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Analysis of Control Systems in State Space: OGATA ch.11 pg.752

The document discusses analysis of control systems using state space representation. It introduces several key concepts: 1) State space representation allows analysis of complex multi-input, multi-output systems using vector-matrix differential equations, avoiding complexity of traditional transfer function methods. 2) Systems can be represented in canonical forms like controllable, observable, diagonal, and Jordan forms to simplify analysis. 3) Controllability and observability were important concepts introduced by Kalman - a system is controllable if any state can be transferred to any other, and observable if any state can be determined from output over time. 4) Conditions for complete controllability and observability involve no cancellations in transfer functions or matrices

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405 views12 pages

Analysis of Control Systems in State Space: OGATA ch.11 pg.752

The document discusses analysis of control systems using state space representation. It introduces several key concepts: 1) State space representation allows analysis of complex multi-input, multi-output systems using vector-matrix differential equations, avoiding complexity of traditional transfer function methods. 2) Systems can be represented in canonical forms like controllable, observable, diagonal, and Jordan forms to simplify analysis. 3) Controllability and observability were important concepts introduced by Kalman - a system is controllable if any state can be transferred to any other, and observable if any state can be determined from output over time. 4) Conditions for complete controllability and observability involve no cancellations in transfer functions or matrices

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Can Göksu
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Analysis of Control Systems in State Space

OGATA ch.11 pg.752

A modern complex system may have many inputs and many outputs. To analyze
such a system, it is essential to reduce the complexity of the mathematical
expressions, as well as to resort to computers for most of the tedious computations
necessary in the analysis. The state-space approach to system analysis is best suited
from this viewpoint.

While conventional control theory is based on the input-output relationship, or


transfer function, modern control theory is based on the description of system
equations in terms of n first-order differential equations, which may be combined
into a first-order vector-matrix differential equation.

The use of vector-matrix notation greatly simplifies the mathematical representation


of systems of equations. The increase in the number of state variables, the number of
inputs. or the number of outputs does not increase the complexity of the equations.

In fact, the analysis of complicated multiple-input-multiple-output systems can be


carried out by the procedures that are only slightly more complicated than those
required for the analysis of systems of first-order scalar differential equations.

State-Space Representation in Canonical Forms. Consider a system defined by

Controllable Canonical Form. The following state-space representation is called a controllable canonical
form:
Observable Canonical Form. The following state-space representation is called an observable canonical
form:

Diagonal Canonical Form. Consider the transfer function system defined by Equation (11-2).
Here we consider the case where the denominator polynomial involves only distinct roots. For the
distinct-roots case, Equation (11-2) can be written as
Jordan Canonical Form. Next we shall consider the case where the denominator polynomial of
Equation (11-2) involves multiple roots. For this case, the preceding diagonal canonical form
must be modified into the Jordan canonical form. Suppose, for example, that the p,'s are different
from one another, except that the first three p,'s are equal, or p1 = p2 = p3. Then the factored
form of Y(s)/U(s) becomes

The partial-fraction expansion of this last equation becomes

A state-space representation of this system in the Jordan canonical form is given by


CONTROLLABILITY AND OBSERVABILITY
The concepts of controllability and observability (discussed in this section) were introduced by
Kalman in the 1960s [28-30]. Rudolph Kalman was a central figure in the development of
mathematical systems theory upon which much of the subject of state variable methods rests.
Kalman is well known for his role in the development of the so-called Kalman filter, which was
instrumental in the successful Apollo moon landings [31,32].

Complete State Controllability of Continuous-Time Systems.


A system is completely controllable if there exists an unconstrained control u(t)
that can transfer any initial state x(t0) to any other desired location x(t) in a finite
time, t0 ≤ t ≤ T.
If every state is controllable, then the system is said to be completely state
controllable.

Condition for Complete State Controllability in the s Plane.


The condition for complete state controllability can be stated in terms of transfer
functions or transfer matrices. It can be proved that a necessary and sufficient
condition for complete state controllability is that no cancellation occur in the
transfer function or transfer matrix. If cancellation occurs, the system cannot
be controlled in the direction of the canceled mode.
EXAMPLE 11-12
EXAMPLE 11-13
Output Controllability.
In the practical design of a control system, we may want to control the output rather
than the state of the system. Complete state controllability is neither necessary nor
sufficient for controlling the output of the system. For this reason, it is desirable to
define separately complete output controllability. Consider the system described by

The system described by Equations (11-61) and (11-62) is said to be completely


output controllable if it is possible to construct an unconstrained control vector u(t)
that will transfer any given initial y(t0) to any final output y(t1) in a finite time interval
to t0 ≤t≤t1.
STABILIZABILITY

For a partially controllable system, if the uncontrollable modes are stable and the
unstable modes are controllable, the system is said to be stabilizable. For example,
the system defined by

is not state controllable.The stable mode that corresponds to the eigenvalue of -1 is


not controllable. The unstable mode that corresponds to the eigenvalue of 1 is
controllable. Such a system can be made stable by the use of a suitable feedback.
Thus this system is stabilizable.

OBSERVABILITY
The system is said to be completely observable if every state x(to) can be determined
from the observation of y(t) over a finite time interval, t0 ≤t≤t1. The system is,
therefore, completely observable if every transition of the state eventually affects
every element of the output vector.The concept of observability is useful in solving
the problem of reconstructing unmeasurable state variables from measurable
variables in the minimum possible length of time.

Conditions for Complete Observability in the s Plane.

The conditions for complete observability can also be stated in terms of transfer
functions or transfer matrices. The necessary and sufficient conditions for complete
observability is that no cancellation occur in the transfer function or transfer matrix.
If cancellation occurs, the canceled mode cannot be observed in the output.

The system described by Equations (11-63) and (11-64) is completely observable if


and only if the matrix, Po=
is of rank n or has n linearly independent column vectors. This matrix is called the
observability matrix.

EXAMPLE 11-15

The transfer function of the system

EXAMPLE 11-16
Detectability.
For a partially observable system, if the unobservable modes are stable and the
observable modes are unstable, the system is said to be detectable. Note that the
concept of detectability is dual to the concept of stabilizability.

Comments.

The transfer function has no cancellation if and only if the system is completely state
controllable and completely observable.This means that the canceled transfer
function does not carry along all the information characterizing the dynamic system.

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