Adama Science and Technology

University

Mathematical Representation of
Systems

ASTU
Department of EPCE
 3.1 Representation of systems
Design procedure of control systems
Step 1 : Performance specification
Objective, stability, reliability, economical efficiency
and performance, such as Mp, tr, ts and .
Step 2 : Selection of components
The control system consists of a plant, a controller,
actuators, and sensors. The components are selected at
this stage. Due to the relationship between design
specifications, reliability, and price, appropriate
compromise is required.
 3.1 Representation of systems
Step 3 : Modelling
Physical laws are applied to derive mathematical
relations between elements, which is called a model.
Model structure, order, and parameters are determined
through experiments and experience.

Step 4 : Design of a controller

The core algorithm that satisfies the design specification
is designed(PID control, state feedback control, adaptive
control, and intelligent control).
 3.1 Representation of systems
Step 5 : Simulation and Analysis
Simulate the models on the computer and analyze the
performance. If performance is not satisfactory, repeat
the previous steps.

Step 6 : Implementation and experiment

If performance is satisfactory, experiments are carried
out on the actual system.
 3.1 Representation of systems
(Question) We want to design an electric heater
which can control the temperature properly.
Can we get a mathematical equation that shows
similar dynamics without a real device (heater coil,
chamber, SCR, etc.)?

(Answer) Yes, we can find by applying physical laws

to each control element. Covered in this section.
 3.1 Representation of systems
Plant qo(t)
qi(t)
u(t) (t)
Heat coil+
SCR
chamber

Model Sensor
y(t)
u(t) qi(t)
1 (t)
+
Kscr
- 1 + 𝑇𝑚 𝑠
qo(t)
Kscr, Tm, Ks : unknown
parameters Ks
y(t)
 3.1 Representation of systems
(Question) How can we find the parameters of the
mathematical equation?
(Answer) I/O signal data of the actual system are
collected through experiments and the parameters are
determined using data and a parameter estimation
technique.

u(t)
 3.1 Representation of systems
u(t) y(t)
Actual system

ym(t) +
Model
-

e(t)
Algorithm

Apply the same input to both the actual system and the
model, and adjust the model parameters to minimize
the error between the two outputs.
3.1 Representation of systems

(Question) How can we design a controller from the

model?

(Answer) Covered in the chapter of the state

controller design.
 3.1 Representation of systems
Disturbance

Reference control
temperature + input Output
Reference
Sensor  Actuator
Controller Plant

Output
sensor

A controller is designed with the knowledge of the

plant (controlled object).
 3.1 Representation of systems
(Definition) Model
Refers to a series of mathematical expressions that
describe a physical system and is obtained by
applying the laws of physics to the system.
In general, one of its forms becomes
 Differential equation
 Partial differential equation
 Difference equation
 ARMA(auto regressive moving average)
 3.1 Representation of systems
Y ( s) 1
 G (s)  
U ( s ) Ms 2   s  k
Physical
laws
Transfer
function
System Model
State space

My (t )  u (t ) - ky (t ) -  y (t )
x (t )  Ax (t )  Bu (t ), x (t0 )
where u (t )  F (t ) y (t )  Cx (t )  Du (t )
 3.1 Representation of systems
Laplace Transform of functions
L  y (t )  Y ( s )
L  y (t )  sY ( s )
L  y (t )  s Y ( s )
2

  1
L  y (t )dt  Y ( s )
s
L  y (t  L)  e Y ( s )
 Ls
 3.1 Representation of systems
Transfer function representation

 Laplace transforms a system represented by

differential equations and expresses it as a
polynomial of s.
 All ICs are regarded as 0. (Demerit)

My (t )  u (t ) - ky (t ) -  y (t )
Y ( s) 1

U ( s ) Ms 2   s  k
 3.1 Representation of systems
 I/O relationship can be expressed concisely with
block diagram.

U(s) 1 Y(s)
Ms 2  Bs  k

 System analysis and controller design can be done in

the frequency domain.
 Applicable only to linear, time invariant systems.
(Demerit)
 3.1 Representation of systems
State space representation
 Concise representation of a system by introducing
state variables. All initial conditions(ICs) are
maintained.
My (t )  u (t ) - ky (t ) -  y (t )
with y (t0 ), y (t0 ), u (t0 )
x (t )  Ax (t )  Bu (t ), x (t0 )
y (t )  Cx (t )  Du (t )
 Consider the internal variables of the system besides
I/O signals.
 3.1 Representation of systems
 Controller design is possible with optimal design
concept.
 Applicable to linear/nonlinear, time- varying /time-
invariant systems.
 Complicated when I/O relation is expressed by block
diagram. (Demerit)
x (t )  Ax (t )  Bu (t ), x (t0 )
y (t )  Cx (t )  Du (t )
 3.1 Representation of systems
State variables
Dynamic Eq: Time x1 (t )  y (t )
x (t )  Ax (t )  Bu (t ), x (t0 ) x2 (t )  y (t )
y (t )  Cx (t )  Du (t )

