linear state-space control systems - ist.edu.pk
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Linear State-Space Control Systems
Prof. Kamran Iqbal
College of Engineering and Information Technology
University of Arkansas at Little Rock
Course Schedule
Session Topic
1. State space models of linear systems
2. Solution to State equations, canonical forms
3. Controllability and observability
4. Stability and dynamic response
5. Controller design via pole placement
6. Controllers for disturbance and tracking systems
7. Observer based compensator design
8. Linear quadratic optimal control
9. Kalman filters and stochastic control
10. LM in control design
Linear System Stability
Transfer Function
β’ Consider a linear system
π₯ = π΄π₯ + π΅π’
π¦ = πΆπ₯ + π·π’
β’ Transfer function
π» π = πΆ π πΌ β π΄ β1π΅ + π· =πΆ πΈ1π
πβ1+πΈ2π πβ2+β―+πΈπ π΅
π π+π1π πβ1+β―+ππβ1π +ππ
+ π·
Let π πΌ β π΄ = π π + π1π πβ1 +β―+ ππ = π β π π
ππ β¦ π β π πππ
Then, using partial fractions
π» π = π»1 π + π»2 π + β―+ π»π π + D
where π»π π =π 1π
π βππ+
π π2
π βππ2 +β―+
π πππ
π βππππ
Asymptotic Stability
β’ Impulse response
π» π‘ = π»1 π‘ + π»2 π‘ + β―+ π»π π‘ + π·πΏ(π‘)
where π»π π‘ = π 1π + π 2ππ‘ + β―+π πππ‘
ππβ1
ππβ1 !ππ ππ‘
Then πΆππ΄π‘π΅ = π 1π + π 2ππ‘ + β―+π πππ‘
ππβ1
ππβ1 !ππ ππ‘π
π=1
Thus,
π π π π < 0 for all π β asymptotically stable
π π π π > 0 for some π β unstable
π π π π = 0 for some π
β π π is a simple root β stable but not asymptotically stable
β π π is a repeated root β unstable
Asymptotic Stability
β’ Consider unforced system π₯ = π΄π₯
Then, for any matrix π΄
π΄ = πβ1π½π, ππ΄π‘ = πβ1ππ½π‘π
where matrix π½ is block diagonal, and for each Jordan block
π₯ = π½ππ₯, π½π = ππΌ + π
ππ½ππ‘ = πππ‘πΌ πππ‘ = πππ‘
1 π‘ β¦ π‘πβ1
πβ1 !
1 β¦ π‘πβ2
πβ2 !
β¦ β¦β¦ 1
Thus, ππ½ππ‘ includes terms of the form π‘ππππ‘, π = 0, β¦ , π β 1
If π π ππ < 0, then limπ‘ββ
π‘ππππ‘ = 0
BIBO Stability
β’ Bounded Input Bounded Output Stability
π¦ π‘ = β π‘ β π π’ π πππ‘
0
π¦ π‘ β€ β π‘ β π π’ π πππ‘
0
If π’(π‘) < π, then π¦ π‘ β€ π β π‘ β π πππ‘
0
β’ A system is BIBO stable if and only if
β π ππβ
0< π
β’ Asymptotic stability β BIBO stability
Lyapunov Stability
β’ The unforced system π₯ = π΄π₯ is asymptotically stable if for a positive
definite matrix π the Lyapunov equation ππ΄ + π΄ππ = βπ has a
unique positive definite solution
β’ Proof:
Consider a Lyapunov function: π π₯ = π₯πππ₯
Then π π₯ = βπ₯πππ₯
π π‘ β€ βπΌπ(π‘) or π π‘ β€ βπΌπ(0)
