
x3 = y - b 0 u - b 1 u - b 2 u = x2 - b 2 u

232
Example Problems and Solutions

The constants, b 0, b 1, b 2, and b 3 are defined by

b0 = b0
b1 = b1 - a1 b 0
b2 = b2 - a1 b 1 - a2 b 0
b3 = b3 - a1 b 2 - a2 b 1 - a3 b 0
Solution From the definition of the state variables x2 and x3, we have
#
x1 = x2 + b 1 u (590)
#
x2 = x3 + b 2 u (591)
#
To derive the equation for x3, we note that
$ # $ #
y = -a1y - a2y - a3y + b0 u + b1u + b2u + b3u
Since
$ $ #
x3 = y - b 0 u - b 1 u - b 2 u
we have
# $ #
x3 = y - b 0 u - b 1u - b 2u
1-a1y - a2y - a3y2 + b0 u + b1u + b2u + b3u - b 0 u - b 1u - b 2u
$ # $ # $ #
=
-a11y - b 0u - b 1u - b 2u2 - a1 b 0u - a1 b 1u - a1 b 2u
$ $ # $ #
=
- a21y - b 0u - b 1u2 - a2 b 0u - a2 b 1u - a31y - b 0u2 - a3 b 0u
# # #
$ # $ #
+ b0 u + b1u + b2u + b3u - b 0 u - b 1u - b 2u
= -a1x3 - a2x2 - a3x1 + 1b0 - b 02 u + 1b1 - b 1 - a1 b 02u
$

+ 1b2 - b 2 - a1 b 1 - a2 b 02u + 1b3 - a1 b 2 - a2 b 1 - a3 b 02u

#

= -a1x3 - a2x2 - a3x1 + 1b3 - a1 b 2 - a2 b 1 - a3 b 02u

= -a1x3 - a2x2 - a3x1 + b 3u
Hence, we get
#
x3 = -a3x1 - a2x2 - a1x3 + b 3u (592)
Combining Equations (590), (591), and (592) into a vector-matrix differential equa-
tion, we obtain Equation (588). Also, from the definition of state variable x1, we get
the output equation given by Equation (589).
Note that the derivation presented here can be easily extended to the general
case of an nth-order system.
Problem A513
Show that, for the system
$ # $ #
y + a1y + a2y + a 3y = b0 u + b1u + b2u + b3u
or
Y1s2 b0s3 + b1s2 + b2s + b3
=
U1s2 s3 + a1s2 + a2s + a3
state and output equations may be given, respectively, by
#
x1 0 1 0 x1 0
#
C x2 S = C 0 0 1 S C x2 S + C 0 S u
#
x3 -a3 -a2 -a1 x3 1

233
 State-Space Approach to Modeling Dynamic Systems Chap. 5

and
x1
y = [b3 - a3b0 o b2 - a2b0 o b1 - a1b0]C x2 S + b0u
x3

Solution Let us define

Z1s2 1 Y1s2
= 3 2
, = b0s3 + b1s2 + b2s + b3
U1s2 s + a1s + a2s + a3 Z1s2

Then we obtain
$ #
z + a1z + a2z + a3z = u
$ #
b0 z + b1z + b2z + b3z = y
Now we define
x1 = z
#
x2 = x1 (593)
#
x3 = x2 (594)
# $
Then, noting that x3 = x2 = x 1 = z , we obtain
# # $
x3 = -a3z - a2z - a1z + u
or
#
x3 = -a3x1 - a2x2 - a1x3 + u (595)
Also,
$ #
y = b0 z + b1z + b2z + b3z
#
= b0x3 + b1x3 + b2x2 + b3x1
= b0[1-a3x1 - a2x2 - a1x32 + u] + b1x3 + b2x2 + b3x1
= 1b3 - a3b02x1 + 1b2 - a2b02x2 + 1b1 - a1b02x3 + b0u (596)
From Equations (593), (594), and (595), we obtain
#
x1 0 1 0 x1 0
#
C x2 S = C 0 0 1 S C x2 S + C 0 S u
#
x3 -a3 -a2 -a1 x3 1

which is the state equation. From Equation (596), we get

x1
y = [b3 - a3b0 o b2 - a2b0 o b1 - a1b0]C x2 S + b0u
x3

which is the output equation.

Note that the derivation presented here can be easily extended to the general
case of an nth-order system.

Problem A514
Consider the mechanical system shown in Figure 534. The system is initially at rest.
The displacements u, y, and z are measured from their respective rest positions.

234