状态空间法的系统分析与设计System Analysis and Design Using State Space Method.ppt

Write the state-space equations of the SISO system shown in Example Example Write the state-space equations of the SISO system shown in Fig. 8 Fig.8 How to analysis？ Get transfer function from state space mode Time response? Or System poles (roots)? Q1 —— How to analysis? 22.5 Transfer Function from State – Space Model We assume initial conditions be zero, and take Laplace transforms of both sides of above equation, to obtain: system characteristic equation How to analysis？ Q2 —— How to judge quickly? Canonical forms !? What is the advantage of writing the system in canonical form? Canonical forms From (1) Take: control canonical form Take: Form (2) observer canonical form Form (3) x2 x1 xn Take: Decoupled system Diagonal form If the system matrix A take the form: Jordan canonical form . λi is the eigenvalue of system . And we can obtain the state equations as follows: 22.6 Canonical Forms and Decoupled System 22.7 Relationship between eigenvalues and system poles If the state equations have Jordan Form: And on the other hand: System pole eigenvalue 1. The eigenvalues provide information on the time response of the system. 2. This form indicates a system structure in which each state variable is decoupled from the other state variable. 3. This form is required for controllability studies of the system. The eigenvalues are the roots of characteristic equation of system: How to analysis？ Q3 —— Can canonical forms be equal to the system poles or eigenvalues？ Relationship between different forms 22.8 Transformation of state variable and invariability of system eigenvectors Construct a new set of state variables Z from the old ones X by Substituting into the state equation 1. Linear transformation: 2. The eigenvalues of system are unchanged by the linear transformation: Example 5 Write Jordan canonical form and draw block diagram Solution: Take: Example 6 Sample Problem 22.3 P507 A open-loop system is described by the following set of equation 1.