5/24/2021

‫اﻛﺎدﯾﻣﯾﺔ اﻟﺷروق‬
‫اﻟﻣﻌﮭد اﻟﻌﺎﻟﻰ ﻟﻠﮭﻧدﺳﺔ‬
‫ﻗﺳم اﻟﻘوى واﻵﻻت اﻟﻛﮭرﺑﯾﺔ‬

Automatic Control System

By

Dr. / Ahmed Mohamed Abdelbaset

E-mail: [email protected]

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Lecture Outline

• Introduction to state space

- Basic Definitions
- State Equations
- State Diagram

Introduction
 Modern control theory is contrasted with conventional control theory
in that the former is applicable to multiple-input, multiple-output systems,
which may be linear or nonlinear, time invariant or time varying, while
the latter is applicable only to linear time invariant single-input, single-
output systems.

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Electrical Systems

v  Ri

di
vL
dt

dv
iC
dt

Mechanical Systems

F  ky

dy
FB
dt

d2y
F m 2
dt

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Mechanical Systems, Rotational

T  k

d
T B
dt

d 2
TJ 2
dt

System Modeling
• Mechanical Systems – Newton´s second law (inertial frame)
d d
 F  dt p  dt (mv)
i
i

where  F is the sum of the external forces, m is the mass, v is the

i
i

inertial velocity and p is the momentum

• Electrical Systems – Kirchoff’s laws (can be derived from Maxwell’s laws)

I
i
i  0, V
i
i 0

where  I is the algebraic (minus sign for currents leaving the node)
i
i

sum of the currents entering a node and V is the algebraic sum of the
i
i

voltages in a loop

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Electrical Systems, Example

Consider the RLC circuit of Figure shown

di
v  v R  v L  v C  Ri  L  vC
dt
dv C d 2vC
 RC  LC  vC
dt dt 2

Mechanical Systems, Example

d2y dy
m 2  B  ky  F
dt dt

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Rotational Mechanical Systems, Example

d 2 d
J 2 B  k  T
dt dt

Definitions
• State of a system: We define the state of a system at time t0 as the
amount of information that must be provided at time t0, which,
together with the input signal u(t) for t  t0, uniquely determine the
output of the system for all t  t0.

• State Variable: The state variables of a dynamic system are the smallest
set of variables that determine the state of the dynamic system.

• State Vector: If n variables are needed to completely describe the

behaviour of the dynamic system then n variables can be considered as
n components of a vector x, such a vector is called state vector.

• State Space: The state space is defined as the n-dimensional space in

which the components of the state vector represents its coordinate
axes.

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State Space Equations

• In state-space analysis we are concerned with three types of variables
that are involved in the modeling of dynamic systems: input variables,
output variables, and state variables.

• The dynamic system must involve elements that memorize the values of
the input for t > t1 .

• Since integrators in a continuous-time control system serve as memory

devices, the outputs of such integrators can be considered as the
variables that define the internal state of the dynamic system.

• Thus the outputs of integrators serve as state variables.

• The number of state variables to completely define the dynamics of the

system is equal to the number of integrators involved in the system.

State Space Equations

• Assume that a multiple-input, multiple-output system involves
integrators.
• Assume also that there are inputs , ,⋯, and
outputs , ,⋯, .
• Define outputs of the integrators as state variables:
, ,⋯, .
• Then the system may be described by

̇ = ( , ,⋯, ; , ,⋯, ; )

̇ = ( , ,⋯, ; , ,⋯, ; )

̇ = ( , ,⋯, ; , ,⋯, ; )

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State Space Equations

• The outputs , ,⋯, of the system may be given as.
= ( , ,⋯, ; , ,⋯, ; )
= ( , ,⋯, ; , ,⋯, ; )

= ( , ,⋯, ; , ,⋯, ; )

• If we define
( , ,⋯, ; , ,⋯, ; )
( , ,⋯, ; , ,⋯, ; )
= , , =
⋮ ⋮
( , ,⋯, ; , ,⋯, ; )
= ⋮
( , ,⋯, ; , ,⋯, ; )
= ( , ,⋯, ; , ,⋯, ; )
⋮ , , =
⋮
( , ,⋯, ; , ,⋯, ; )

State Space Modelling

• State space equations can then be written as

̇ = ( , , ) State Equation

= ( , , ) Output Equation
• If vector functions f and/or g involve time t explicitly, then
the system is called a time varying system.

