It is in the form of
ẋ = Ax + BU + Fd
U – control vector
d – disturbance vector
x – state vector
Equation (5.18) is converted into standard state space model form.
i.e. ẋ = Ax + Bu is written as follows:
If x is made up of the sum of transient and steady state value, and U is also made up of transient and steady state value, then
. then substitute in the equation ẋ = Ax + BU + Fd
Therefore, ẋ = Ax1 + Axss + BU1 + BUss + Fd (5.19)
If a sudden disturbance occurs and the system reaches the ...