Laplace ODE: Time

Transform My (t )  F (t ) - ky (t ) -  y (t )

TF: Frequency Inverse

Y (s) Laplace
G (s)   C ( sI - A)-1 B  D
U (s) Transform
 3.2 State Space Representation
(Definition) State variable
The minimum set of variables that can fully determine
the system behavior at t > t0 from u(t), t  t0 and the
variable information at t= t0.

State variables x1(t), x2(t), , xn(t),

Inputs u1(t), u2(t), , um(t),
Outputs y1(t), y2(t), , yp(t)
 3.2 State Space Representation
For convenience, the system is often described by a state
vector, an input vector, and an output vector.
T
State vector x (t )   x1 (t ) x2 (t ) xn (t )   n
T
Input vector u(t )  u1 (t ) u2 (t ) um (t )   m
T
Output vector y (t )   y1 (t ) y2 (t ) y p (t )    p

There are a number of ways to represent a system as a

state equation because state variables can be defined
by the internal and output signals and their linearly
combination.
 3.2 State Space Representation
General representation of linear/ nonlinear systems

x (t )= f[x(t), u(t), t] : State equation

y(t)= g[x(t), u(t), t] : Output equation

where f[x(t), u(t), t] and g[x(t), u(t), t] are function

vectors.
Two equations are called dynamic equation.
 3.2 State Space Representation
Linear TimeVarying(LTV) system
Representation of LTV systems is
x (t )  A(t ) x (t )  B (t )u(t )
y (t )  C (t ) x (t )  D(t ) u(t )
 a11 (t) a12 (t) a1n (t)  b11 (t) b12 (t) b1m (t) 
   
 a21 (t) a22 (t) a2 n (t)   b21 (t) b22 (t) b2 m (t) 
A(t )  , B (t ) 
   
   
 an1 (t) an 2 (t) ann (t)  bn1 (t) bn 2 (t) bnm (t) 
c11 (t) c12 (t) c1n (t)   d11 (t) d12 (t) d1m (t) 
   
 c21 (t) c22 (t) c2 n (t)   d 21 (t) d 22 (t) d 2 m (t) 
C (t )  , D(t ) 
   
   
c p1 (t) c p 2 (t) c pn (t)   d p1 (t) d p 2 (t) d pm (t) 
 3.2 State Space Representation
Linear TimeInvariant(LTI) system
Representation of LTI systems is
x (t )  Ax (t )  Bu(t )
y (t )  Cx (t )  Du(t )
 a11 a12 a1n  b11 b12 b1m 
   
 a21 a22 a2 n   b21 b22 b2 m 
A ,B 
   
   
 an1 an 2 ann  bn1 bn 2 bnm 
c11 c12 c1n   d11 d12 d1m 
   
 c21 c22 c2 n   d 21 d 22 d2m 
C ,D 
   
   
c p1 c p 2 c pn   d p1 d p 2 d pm 
 3.2 State Space Representation
1. Mechanical system
Applying Newton's second
law with F(t) as input and ky (t )   y (t )
y(t) as output,

F (t )  ky (t )   y (t )  My (t )

 i
Fi (t )  M  a (t ) k: Spring constant
 : Viscous friction
coefficient
 3.2 State Space Representation
Letting F(t)= u(t) and rearranging gives
 k 1
y (t )  y (t )  y (t )  u (t )
M M M

with ICs y (t0 ), y (t0 )

ky (t )   y (t )
If we define the state variables
as
x1 (t )  y (t ), x2 (t )  y (t )
 3.2 State Space Representation
x1 (t )  y (t ), x2 (t )  y (t )
Differentiating both sides once and then arranging them

x1 (t )  y (t )  x2 (t )
k  1
x2 (t )  y (t )   y (t )  y (t )  u (t )
M M M
k  1
 x1 (t )  x2 (t )  u (t )
M M M
Initial
x1 (t0 )  y (t0 ), x2 (t0 )  y (t0 )
Conditions
 3.2 State Space Representation
State equation
x1 (t )  x2 (t )
k  1
x2 (t )   x1 (t )  x2 (t )  u (t )
M M M
ICs x1 (t0 )  y (t0 ), x2 (t0 )  y (t0 )