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State Space Modelling

• If above equations are linearized about the operating
state, then we have the following linearized state equation
and output equation:

x (t )  A(t ) x(t )  B (t )u (t ) y (t )  C (t ) x(t )  D (t )u (t )

State Space Modelling

• If vector functions f and g do not involve time t explicitly then
the system is called a time-invariant system.

• In this case, state and output equations can be simplified to

x (t )  Ax (t )  Bu (t ) y (t )  Cx (t )  Du (t )

B C

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Example-1
• An electric circuit consisting of a resistor, inductor and capacitor as shown in figure.
Derive a state variable model when: selecting the state variables are Vc(t) and i(t) and
the output is Vc(t)

• From the circuit , the system equation is

= + ( )+ ( )
• The system input is Vi(t) and the system output is selected as Vc(t) , and the state
variables are selected as the current i(t) and the capacitor voltage Vc(t). Since the state
variables are two, then we have to obtain Two first order differential equation. Let us
define state variables ( ) and ( ) as
= i( ) = Vc( )

Example-1 The system equation is

= i( ) + ( )+ ( )
= ∗ i( ) + + ( )
= i − + (1)

Another first order differential equation is required ( )

i =

The above equation can be written as

( ) i
= (2)

• Define state variables as ( ) and ( ) as = i( ) , = Vc( )

• The system input is u(t)= and the system output is y(t)=
The equations (1) and (2) can be written as

̇ = − + ̇ =

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Example-1
̇ = − + ̇ =

̇ − 1 1
−
= 1 + ( ) State Equation
0 0
̇

The output equation is y(t)= =

0
( )= 0 1 + ( ) Output Equation
0

Example-2
• Consider the mechanical system shown in figure. We assume that the
system is linear. The external force u(t) is the input to the system, and the
displacement y(t) of the mass is the output. The displacement y(t) is
measured from the equilibrium position in the absence of the external force.
This system is a single-input, single-output system.

• From the diagram, the system equation is

̈( ) + ̇( ) + ( )= ( )

• This system is of second order. This means that the

system involves two integrators. Let us define state
variables ( ) and ( ) as

= ( )
= ̇( )

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Example-2
= ( ) = ̇( ) ̈( ) + ̇( ) + ( )= ( )

• Then we obtain
̇ = ()
1
̇ =− ̇ − + ( )
• Or
̇ = ()
1
̇ =− − + ( )
• The output equation is
=

Example-2
1
̇ = () ̇ =− − + ( ) =

• In a vector-matrix form,

 x1 (t )   0 1   x (t )   0 
 x (t )   k b   1    1  u (t )
 2   m    x2 (t )  
m m

 x (t ) 
y ( t )  1 0  1 
 x 2 (t )

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Example-2
• State diagram of the system is

̇ = ()
1
̇ =− − + ( )

Block Diagram

Example-3
• Obtain state equations of following mechanical translational
system and draw the state diagram. Where f(t) is input and x1 is
output.

• System equations are:

d 2 x1 dx1 d 2 x2
M1 D  Kx1  Kx2  0 f (t )  M 2  Kx 2  Kx1
dt 2 dt dt 2

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Example-3
• Now dx1
 v1 d 2 x1 dv1

dt dt 2 dt
dx2
 v2 d 2 x2 dv2

dt dt 2 dt
• Choosing x1, v1, x2, v2 as state variables
dx1
 v1
dt
dv
M 1 1  Dv1  Kx1  Kx2  0
dt
dx2
 v2
dt
dv
f (t )  M 2 2  Kx 2  Kx1
dt

Example-3
• In Standard form
dx1
 v1
dt
dv1 D K K
 v1  x1  x2
dt M1 M1 M1
dx2
 v2
dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2

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Example-3
dx1 dv1 D K K dx2
 v1  v1  x1  x2  v2
dt dt M1 M1 M1 dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
• In Vector-Matrix form

 0 1 0 0  0 
 x1   K D K   x1  
     0   
0 
 v1    M 1 M1 M1 v 
  1    0  f (t )
 x 2   0 0 0 1  x2 
   K K     1 
 v 2   M 0 
M2
0 v2  


M2 
 2

End of Lecture 1

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