Un 1T -

AdVantcqesstutesfct°_ Cuablo Araly

Ainitial coriticox ave cohdeyed.
2. Jt Can be
applied
non ineav Cvs toell tome Vatuyg Sctem,
to ou
3 F Can be cpplied to
muuti îpu mult
aupulM|mo yetem
.Any type st o &npu can be COnicdeyed fo
dRianng tto sytena
5 100 Vecfes mcLtRId notthiem q
vesHy mpuhies tto mathemctcal
yepvekentcuho» cb t c cyem.
6Stuhe VcEwCbe
appaOach j's abo ccwed mode
mode in
in appxath
appah
State VcuNC\Hes can be teedbact.
Stcte mtdel o a SAtem N unPuO
Ssclte MOde|.
Stae model
nottung bu- CombinaHon ctake
equotiom am cupLu
equati on
Stctte ecuaion } -
Aa4It Butt)
cupu ecjuatrion qtH CxtJ
+Du t =

E obteuin tt tctte modef of fte

opVen elecluicad ceetem
AM m-
Vrit C

Theve are t
eery Stetng elements L nd ttuc
G .SD
vo Stake NCLUab UYYent ave
tuah tndutheY litt Vd
uotego aYe copcito Vo C}).
 ad

hply VL to tu lcccp

Vt) R r ) +L dllt UG)

L dtth Vst) - Ritt) t

d

L L

Hxlt)-6
Stcute eauaHOn

XI=AXLt) +Butt)

utt)

uput ecuakon = CXI +Du4/

+o] u
 steute diacam : Tuo pfctouu vepyesenteHon ctr Sfete Odel
caled Stete dfacam.

Comtutt ttu Steure model, i} tue Syerem s deACbt

by tca dibterentio euaion
d u d'ye47 d4ytl =
5ult)
t
DXC t Stute diasLam

AA ddev f equation is 3
y 3 Steire Vucbles Qye alloroed.

XCt ,Ct/

x can be sbteaneci rom dpteven Hal

equation
A3

t+4Yat) +7 Y2S4) +2Yit) =5u4

4) 2t -7 ,t)-4 Kgl41 +5u t
Steute
equaHon Xtt)AX4I Buuy

XaCH- -7 4J c t
o5 ut
 utuu equahom yW= X C.
yCH= CxH +D uH/
yctlfo o1 1 utt

ut Xtti=Yl)

DEY iNCtdon oy
Tmey tunCtio om Cfeute modo
Cteue Modo
commdey a fan dud Stete moole
XLt= AXL4I 2u/
ytI = Xt) + Dut
te Laplace tqmtdm oboth %ces
SXt) YIDJ A YS|+0u ts)
y) -CXLS) +DULS
Asume initil CodiHo aYezEYo.
e Xto 1zo
SXU)A XCS) t BUC
SYU) -
A XU) =
BUS
Slxu) A xOI BU)
Xs)c- BUu)
XIS)=(s]-A] BuCs) -
Substttuse X) tn
YCs) piettion
 A

Ys): cc?-Aj BU0) t DUy

T f
c(2-A'240/
C CNdey a
tem havong gtce mode
(-2
li,J1u
CDeth
Deth D=0. chtún eu 7:F

S TF Y c(-A] 'e1D

- B C[ , 0-0]
-3
s
S+2 3

s1- Adi[s?-A -4 S-
s-Al
d (s7-] AdT S+ 3 s42
3
Is1-Al- |St2- 3 S+

S7- - -3
S+2

-
7F St2 +O
 t/3-3
6-y
2+hS4Ho - +22J

3-21f 5St >2

&S+
7F
DicigonalisCLkron
Cnbdey cteute modet

XCH)= AXW Bw}

-6
tt) Cx 4 4 DUH
=

( Zt neto CteLte Velt Such tha-tlo tanifemeion is

XI M Z4,
heve M -modau mateir ct A

Xltl M|tH
Subxtrtute e n eqD sO
MzCH AMztt/ + BuCtI
Y: CMEH +DOltJ
pre multrplpng
ea by m en botb ide

1 = CMzltHt DULt
Te masiy m ouch foMhds A nto dlacU fim s
caled diaGonali 2tng mathixd I modod. matrir
 VIA 77D
E Xt)-b 6 XtHu 4
and y tl-i o o]x
6-I1 5
fond Dfgoncli zatrm

A --6-116
o
-5
Dagonalization M'AM.
Cet u4end
Cer u end bicren ualuu, En ectos modet matzix.ch A

Values

IN- o0 6
6 5J|

-6 I 6
-6 I 5J

6 dI-6
IA-5

Ad+10lA-5)) +1 (GlA-1)+36) +1 (6ln) -blA+u))=0

eien Nuluu aye A 4, 2

3
TO md Een Veteu f a =
-
- 4 ) 6 - 1D
M:e
 -2
-]6 9-6

fd -3
-3-
A-3-6 S-6

Mo
M
M M, M] 2

mAM o
EGen Nale

sduton er StCite
uOHONn by Cplacotamtdm meth
Cmdey a
nEnhomuenemu kteLte quahy
Xtt A t + wH
Tu caplarptanshdm both des.
SX) XDI= AXCS)+ BUCJ
SXS AY()=Xt0t BUs)
CXCs) - AX)= XlD) + 20(

