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3 State Space

The document discusses state-space representation of control systems. The general state-space representation defines state vector x, derivative of state vector ẋ, output vector y, input vector u, and system, input, output, and feedforward matrices A, B, C, and D. Examples are provided of obtaining state-space representations from differential equations and transfer functions. The process involves defining state variables, writing state equations, and obtaining the output equation. Converting between state-space and transfer function models is also covered.

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Dogukan Karabeyin
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36 views

3 State Space

The document discusses state-space representation of control systems. The general state-space representation defines state vector x, derivative of state vector ẋ, output vector y, input vector u, and system, input, output, and feedforward matrices A, B, C, and D. Examples are provided of obtaining state-space representations from differential equations and transfer functions. The process involves defining state variables, writing state equations, and obtaining the output equation. Converting between state-space and transfer function models is also covered.

Uploaded by

Dogukan Karabeyin
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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KON 317E Control Systems

State Space Representation


Assoc. Prof. Dr. Tufan Kumbasar
The General State-Space Representation
• The state and output equations can be written in vector matrix form if the system is linear

for 𝑡 ≥ 𝑡 and initial conditions 𝒙 𝑡 , where 𝑥


• x= state vector
• 𝐱̇ = derivative of the state vector with respect to time
• y= output vector
• u= input or control vector
• A= system matrix
• B= input matrix
• C= output matrix
• D= feedforward matrix

Slide 2
Example-1
Obtain the representation in state space

Step 1: Label all of the branch current in the network,


𝑖 ,𝑖 ,𝑖
Step 2: Select the state variables by writing the derivative
equation

Step 3: Apply network theory, such of Kirchhoff’s voltage


and Current laws, to obtain 𝑖 and 𝑣 in terms of state
variables, 𝑣 and 𝑖 . At node 1,

Slide 3
Example-1

Step 4: Using above equations, we can obtain the following


state equations:

or

Slide 4
Example-1
Step 5: Find the output equation. Since output is 𝑖 𝑡

The final result in vector matrix form as follows:

Slide 5
Example-2
Find the state equation of the system

Step-1: First we write differential equations

Step-2: Define state Variables

Slide 6
Example-2
Step-2: Define state Variables

Step-3: Redefine the differential equations

Slide 7
Example-3
Step-3: Redefine the differential equations

The final result in vector matrix form as follows:

Slide 8
Converting a Transfer Function to a State Space Model

• A convenient way to choose state variables is to choose the output, y(t), and its (n - 1)
derivatives as the state variables.
• This choice is called the phase-variable choice.
• Choosing the state variables, 𝑥 , we get

Slide 9
Converting a Transfer Function to a State Space Model
• After differentiating both sides yields

Slide 10
Converting a Transfer Function to a State Space Model
• In matrix-vector form

Slide 11
Problem-3
Find the state space representation in phase variable form the transfer function shown in
Figure

Step-1:

Cross-multiplying yields

Corresponding diff. Eq.

Slide 12
Problem-3
Corresponding diff. Eq.

Step-2: Select the state variables. Choosing the state variables as successive derivatives

Since output is 𝑥 , the combined state and output equations are

Slide 13
Problem-3

In vector-matrix form

Slide 14
Problem-4
Find the state equations and output equation for the phase variable representation of the
transfer function

First derive the state equations for the transfer function without zeros.

Cross-multiplying yields

Corresponding diff. Eq.

Defining State variables

Slide 15
Problem-4
Hence

Using the zeros of the transfer function, we find the output equation to be

The resulting state space model is then

Slide 16
Converting from State Space to a Transfer Function

Taking the Laplace transform assuming zero initial conditions

Solving X(s)

where I is identity matrix. Then,

We obtain:

Slide 17
Example-5
Convert the state and output equations shown below

Solution:
The state equation is converted to a transfer function using

where

Slide 18
Example-5
Evaluting (𝑠𝑰 − 𝑨) yields

Taking the inverse, we obtain

Substituting all expressions

Slide 19

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