Acta Mechatronica - International Scientific Journal about Mechatronics

Volume: 6 2021 Issue: 1 Pages: 7-10 ISSN 2453-7306

MODELLING OF DYNAMIC SYSTEMS IN STATE SPACE

Ľubica Miková; Erik Prada; Ivan Virgala; Darina Hroncová

doi:10.22306/am.v6i1.73 Received: 27 Feb. 2021

Revised: 10 Mar. 2021
Accepted: 19 Mar. 2021
MODELLING OF DYNAMIC SYSTEMS IN STATE SPACE
Ľubica Miková
Faculty of Mechanical Engineering, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia, EU,
[email protected] (corresponding author)
Erik Prada
Faculty of Mechanical Engineering, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia, EU,
[email protected]
Ivan Virgala
Faculty of Mechanical Engineering, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia, EU,
[email protected]
Darina Hroncová
Faculty of Mechanical Engineering, Technical University of Košice, Park Komenského 8, 042 00 Košice, Slovakia, EU,
[email protected]

Keywords: state space, modelling, dynamics systems

Abstract: This paper deals with the solution of dynamical systems in state space. Complicated differential equations are
converted into a simpler form by using state variables in vector matrix. It is used for multi-input and multi-output systems,
and the solution is performed using matrix notation. It describes systems with complex internal structure. It allows state
models to be manipulated using matrix calculus. Systems described by a state model are characterized by the fact that it
is easier to design state control for them.

1 Introduction pressed, nor does the temperature in a room change

Classical control theory and the methods we have used instantly when the air conditioning is turned on.
so far are based on a simple description of the input and
output of a system, usually expressed as a transfer function. In corporate systems, increasing research funding for a
These methods use no information about the internal project will not increase returns in the short term but may
structure of the device and are limited to systems with one increase them in the long term (if it is a good investment).
input and one output, where we have seen only limited These are all examples of dynamic systems whose
control of closed-loop behaviour using feedback control. behaviour changes with time. Another perspective on
Modern control theory solves many of the constraints dynamics comes from electrical engineering. The
using a much richer description of the dynamics of the prototype of such a problem was the description of
devices. The trend in engineering systems is towards electronic amplifiers. It was natural to view an amplifier as
greater task complexity, especially due to the requirements a device that transforms input voltages into output
of complex tasks and good accuracy. Complex systems voltages, neglecting the internal details of the amplifier.
may have multiple inputs, multiple outputs, and may be This resulted in an input-output view of systems.
time-varying. Due to the need to meet increasingly Dynamic systems can be viewed in two ways: an internal
stringent performance requirements of control systems, the and an external view. The internal view attempts to
increase in system complexity, and easy access to describe internal regularities and comes from classical
computers, modern control theories are an approach to the mechanics. The prototype of such a system was the
analysis and design of complex control systems. This new description of the motion of the planets. For this problem
approach is based on the concept of state. The state concept it was natural to give an overall characterization of the
itself is not new, as it has been around for a long time in motion of all the planets. This requires a rigorous analysis
classical dynamics and other fields [1-7]. of the action, gravitational action, and relative positions of
the planets in the system. The two different views were
2 State space representation merged into a control theory. Models based on the internal
A model is a mathematical representation of a physical, view are called internal descriptions, state models, or white
biological or information system. Models allow us to box models. Models based on the external view are called
predict how a system will behave. In this text we will be external descriptions, input-output models, or black box
interested in models in the so-called state form, where models.
phenomena do not happen instantaneously, e.g., the speed
of a car does not change instantly when the pedal is

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Copyright © Acta Mechatronica, www.actamechatronica.eu
 Acta Mechatronica - International Scientific Journal about Mechatronics
Volume: 6 2021 Issue: 1 Pages: 7-10 ISSN 2453-7306

MODELLING OF DYNAMIC SYSTEMS IN STATE SPACE

Ľubica Miková; Erik Prada; Ivan Virgala; Darina Hroncová

2.1 State variables

The state variables of a dynamical system are the
variables forming the smallest set of variables that
determine the state of the dynamical system. If at least n
variables x1, x2, ..., xn are needed to completely describe the
behavior of a dynamical system such that once the input is
given for t ≥ t0 and the initial state at time t = t0 is specified,
the future state of the system is completely determined,
then such n variable set is a state variable.
Figure 1 Graphical representation of state equations [1]
State variables need not be physically measurable or
observable quantities. Variables that do not represent
Matrix:
physical quantities that are neither measurable nor
A (t) system matrix,
observable can be selected as state variables. Such freedom
B (t) input matrix,
in the selection of state variables is an advantage of state
C (t) output matrix,
methods. In practice, however, it is convenient to choose
D (t) feedforward matrix.
an easily measurable quantity on the state variables, if at
all possible, because optimal control of the control laws
will require feedback from all state variables with a 3 Computer simulation of dynamic systems
suitable value. A simple mechanical oscillator will be used as a first
example to express the state description (Figure 2).
2.2 State equation Consider a mechanical system consisting of a body of mass
m fixed by a spring of stiffness k against a rigid frame.
In state space analysis, we are concerned with three
types of variables that are involved in the modelling of
dynamical systems: input variables, output variables, and
state variables. The state system representation for a given
system is not unambiguous, except that the number of state
variables is the same for any of the different state
representations of the same system.
Suppose also that there are r inputs u1(t), u2(t), ..., ur(t)
and m outputs y1(t), y2(t),..., ym(t). We define the n outputs
of the integrators as state variables: x1(t), x2(t),..., xn(t).