Output equation
y (t )  x1 (t )
3.2 State Space Representation
State equation(vector form)

 x1 (t )   0 1   x1 (t )   0 
 x (t )      x (t )     u (t )
 2   k / M   / M   2  1/ M 

 x1 (t0 )   y (t0 ) 
ICs    
 x2 (t0 )   y (t0 ) 
Output equation(vector form)
 x1 (t ) 
y (t )  1 0  
 x2 (t ) 
3.2 State Space Representation
Dynamic equation(vector form)
x (t )  Ax (t )  Bu (t ), x (t0 )
y (t )  Cx (t )  Du (t )
where
 0 1   0 
A  , B 
 k / M  / M  1/ M 
 x1 (t ) 
C  1 0 , D  0, x (t )   
 x2 (t ) 
 3.2 State Space Representation
Dynamic equation
x (t )  f [ x (t ), u (t ), t ], x (t0 )
y (t )  g[ x (t ), u (t ), t ]
where
 x2 (t ) 
f [ x (t ), u (t ), t ]   k  1 
 x1 (t )  x2 (t )  u (t ) 
 M M M 
g[ x (t ), u (t ), t ]  x1 (t )
 3.2 State Space Representation
2. Vehicle system
F(t) is the external force as input, y1(t) and y2(t) are the
output of each vehicle, M1 and M2 are the mass of each
vehicle, k is the spring constant and  is the viscous
friction coefficient. Applying Newton's second law
here yields
3.2 State Space Representation

F (t )  k[ y1 (t )  y2 (t )]  [ y1 (t )  y2 (t )]
 M1 y1 (t )
3.2 State Space Representation

k[ y1 (t )  y2 (t )]  [ y1 (t )  y2 (t )]  M 2 y2 (t )
 3.2 State Space Representation
Letting F(t)= u(t), defining the state variables as follows
and differentiating both sides once
x1 (t )  y1 (t ) x1 (t )  y1 (t )  x2 (t )
x2 (t )  y1 (t ) x2 (t )  y1 (t )
x3 (t )  y2 (t ) x3 (t )  y2 (t )  x4 (t )
x4 (t )  y2 (t ) x4 (t )  y2 (t )
y1 (t )  k[ y1 (t )  y2 (t )] / M1 
[ y1 (t )  y2 (t )] / M1  F (t ) / M1
y2 (t )  k[ y1 (t )  y2 (t )] / M 2 
[ y1 (t )  y2 (t )] / M 2
 3.2 State Space Representation
State equation Output equation
x1 (t )  y1 (t )  x2 (t )
y1 (t )  x1 (t )
k 
x2 (t )  y1 (t )   x1 (t )  x2 (t ) y2 (t )  x3 (t )
M1 M1
k  1
 x3 (t )  x4 (t )  u (t )
M1 M1 M1
x3 (t )  y2 (t )  x4 (t )
k 
x4 (t )  y2 (t )  x1 (t )  x2 (t )
M2 M2
k 
 x3 (t )  x4 (t )
M2 M2
3.2 State Space Representation
Dynamic equation
 0 1 0 0 
 k   0 
-  k    1 
-
 M1 M1 M1 M1   
x (t )    x (t )   M1  u (t )
 0 0 0 1   
 0 
 k  k  
 - -   0 
 M 2 M2 M 2 M2 

1 0 0 0 
y (t )    x (t ) Initial x (t0 )
0 0 1 0  vector
3.2 State Space Representation
Example 1: The following figure shows a motorcycle
suspension system. Find the dynamic equation by
inputting wheel displacement r(t) and outputting y(t).

Solution:
After separating the m2 y
body and the wheel, ks
vcar
suspension b
applying Newton's
second law gives m1 x

kw
Tire Road surface
r
Inertial reference
3.2 State Space Representation
m2 y  k s ( y  x)  b( y  x)
m1 x  k s ( y  x)  b( y  x)
 kw ( x  r )
Defining the state variables and
differentiating both sides once gives

x1  y
x2  y
x3  x
x4  x
3.2 State Space Representation
State equation m2 y  k s ( y  x)  b( y  x)
m1 x  k s ( y  x)  b( y  x)
x1  y  x2
 kw ( x  r )
ks b
x2  y   ( x1  x3 )  ( x2  x4 )
m2 m2 x1  y
x3  x  x4 x2  y
x4  x 
ks
( x1  x3 ) 
b
( x2  x4 ) 
kw
(r  x3 ) x3  x
m1 m1 m1
x4  x
Output equation
y  x1
3.2 State Space Representation
Rewriting the equations yields
x  Αx  Bu , x (t0 )
y  Cx  Du
where
 0 1 0 0 
 k   0 
 s 
b ks b   0 
 m2 m2 m2 m2   
A ,B   0 
 0 0 0 1   
 ks b ks  kw b   kw 
     m1 
 m1 m1 m1 m1 
C  1 0 0 0 , D  0, u  r
3.2 State Space Representation
Newton's second law
(rotational movement)

