UQ Robotics Teachingrobotics.itee.uq.edu.au/~elec3004/2014/lectures/L11-State-Space.pdf · • More...
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State-Space
© 2014 School of Information Technology and Electrical Engineering at The University of Queensland
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http://elec3004.com
Lecture Schedule: Week Date Lecture Title
1 4-Mar Introduction & Systems Overview
6-Mar [Linear Dynamical Systems]
2 11-Mar Signals as Vectors & Systems as Maps
13-Mar [Signals]
3 18-Mar Sampling & Data Acquisition & Antialiasing Filters
20-Mar [Sampling]
4 25-Mar System Analysis & Convolution
27-Mar [Convolution & FT]
5 1-Apr Frequency Response & Filter Analysis
3-Apr [Filters]
6 8-Apr Discrete Systems & Z-Transforms
10-Apr [Z-Transforms]
7 15-Apr Introduction to Digital Control
17-Apr [Feedback]
8 29-Apr Digital Filters
1-May [Digital Filters]
9 6-May Digital Control Design
8-May [Digitial Control]
10 13-May Stability of Digital Systems
15-May [Stability]
11 20-May State-Space 22-May Controllability & Observability
12 27-May PID Control & System Identification
29-May Digitial Control System Hardware
13 3-Jun Applications in Industry & Information Theory & Communications
5-Jun Summary and Course Review
20 May 2014 - ELEC 3004: Systems 2
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• Final Exam Logistics: – Saturday 21/6/2014 at 4:30pm
– Location: TBA
– Closed-book
– Practice exam will be posted by the end of the week.
Announcements:
!
20 May 2014 - ELEC 3004: Systems 3
Lab 3
20 May 2014 - ELEC 3004: Systems 4
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• More general mathematical model – MIMO, time-varying, nonlinear
• Matrix notation (think LAPACK MATLAB)
• Good for discrete systems
• More design tools!
Or more aptly…
Welcome to
State-Space!
( It be stated -- Hallelujah ! )
20 May 2014 - ELEC 3004: Systems 5
Affairs of state • Introductory brain-teaser:
– If you have a dynamic system model with history (ie. integration)
how do you represent the instantaneous state of the plant?
Eg. how would you setup a simulation of a step response, mid-step?
t = 0 t
start
20 May 2014 - ELEC 3004: Systems 6
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Introduction to state-space • Linear systems can be written as networks of simple dynamic
elements:
𝐻 = 𝑠 + 2
𝑠2 + 7𝑠 + 12=
2
𝑠 + 4+
−1
𝑠 + 3
S 1𝑠
1𝑠 S
−7
1
−12
2
S
u y
20 May 2014 - ELEC 3004: Systems 7
Introduction to state-space • We can identify the nodes in the system
– These nodes contain the integrated time-history values of the
system response
– We call them “states”
S 1𝑠
1𝑠 S
−7
1
−12
2
S
u y x1 x2
20 May 2014 - ELEC 3004: Systems 8
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Linear system equations • We can represent the dynamic relationship between the states
with a linear system:
𝑥1 = −7𝑥1 − 12𝑥2 + 𝑢
𝑥2 = 𝑥1 + 0𝑥2 + 0𝑢
𝑦 = 𝑥1 + 2𝑥2 + 0𝑢
20 May 2014 - ELEC 3004: Systems 9
State-space representation • We can write linear systems in matrix form:
𝒙 =−7 121 0
𝒙 +10𝑢
𝒚 = 1 2 𝒙 + 0𝑢
Or, more generally:
𝒙 = 𝐀𝒙 + 𝐁𝑢
𝑦 = 𝐂𝒙 + 𝐷𝑢
“State-space
equations”
20 May 2014 - ELEC 3004: Systems 10
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• u: Input:
• x: State:
• y: Output
State-Space Terminology
20 May 2014 - ELEC 3004: Systems 11
State-Space Terminology
20 May 2014 - ELEC 3004: Systems 12
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• If the system is linear and time invariant,
then A,B,C,D are constant coefficient
LTI State-Space
20 May 2014 - ELEC 3004: Systems 13
• If the system is discrete,
then x and u are given by difference equations
Discrete Time State-Space
20 May 2014 - ELEC 3004: Systems 14
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• Series:
Block Diagram Algebra in State Space
20 May 2014 - ELEC 3004: Systems 15
• Parallel:
Block Diagram Algebra in State Space
20 May 2014 - ELEC 3004: Systems 16
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State-space representation • State-space matrices are not necessarily a unique
representation of a system – There are two common forms
• Control canonical form – Each node – each entry in x – represents a state of the system
(each order of s maps to a state)
• Modal form – Diagonals of the state matrix A are the poles (“modes”) of the
transfer function
20 May 2014 - ELEC 3004: Systems 17
1. Choose all independent capacitor voltages and inductor
currents to be the state variables.
