Documentos de Académico
Documentos de Profesional
Documentos de Cultura
• State variables.
State Variables • State-space representation.
• Linear state-space equations.
M. Sami Fadali • Nonlinear state-space equations.
Professor of Electrical Engineering • Linearization of state-space equations.
UNR
1 2
3 4
State Variables Definitions
To solve the differential equation we need System State: minimal set of numbers
(1) The system input for the period of interest. , needed together with
(2) A set of constant initial conditions. the input to uniquely
ଶ ିଵ
determine the behavior of the system in
ଶ ିଵ
the interval . = order of the system.
• Minimal set of initial conditions: incomplete
knowledge of the set prevents complete solution State Variables: As increases, the state of
but additional initial conditions are not needed to the system evolves and each of the
obtain the solution. numbers becomes a time variable.
• Initial conditions provide a summary of the history State Vector: vector of state variables
of the system up to the initial time.
5 6
Notation Definitions
• Column vector bolded State Space: -dimensional vector space where
் represent the coordinate axes
• Row vector bolded and transposed . State plane: state space for a 2nd order system
ଵ Phase plane: special case where the state
variables are proportional to the derivatives of
் ଶ .
ଵ ଶ ଵ
Phase variables: state variables in phase plane.
State trajectories: Curves in state space
State portrait: plot of state trajectories in the plane
(phase portrait for the phase plane).
7 8
Example 7.1 Example 7.1
• State for equation of motion of a point mass Write state-space equations for the spring-
driven by a force mass-damper system driven by a force
= displacement of the point mass. = mass = spring constant
௧ ௧
= damper constant
= displacement of the point mass.
௧బ ௧బ
2 system is second order
9 10
-3 x1
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
17 18
ଵ ଶ ଵ ଵ real vectors.
ଶ ଶ Matrices:
ଶ ଵ ଶ
state or system matrix
input or control matrix
output matrix
ଵ
ଵ
ଶ
direct transmission or
feedforward matrix
19 20
State Space in MATLAB Linear Vs. Nonlinear State-Space
» a = [0, 1; 5, 4];b=[0;1];c=[1,1];d=0;
» p = ss(a,b,c,d) % State-space quadruple Example 7.3: The following are examples of
a=
x1 x2
state-space equations for linear systems
x1 0 1
x2 -5 -4
a) 3rd order 2-input-2-output (MIMO) LTI
b=
u1 x1 11 . 0.3 15. x1 01 . 0
x 01 u1
x1 0
. 35. 2.2 x 2 0 11 .
x2 1 2
u 2
c= x 3 0.4 2.4 11
. x 3 10 .
. 10
x1 x2
y1 1 1 x1
y1 1 2 0 1 2 u1
y 0 0 1 x 2 0 1 u
d=
u1 2 2
y1 0 x 3
21 22
Continuous-time system.