 T (t )  J   (t )
i
i

 J   (t )

T: torque , J: Moment of inertia

: Angular acceleration, : Angle
 3.2 State Space Representation

3. Rotational system
Applying Newton's second law
yields where (t) is torque as input,
(t) is rotation angle as output, J is
moment of inertia,  is the
coefficient of viscous friction, k is
the modulus of elasticity.
 3.2 State Space Representation

 (t )  k (t )   (t )  J  (t )
Letting (t)= u(t), and
 (t )
defining the state variables
as follows:

x1 (t )   (t )
x2 (t )   (t )
k (t )
 3.2 State Space Representation
State equation
x1 (t )   (t )  x2 (t )
k  1
x2 (t )   (t )   x1 (t )  x2 (t )  u (t )
J J J
 (t )  k (t )   (t )  J  (t )
Output equation
y (t )   (t )  x1 (t )
 3.2 State Space Representation
Dynamic equation
x (t )  Ax (t )  Bu (t ), x (t0 )
y (t )  Cx (t )  Du (t )
 0 1  0
A k   , B   1 
    
 J J   J 
C  1 0 , D  0
 3.2 State Space Representation

4. RLC circuit
Consider a circuit where u(t) is the voltage as input,
y(t) is the voltage as output, R is resistor, L is inductor,
and C is capacitor.

i(t)
 3.2 State Space Representation
Applying Kirchhoff's law of voltage and Ohm's law
gives


di (t ) 1
u (t )  Ri (t )  L  i (t )dt
dt C


1
y (t )  i (t )dt
C

i(t)
 3.2 State Space Representation
State variables State equation
1 1

1 x1 (t )  i (t )  x2 (t )
x1(t)= i (t )dt , C C
C
di (t )
x2(t)= i(t) x2 (t ) 
dt


1 R 1
 i (t )dt  i (t )  u (t )
LC L L
1 R 1
  x1 (t )  x2 (t )  u (t )
L L L


di (t ) 1
Ri (t )  L  i (t )dt  u (t )
dt C
 3.2 State Space Representation
Output equation


1
y (t )  i (t )dt  x1 (t )
C
Dynamic equation
 1 
 0   0 
 x (t )   1  u (t ), x (t0 )
C
x (t )  
- 1 - R   
 L  
 L 

L
y (t )  1 0 x (t )
3.2 State Space Representation

M. Faraday (1791-1867)
3.2 State Space Representation
3.2 State Space Representation
 3.2 State Space Representation
5. DC motor
u(t) is voltage as input, (t) is angle as output, i(t)
armature current, eb(t) is counter electromotive force, R
and L are equivalent resistance and inductor of armature
circuit, respectively, J is the moment of inertia and  is
the coefficient of viscous friction
 3.2 State Space Representation
Applying the Kirchhoff's law to the armature circuit
gives
di (t )
u (t )  eb (t )  Ri (t )  L
dt
eb (t )  K b (t )
where Kb is constant.
 3.2 State Space Representation
Applying Newton's law to the rotational system
becomes

τ (t )  Kt i (t )
τ (t )   (t )  J  (t )

where Kt is constant.
 3.2 State Space Representation
Defining the state variables and differentiating both
sides once gives
x1 (t )   (t ) x1 (t )   (t )  x2 (t )

x2 (t )   (t ) x2 (t )   (t )
x3 (t )  i (t ) di (t )
x3 (t ) 
dt
di (t )
u (t )  Kb (t )  Ri (t )  L
dt
Kt i (t )   (t )  J  (t )
 3.2 State Space Representation
Dynamic equation
 
0 1 0   
 x1 (t )    0
    Kt   
x (t )   x2 (t )   0 - x (t )   0  u (t ), x (t0 )
 J J 
 x3 (t )    1
0 - K b R  

-
 L
L L
y (t )  1 0 0 x (t )
 3.2 State Space Representation
Bernoulli's equation
h

x
2 2
P1 v1 P2 v2
  h1    h2
Daniel Bernoulli  2g  2g
(1700-1782)
Kinetic energy, potential energy
 3.2 State Space Representation