2. Choose a set of loop currents; express the state variables and
their first derivatives in terms of these loop currents.
3. Write loop equations, and eliminate all variables other than
state variables (and their first derivatives) from the equations
derived in steps 2 and 3.
A Procedure for Determining State Equations in Electrical Circuits
20 May 2014 - ELEC 3004: Systems 18
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1. The inductor current q1 and the capacitor voltage q2 as the state variables.
2.
3.
A Quick Example
20 May 2014 - ELEC 3004: Systems 19
•
•
•
•
Another Example
20 May 2014 - ELEC 3004: Systems 20
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Another Example
20 May 2014 - ELEC 3004: Systems 21
• N1(t)=N1(0)exp(-λ1t)
•
•
•
Another Example
20 May 2014 - ELEC 3004: Systems 22
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State-space representation • State-space matrices are not necessarily a unique
representation of a system – There are two common forms
• Control canonical form – Each node – each entry in x – represents a state of the system
(each order of s maps to a state)
• Modal form – Diagonals of the state matrix A are the poles (“modes”) of the
transfer function
20 May 2014 - ELEC 3004: Systems 23
Controllability matrix
• To convert an arbitrary state representation in F, G, H and J to
control canonical form A, B, C and D, the “controllability
matrix”
𝓒 = 𝐆 𝐅𝐆 𝐅2𝐆 ⋯ 𝐅𝑛−1𝐆
must be nonsingular.
Why is it called the “controllability” matrix?
20 May 2014 - ELEC 3004: Systems 26
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Controllability matrix
• If you can write it in CCF, then the system equations must be
linearly independent.
• Transformation by any nonsingular matrix preserves the
controllability of the system.
• Thus, a nonsingular controllability matrix means x can be
driven to any value.
20 May 2014 - ELEC 3004: Systems 27
Why is this “Kind of awesome”? • The controllability of a system depends on the particular set of
states you chose
• You can’t tell just from a transfer function whether all the
states of x are controllable
• The poles of the system are the Eigenvalues of F, (𝑝𝑖).
20 May 2014 - ELEC 3004: Systems 28
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State evolution • Consider the system matrix relation:
𝒙 = 𝐅𝒙 + 𝐆𝑢
𝑦 = 𝐇𝒙 + 𝐽𝑢
The time solution of this system is:
𝒙 𝑡 = 𝑒𝐅 𝑡−𝑡0 𝒙 𝑡0 + = 𝑒𝐅 𝑡−𝜏 𝐆𝑢 𝜏 𝑑𝜏𝑡
𝑡0
If you didn’t know, the matrix exponential is:
𝑒𝐊𝑡 = 𝐈 + 𝐊𝑡 +1
2!𝐊2𝑡2 +
1
3!𝐊3𝑡3 +⋯
20 May 2014 - ELEC 3004: Systems 29
Great, so how about control? • Given 𝒙 = 𝐅𝒙 + 𝐆𝑢, if we know 𝐅 and 𝐆, we can design a
controller 𝑢 = −𝐊𝒙 such that
eig 𝐅 − 𝐆𝐊 < 0
• In fact, if we have full measurement and control of the states of 𝒙,
we can position the poles of the system in arbitrary locations!
(Of course, that never happens in reality.)
20 May 2014 - ELEC 3004: Systems 30
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Example: PID control • Consider a system parameterised by three states:
– 𝑥1, 𝑥2, 𝑥3
– where 𝑥2 = 𝑥 1 and 𝑥3 = 𝑥 2
𝒙 =1
1−2
𝒙 − 𝐊𝑢
𝑦 = 0 1 0 𝒙 + 0𝑢
𝑥2is the output state of the system;
𝑥1is the value of the integral;
𝑥3 is the velocity.
20 May 2014 - ELEC 3004: Systems 31
• We can choose 𝐊 to move the eigenvalues of the system
as desired:
det
1 − 𝐾11 −𝐾2
−2 − 𝐾3
= 𝟎
All of these eigenvalues must be positive.
It’s straightforward to see how adding derivative gain 𝐾3 can stabilise the system.
20 May 2014 - ELEC 3004: Systems 32
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Just scratching the surface
• There is a lot of stuff to state-space control
• One lecture (or even two) can’t possibly cover it all in depth
Go play with Matlab and check it out!
20 May 2014 - ELEC 3004: Systems 33
Discretisation FTW! • We can use the time-domain representation to produce
difference equations!
𝒙 𝑘𝑇 + 𝑇 = 𝑒𝐅𝑇 𝒙 𝑘𝑇 + 𝑒𝐅 𝑘𝑇+𝑇−𝜏 𝐆𝑢 𝜏 𝑑𝜏𝑘𝑇+𝑇
𝑘𝑇
Notice 𝒖 𝜏 is not based on a discrete ZOH input, but rather
an integrated time-series.