where πΌ =ππππ π π₯ππ₯
ππππ₯ π π₯ππ₯
Alternatively, assume that eigenvalues of A have negative real parts
Then π = ππ΄ππ‘πππ΄π‘ππ‘
β
0 is the unique positive definite solution
Hurwitz Stability
β’ Let π» π =π π
π· π
where π·(π ) = π π + π1π πβ1 +β―+ ππβ1π + ππ
β’ Let π» =
π1 π3 β¦ β¦
1 π2 β¦ β¦
π1 π3 β¦
1 π2 β¦
be the π Γ π Hurwitz matrix
β’ Then zeros of π· π are confined to LHP if and only if all leading
minors of π» are strictly positive:
π·1 = π1, π·2 =π1 π31 π2
, β¦ , π·π = π» > 0
System Poles and Zeros
β’ For a SISO system
π» π =π0π
π+π1π πβ1+β―+ππ
π π+π1π πβ1+β―+ππβ1π +ππ
=π π
π· π
β System zeros: zeros of π π
β System poles: zeros of π·(π )
β’ For a square MIMO system
π» π =πΈ1π
πβ1+πΈ2π πβ2+β―+πΈπ
π π+π1π πβ1+β―+ππβ1π +ππ
+ π·
β System zeros: zeros of π» π
β System poles: zeros of π»β1 π
Example: Missile Dynamics
Missile dynamics (ππ=0)
πΌ π
=ππΌ
π1
ππΌ 0
πΌπ +
ππΏπ
ππΏ
πΏ
πΌπ = ππΌπΌ + ππΏπΏ
Add an actuator: πΏ =1
ππ’ β πΏ , then
π» π =1
ππ +1 ππΏπ
2+ππΌππΏβππΏππΌ
π 2βππΌππ βππΌ
Let π = 1253ππ‘
π , ππΌ = β4170
ππ‘
π 2, ππΏ = β1115
ππ‘
π 2, ππΌ = β248
πππ
π 2, ππΏ = β662
πππ
π 2,
π = 0.01
π» π = β1115 π 2β2228
0.01π +1 π 2+3.33π +248
Poles: π = β100,β1.67 Β± π15.65; zeros: π = Β±47.2
πΊπ = 11.13
Aircraft Longitudinal Motion
Let π₯ = Ξπ’, πΌ, π, π β²; π’ = πΏπΈ
Ξπ’ = ππ’Ξπ’ + ππΌπΌ β ππ + ππΈπΏπΈ
πΌ =ππ’
πΞπ’ +
ππΌ
ππΌ + π +
ππΈ
ππΏπΈ
π = ππ’Ξπ’ +ππΌπΌ +πππ +ππΈπΏπΈ
π = π
Let ππ’, ππΌ , ππΈ ,ππ’
π,ππΌ
π,ππΈ
π, ππ’, ππΌ , ππ, ππΈ =
[β0.0507, β3.861, 0, β0.00117, β0.5164, β0.0717, β0.000129, 1.4168,
β0.4932,β1.645]
Then,
π = β1.705, 0.724, β0.0394 Β± π0.2
Dynamic Response: Stability Margins
β’ Define the return difference
β For SISO systems, π ππ = 1 + πΊ(ππ)
β For MIMO systems, π ππ = πΌ + πΊ(ππ)
β’ SISO Stability Margins
β Gain margin: πΎ = π ππ2 , ππΊ π2 = 180Β°
β Phase margin: π = 2 sinβ1π ππ1
2, πΊ ππ1 = 1
β’ MIMO Stability margins:
Let π π(ππ) β₯ πΌ, then
β πΊπ =1
1Β±πΌ
β ππ = Β±2 sinβ1πΌ
2
Note, these resulting stability margins are extremely conservative
Dynamic Response: Rise Time
β’ Define system centroidal rise time as:
π‘ = π‘β(π‘)ππ‘β0
β(π‘)ππ‘β0
= βπ»β² 0
π» 0
Let π» π = πΆΞ¦(π )π΅ where Ξ¦ π = π πΌ β π΄ β1
Then π» 0 = βπΆπ΄β1π΅, π»β² 0 = βπΆπ΄β2π΅, π‘ =πΆπ΄β2π΅
πΆπ΄β1π΅
Alternatively, π‘ =π΄β1
π΄
1/2
β First order system: π‘ =1
π0
β Second order system: π‘ =2π
π0, ππ΅π‘ β 1
β For π» π = π»1 π π»2(π ), π‘ = π‘ 1 + π‘ 2
β For π» π =πΎπΊ π
1+πΎπΊ(π ), π‘ πΆπΏ =
1
1+πΎπΊ 0π‘ πΊ