Analisis de sistemas de

control en el espacio de
estados

Cuevas, Hernández, Valderrama

 Indice
• Representación de Funciones de transferencia en el Espacio de
Estados
– Representaciones canónicas en el espacio de estados
• Forma Canónica controlable
• Forma Canónica Observable
• Forma Canónica Diagonal
• Forma Canónica de Jordan
– Eigenvalores de una matriz A de nxn
– Diagonalización de una matriz de nxn
– Invarianza de EigenValores
– No-unicidad de un conjunto de variables de estado
• Solución de una ecuación de estado invarante en el tiempo
– Solución de ecuaciones de estado homogéneas
– Matriz Exponencial
– Acercamiento por la transformada de Laplace para la solución de una
ecuación de estado homogénea
– Matriz de transición de estado
– Propiedades de la matriz de transición de estado
– Solución de ecuaciones de estado no homogéneas
– Acercamiento por la transformada de Laplace para la solución de una
ecuación de estado no homogénea
Un sistema cualquiera se
puede representar asi:

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Forma canónica controlable

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Forma canónica observable

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Forma canónica diagonal

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 QuickTimeª and a
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Forma canónica de Jordan

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Ejemplo de representaciones
Sea:
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Representese en espacio de estados en la forma canónica

controlable, observable y de Jordan

Forma canónica controlable

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Forma canónica observable

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Forma canónica diagonal

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Eigenvalores de una matriz A
de nxn

Los eigenvalores son las raices de la siguiente

ecuación característica

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Por ejemplo, considerese:

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Los eigenvalores son entonces -1, -2 y -3

Diagonalización de una matriz
nxn
Sea una matriz con eigenvalores distintos:

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 La transformación x=Pz, donde P es

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Donde λn son distintos eigenvalores de A

Transformará P-1AP en la matriz diagonal:

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 Ejemplo
Considerese la siguiente representacion en espacio de estado de un sistema

Donde:
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o de forma estándar:
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Los eigenvalores de A son:
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Se tienen pues tres eigenvalores distintos. Si se define una variable de estado z

mediante la transformacion:

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donde:

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entonces al sustituir en la ecuacion de espacios de estados original se tiene:

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y al multiplicar por P-1

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simplificando da

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La ecuación de salida se modifica asi:

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 Invarianza de Eigenvalores

Para comprobar que los eigenvalores son identicos aun despues de una
transformacion lineal se demostrará que se mantiene la relacion:
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Puesto que la determinante de un producto es el producto de las

determinantes, se tiene:

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 La no unicidad de un conjunto
de variables de estado
Se comprobará que un conjunto de variables de estado no es unico para un sistema
dado. Sean x1, x2, …, x3 un conjunto de variables de estado. Entonces se pueden tomar
como otro conjunto de variables de estado cualquier conjunto de funciones:

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Siempre que para cada conjunto de valores are needed to see this corresponda
un conjunto
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único de valores x1, x2, …, xn, y viceversa. Por lo cual, si x es un vector de estado,
entonces are
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Es también un vector de estado, mientras que P sea no singular. Se puede obtener la

misma información sobre el comportamiento de un sistema de diferentes vectores de
estado.
Solución de ecuación de
estado homogenea
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 Matriz Exponencial
Es convergente para cualquier t
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finita, la cual la hace apropiada
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computacionales

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Y tiene las propiedades

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Acercamiento a la solución de una ecuación de
estado homogénea por medio de la
transformada de Laplace
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Matriz de transición de estado
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y se verifica de la siguiente manera

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La matriz de
transición contiene
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describe
Si los eigenvalores de la matriz de coeficientes A, entonces la matriz de
transición contendrá los n exponenciales
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Si la matriz A es diagonal, se tiene que

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Si hay multiplicidad en los eigenvalores, si por ejemplo los eigenvalores de A son:

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Entonces la matriz de transición contendrá ademas de los exponenciales

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Propiedades de la matriz de
transición de estado
Para el sistema invariante en el tiempo
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para el cual QuickTimeª and a

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se tienen las siguientes propiedades

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 Ejemplo
Sea un sistema descrito por la ecuación de estado descrita por la matriz

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Obtengase la matriz de transición de estado y su inversa

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La matriz de transición esta dada por:

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la inversa de sI-A esta dada por

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Por lo cual

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 Solución de una ecuación de
estado no homogénea
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caso escalar QuickTimeª and a

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Considerando el caso para la ecuación de estado no homogenea descrita por:

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Empleo de la transformada de Laplace
para la solución de una ecuación de
estado no homogénea
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 Ejemplo
Obtener la respuesta en el tiempo del siguiente sistema

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Donde u es el escalón unitario que ocurre en t=0

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Para este sistema se tiene que:
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Se había obtenido previamente la matriz de transición para este sistema:

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Asumiendo la condición inicial x(0) = 0, se tiene:

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