Multi Input Mulit Output (MIMO) Systems

6 Outputs

Engine Thrust

4 Inputs

[ ][ ][ ]
Aircraft Control Y 1 s G 11 s G 1m s X s
1
=
Coupling among Inputs and Outputs
Y n s G n1 s G nm s X m s

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 State-space Representation
Model Multi-Input-Multi-Output (MIMO) Systems
Transfer Functions model Single-Input-Single-Output
(SISO) Systems
Model Linear and Nonlinear, Coupling Systems
Dynamics of Internal States
State Dynamics Equation
Depend on System Inputs
System Outputs depend on Internal States and Inputs
Output Equations

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 Advantages of State Space Representations
Limitations of Transfer Functions
Difficult to model nonlinear systems in general (works for a limited subset like
delayed systems)
Difficult to model MIMO systems (Matrix of transfer functions to model linear
coupling of inputs and outputs)
Ignore initial conditions (assume all initial conditions are zeros)
Advantages of State-space Representations
Compact representation of MIMO systems (SISO system is a special case)
Compact representation of linear and nonlinear systems
Compact representation of time-varying systems and delayed systems
Compact representation in time domain and facilitate numerical solution of time
responses
Take care of initial conditions of the systems
Give a better picture of the interaction of the internal states in the systems
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 Linear Continuous State-space Model
System of First order ODE
n n nm
A B
x = A x B u System Matrix Input Matrix

y = C x D u C
pn
D
pm

Output Matrix Input Matrix

[] [] []
x1 u1 y1
m-Inputs,
x2 u2 y2 p-Outputs
x= u= y= System

xn um yp
System State Vector System Input Vector System Output Vector
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 Non-uniqueness of State-space Models

x (t) = A x(t)+ B u(t ) (t ) = ^

A (t)+ ^B u(t )
y(t) = C x(t)+ D u(t) y(t) = C ^ (t )+ ^
D u(t)

Put x(t) = P (t) P (t ) = A P (t)+ B u(t)

Similarity y(t ) = C P (t )+ D u(t)
Transformation

^
A =
1
P AP
(t ) = P1 A P (t )+ P1 B u(t) ^ 1
B = P B
y(k ) = C P (t )+ D u(t ) ^
C = CP
^
D = D
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 Poles and Zeros of State-space Model
x (t) = A x(t)+ B u(t)
y(t) = C x(t)+ D u(t)
Y (s) 1 adj (s I A)
W (s) = = C (s I A) B+ D = C B+ D
U (s) det (s I A)
Poles of W(s)
Roots of det (s I A) = 0
Eigenvalues of A

s X (s) = A X (s)+ BU (s) Zeros of W(s)

Y (s) = C X (s)+ DU (s)
Y(s) = 0
[ s I A B
C D ][ ]
X (s)
U (s)
=0
det
([ s I A B
C D ]) =0

12/01/14 School of Engineering, RGU 6