We can structure this by using the form:
𝑢 𝜏 = 𝑢 𝑘𝑇 , 𝑘𝑇 ≤ 𝜏 ≤ 𝑘𝑇 + 𝑇
20 May 2014 - ELEC 3004: Systems 34
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Discretisation FTW! • Put this in the form of a new variable:
𝜂 = 𝑘𝑇 + 𝑇 − 𝜏
Then:
𝒙 𝑘𝑇 + 𝑇 = 𝑒𝑭𝑇𝒙 𝑘𝑇 + 𝑒𝑭𝜂𝑑𝜂𝑘𝑇+𝑇
𝑘𝑇
𝑮𝑢 𝑘𝑇
Let’s rename 𝚽 = 𝑒𝑭𝑇 and 𝚪 = 𝑒𝑭𝜂𝑑𝜂𝑘𝑇+𝑇
𝑘𝑇𝑮
20 May 2014 - ELEC 3004: Systems 35
Discrete state matrices So,
𝒙 𝑘 + 1 = 𝚽𝒙 𝑘 + 𝚪𝑢 𝑘 𝑦 𝑘 = 𝐇𝒙 𝑘 + 𝐉𝒖 𝑘
Again, 𝒙 𝑘 + 1 is shorthand for 𝒙 𝑘𝑇 + 𝑇
Note that we can also write 𝚽 as:
𝚽 = 𝐈 + 𝐅𝑇𝚿
where
𝚿 = 𝐈 +𝐅𝑇
2!+𝐅2𝑇2
3!+⋯
20 May 2014 - ELEC 3004: Systems 36
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State-space z-transform We can apply the z-transform to our system:
𝑧𝐈 − 𝚽 𝑿 𝑧 = 𝚪𝑈 𝑘 𝑌 𝑧 = 𝐇𝑿 𝑧
which yields the transfer function: 𝑌 𝑧
𝑿(𝑧)= 𝐺 𝑧 = 𝐇 𝑧𝐈 −𝚽 −𝟏𝚪
20 May 2014 - ELEC 3004: Systems 37
State-space control design ¿¿¿Que pasa????
• Design for discrete state-space systems is just like the
continuous case. – Apply linear state-variable feedback:
𝑢 = −𝐊𝒙
such that det(𝑧𝐈 − 𝚽 + 𝚪𝐊) = 𝛼𝑐(𝑧) where 𝛼𝑐(𝑧) is the desired control characteristic equation
Predictably, this requires the system controllability matrix
𝓒 = 𝚪 𝚽𝚪 𝚽2𝚪 ⋯ 𝚽𝑛−1𝚪 to be full-rank.
20 May 2014 - ELEC 3004: Systems 38
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• Recall:
• For Linear Systems:
• For LTI:
Solving State Space…
20 May 2014 - ELEC 3004: Systems 39
• In the conventional, frequency-domain approach the
differential equations are converted to transfer functions as
soon as possible – The dynamics of a system comprising several subsystems is
obtained by combining the transfer functions!
• With the state-space methods, on the other hand, the
description of the system dynamics in the form of differential
equations is retained throughout the analysis and design.
Solving State Space
20 May 2014 - ELEC 3004: Systems 40
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• Describes how the state x(t) of the system at some time t
evolves into (or from) the state x(τ) at some other time T.
State-transition matrix Φ(t)
20 May 2014 - ELEC 3004: Systems 41
Solving State Space…
20 May 2014 - ELEC 3004: Systems 42
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Solving State Space
20 May 2014 - ELEC 3004: Systems 43
Solving State Space
20 May 2014 - ELEC 3004: Systems 44
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Solving State Space
20 May 2014 - ELEC 3004: Systems 45
Solving State Space
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Solving State Space
20 May 2014 - ELEC 3004: Systems 47
• Difference equations in state-space form:
• Where: – u[n], y[n]: input & output (scalars)
– x[n]: state vector
Digital State Space: Recall from the Last Episode …
20 May 2014 - ELEC 3004: Systems 48
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Digital Control Law Design
20 May 2014 - ELEC 3004: Systems 49
•Yes Can you use this for more than Control?
20 May 2014 - ELEC 3004: Systems 50
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The Approach:
• Formulate the goal of control as an optimization (e.g. minimal impulse response,
minimal effort, ...).
• You’ve already seen some examples of optimization-based design: – Used least-squares to obtain an FIR system which matched (in the least-squares sense)
the desired frequency response.
– Poles/zeros lecture: Butterworth filter
Frequency Response in State Space
20 May 2014 - ELEC 3004: Systems 51
Discrete Time Butterworth Filters
20 May 2014 - ELEC 3004: Systems 52
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20 May 2014 - ELEC 3004: Systems 53
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20 May 2014 - ELEC 3004: Systems 55
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20 May 2014 - ELEC 3004: Systems 57
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• Constrained Least-Squares …
How?
20 May 2014 - ELEC 3004: Systems 59