P1,v1

P2,v2
2 2
P1 v1 P2 v2
  h1    h2
 2g  2g

For h1  h2
 (v1
2
 v2 )
2
P1  P2 
2g
3.2 State Space Representation
6. One-tank system qi (t )
The tank head h(t) changes due
to the difference between input
S
and output flow rate. The h(t)
equilibrium equation of the
fluid is h(t)
A
qo (t )
S h(t )  t[qi (t )  qo (t )] 

h(t): head qi , qo: flow rates

S : tank cross section A: pipe cross section
3.2 State Space Representation
From Equation , qi (t )

h(t ) 1
 [qi (t )  qo (t )]
t S h(t)
S

If t  0, then h(t)

h(t ) dh(t ) A
lim  qo (t )
t 0 t dt
1
 [qi (t )  qo (t )] 
S
3.2 State Space Representation
From the Bernoulli's equation
qi (t )
P1= 0 Atmospheric
v1= 0 pressure
S h1= h(t) P1= P2= 0
h(t)

P2= 0
h(t)
v2= ?
qo (t ) h2= 0

P1 v12 P2 v22 v2 (t )  2 gh1 (t )

  h1    h2
 2g  2g  2 gh(t )
3.2 State Space Representation
Therefore,

qo (t )  Av2 (t )  A 2 gh(t ) 

Combining two equations  and  yields

dh(t ) 1
 [qi (t )  qo (t )]
dt S
1
 [qi (t )  A 2 gh(t ) ]
S
3.2 State Space Representation
dh(t ) 1
 [qi (t )  A 2 gh(t ) ]
dt S
Letting x(t)= h(t) and u(t)= qi(t) yields
State equation
1
x(t )  [u (t )  A 2 gx(t ) ] : nonlinear
S
or
x(t )  f [ x(t ), u (t ), t ]
1
where f [ x(t ), u (t ), t ]  [u (t )  A 2 gx(t ) ]
S
3.2 State Space Representation
Output equation
y (t )  h(t )  x(t )

or

y (t )  g[ x(t ), u (t ), t ]

where g[x(t),u(t),t]= x(t)

3.2 State Space Representation
7. Two-tank system qi (t )

S1 S2
Input: qi(t) h1(t)
h2(t)
Output: h2(t)
h1(t) A1 h2(t) A2
q1 (t ) qo (t )

qi, q1, qo: flow rates h1, h2: tank heads

h1, h2: tank head changes
S1, S2: tank cross sections A1, A2: pipe cross sections
 3.2 State Space Representation

The equilibrium
equations of the fluid
for tank 1 and 2 are

dh1 (t ) 1
 [qi (t )  q1 (t )] 
dt S1
dh2 (t ) 1
 [q1 (t )  qo (t )] 
dt S2
3.2 State Space Representation

Applying the
Bernoulli's equation
at each tank
becomes

q1 (t )  A1 2 g[h1 (t )  h2 (t )] 

qo (t )  A2 2 gh2 (t ) 
3.2 State Space Representation
Defining state variables x1(t)= h1(t), x2(t)= h2(t) and
rearranging , ,  and  yields

Dynamic equation
dx1 (t ) A1 1
 2 g[ x1 (t )  x2 (t )]  u (t )
dt S1 S1
dx2 (t ) A1 A2
 2 g[ x1 (t )  x2 (t )]  2 gx2 (t ) ]
dt S2 S2
y (t )  x2 (t )
where u(t)= qi(t) and IC x(t0)= [h1(t0) h2(t0)]T
3.2 State Space Representation
Example 2: Find the dynamic equation of the
pendulum system with torque u(t) as input and rotation
angle (t) as output. 
u(t)
Solution:

u (t )   (t )  MgLsin (t )  J  (t ) L

(t)
where M: mass
L: pendulum length M
: friction coefficient
Mgsin(t)
g: gravity acceleration (t)

Mg
3.2 State Space Representation
Defining the state variables as
x1 (t )   (t ), x2 (t )   (t )
gives the following equations

x1 (t )   (t )  x2 (t )
x2 (t )   (t )
MgL  1
 sin x1 (t )  x2 (t )  u (t )
J J J
ICs x1(t0), x2(t0)
y (t )   (t )  x1 (t )
3.2 State Space Representation
Dynamic equation

x (t )  f [ x (t ), u (t ), t ], x (t0 )
y (t )  g[ x (t ), u (t ), t ]
where  x2 
f [ x, u, t ]   MgL  1 
 sin x1  x2  u
 J J J 
g[ x, u, t ]  x1
Q&A