O)- (C7-AJ' xt0)+(2-AI BuC

 Y ZIR ZSR
ZiR =
2e0 Enpur yespote. 2
L -AX1D)
2LR = zerD Stete Yepom = $ 7 - J U
TU Lin Enves Cplate toinsfm
tlrt)xttl: ic-AvIo) +C1-i'eu]

T(R1-'oi) i[ca-aiau
ZTR + ZSR
AF
Stcuketonmhion mateiv
poopey ttes cSfctke tanhtron ma1tRix (S TM
STM 1(s1-A] =h Lt/ =

cho)o)=T.
w T STM L(<2-A]==¢I-e
t=0
AYD 1.
dD)=

4)=dEt
W-k.T. CTM T[s7- pU]-
pLut -t
AGt)
e

w.kT STM- Lfs2 - ] = dtAF

put t= Ot
AXn ) - (q/)"=(y
 wk7 cTm:
Tsr-= DHI=e
puuE=tytt
DCtt6) tts)At+A6
e

pCt) PCty-ta)-¢lt-td
o 7 sTM =
(sI-EA) -e
put t-ty
qDCt-4,) e Alt) A-At A -At
e
put E=-to e

4Ct-tol ACt) At-Ato

e Ay. Atod
e
pCt-4) ÞCt -to) = e Ati-Ato
e

E
At e-Alo Alh-o
e
DCh-to
fe Cette dnyn tton mmtix
-3
so W..T STM
s1-1] =qltl A =

S-A At2-n)
S2-A
 AdT (C-FA] Adi St3
S
S
- cS12 s13)+L Sh204 -(+)t)
sa- Bdi(s1-p) S3
I-AI
S+3 -
u):AXAD)
+s+2
St3
(Sn) C4)

S
6+1)(H)
CL prutat feacfr erpnicn fo al tto elements
St3 A +B
St

43 2

S+3

+1) CS+2)
3-43
-24

S+ -4
) 26 -

S+ S+) Sf
CCntydabiLuty e Greas SKEm
A Serem sa to be conpleFely gteue
CCntslabl e al tme
to Eh fr i postible by
by meis r
unconsheun ed conhol Vecho ut to toCbey tuo syrem
tom an nitta etale t o ) to ony othey deved &teute t
a tinite nherveu ct time
f a ineOY time hVuian syaem d P&CYibed by The
dynamic equahuno
Xt A}+Dut) &

Oheve alH an
nXIStale NeCfo
ult aScucu to be
comefely ettwe
21 i
Ctodlcple
oeceoly utticien COTdftom tta- tuolooi
nYD COntclabiuy Mateix hou a nk ot .

PB 9 A
Cinceto muki X AGBCye nvdved. Someftrmes toeSy
tht he nvaved. sometimes oe scuy
pcuY B) Comydlable
coluch mplue thOI-

teluCue ttt
contodllabeuty ctuc system otth
y A t Bu A and

C Gfven -lo.B:(1

A
 A]

9 o0-0
o
ant n- = 2-1
Tuo System A no teute Contrdlable
EX ftnd t o
Coolab{lüty cf o
Sysrem.

Sc dder n 2

ven AY + BU

AL

2
2

1cl1:0-Ic-
= 2
(m/dollable.
Rm c TL tem
 LO7)
ter Cyetem
Codey

X
-6
C
Coom
n tts
rldlla
abbi
fuut
tyy

te
EVCeluare t

X =AX4 BU
Given
Pntr
n e
61-6

ocev n 3

QcB AB

A Bo
-6 I -6bLI
D

6-I16

-6
b 2J
O
c or31)-0(o +6)+1 (o-)
-6 r
-0 -|

Ran =n = 3
TCR ouen sykfem k
CompleFely comttdluble
 cbCervcabiuty
System is sud to be compleklly cbRenvcbft
everY fcute x4b) Can be complefely fdtibred by
medsluements e cutpuM YtI ovey c tinite time tevad
t u Sugtem is no Ctmpletely chsavenble means tHat ew
oCts Stere vauiables aye no pa ctically meouuable.
Comdey nth ordey mImo LTI
by Cts sysrem, Teprexenfed
Steuhe equclion 0s ht
Kt AX lt) 49u 4) and
utpu
equH)qt=CX+J +Dult)
wheye C 1Xn matuy
y PYI matti
TU Suste m is
on Completely cbseaable and ony
compoh te muteit Q in'. ttTthe
TC Compeh mcaix pven bby

Thus ENCnt t o -nthin fuc Stem

suRtem rs
rs Comple/ey
cbeAVCble Complete

ENCLCue tto
ehsuvaLraty o tho
Ciyete
Cyktem
1/°Jue
Gfven - c-
dcley r =
 Go 7
1Gol 1-0=
ol 0
Konk , =o =
7UO Cutem ià Completely Cbseabe,
ENclia e ebce vcobiuty cthe cyktem otth

Given c:[3
Lo - 2 3
der n: 3

3L

3 O7 O-3
3
71
0

Yan c Qo =
D-1 = Sytem is no cbSeUGble.