, ,…, ; , ,…, ; t
The system can be described by the equations:

, , … , ; , , … , ; t) y
, ,…, ; , ,…, ; t (1)

, ,…, ; , ,…, ; t
Outputs y1(t), y2(t), ..., ym(t) are defined as: Figure 2 Mechanical oscillator

, ,… , ; , ,… , ; t
0
The equation of motion of the system is:
, ,…, ; , ,…, ; t (2) (6)

ẋ , ,
Then we write equations (1) and (2) :
We define the state variables x1(t) and x2(t) as:
, ,
(3)
(4)
(7)
where equation (3) is the state equation and equation (4) is
the output equation. The vector functions f and g involve If we perform the derivation of the state variables, then
time t and such a system is called a time-varying system. it is possible to write:

If equations (3) and (4) are linearized about the (8)

operating state, then they have the following linearized The dynamic system is not excited by an external force, the

ẋ
state equations and output equations: initial condition is given to the initial condition x10=0.3m.

(5)

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Copyright © Acta Mechatronica, www.actamechatronica.eu
 Acta Mechatronica - International Scientific Journal about Mechatronics
Volume: 6 2021 Issue: 1 Pages: 7-10 ISSN 2453-7306

MODELLING OF DYNAMIC SYSTEMS IN STATE SPACE

Ľubica Miková; Erik Prada; Ivan Virgala; Darina Hroncová

ẋ $% &'
In the standard form it is possible to write:

( )% *'

0 1 0
In matrix form, equations (11) and (12) can be written:

+ , - # /0 1 - 1 /

21 03 0 1
Figure 3 State trajectory and plot of results kinematic
parameters (13)

0 1 0
Consider the mechanical system p in Figure 4, which where
consists of a mass m, a spring k and a damper b on which
A - #/ -1/
a force f(t) acts. We assume that the system is linear.
21 03 0 (14)

Plot of results kinematic parameters such as the

position and velocity of the mass is on Figure 5.

Figure 4 Second-order dynamic system

The external force f(t) is the input to the system and the
displacement of mass y is the output. This system is a
system with one input and one output and has one degree
of freedom. The equation of motion of the system is:
"
#
#
Figure 5 Representation of position x(t) and velocity v(t)
(9)
By examining a large number of dynamical systems, it
The second-order differential equations describes the was found that the shapes of the trajectories of the systems
system, then two simultaneous, first-order differential can take many different forms. Some of them are
equations are required along with two state variables. We convergent, monotonous or periodic to some limit of what
define the state variables x1(t) and x2(t) as can be a point or a set of points (a circle). We are talking
about a stable system. On the x-axis is represented the state
(10) variable x1, i.e. the position, and on the y-axis the state
variable x2, i.e. the velocity of the mass m (Figure 6).
Equation (10) can be solved for the state variables. For
a linear, time-invariant, second order system with a single
input, the state equations could take on the following form.
Furthermore, it is possible to write:
"
(11)

Where x1 and x2 are the state variables. There is a

single output, the output equation cold take on the
following form:
(12)

The coice of state variables for a given system is not

unique. The requirement in choosing the state variables is
that they be liearly independent and that a minimum
number of then be chosen. Figure 6 State trajectory of mechanical system

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Copyright © Acta Mechatronica, www.actamechatronica.eu
 Acta Mechatronica - International Scientific Journal about Mechatronics
Volume: 6 2021 Issue: 1 Pages: 7-10 ISSN 2453-7306

MODELLING OF DYNAMIC SYSTEMS IN STATE SPACE

Ľubica Miková; Erik Prada; Ivan Virgala; Darina Hroncová

In the next case, consider the mechanical system shown

in Figure 7, which consists of two bodies of masses m1 and
m2 fixed in series by means of three springs of stiffness k1,
k2 and k3 on a rigid frame. An excitation force F acts on the
body of mass m1 in the positive direction of the x1 axis.

Figure 7 Two-mass dynamic system Figure 8 Position and velocity of the mechanical system in
Matlab

5
In this case we get two equations of motion of the form:
4 Conclusions
6 (15) The aim of the paper was to define a state space
description of dynamical systems. and then apply it to
examples of mechanical systems. Second-order differential
5)/
After modification we get the shape:
equations were expressed and written in the form of vector
6 /
matrices using state variables The state description of a
(16)
dynamical system can describe systems with multiple
inputs and outputs and systems with complex internal
Choosing state variables:
structure. The results of the solutions of the mechanical
systems were obtained using Matlab/Simulink.
6
8 (17) References
[1] KATSUHIKO, O.: Modern control engineering,
Derivations of state variables can be written: Prentice Hall, 2010.

5
[2] MURRAY, R.: Analysis and design of feedback
6
systems, 2016.
[3] POLDERMAN, W., WILLEMS, C.J.: Introduction to
the Mathematical Theory of System and Control, 2002.
6 8
9 :; < := ; :;
[4] TÁKACS, G., ROHAĽ-ILKIV, B.: Model predictive
8 (18)
9 9
vibration control, 2012.
[5] NISE, N.S.: Control Systems Engineering, John Wiley

% = Ax + Bu
Equation of state of the system: & Sons, 4th ed., 2004.
(19) [6] PARASKEVOPOULOS, P.N.: Digital Control System,
Prentice Hall, 1996.

0 1 0 0
[6] KARRIS, S.T.: Signals and Systems with Computing
0
Then we write the equations (18) in matrix form:

0 0
and Simulink Modeling, 3rd ed., Fremont, California:
1
> ? > ?> ? > ? 5 (20)
0 0 0 1 0
Orchard Publications, 2007.
6 6
0 0 0
[7] DUTTON, K., THOMPSON, S., BARRACLOUGH,
8 8 B.: The Art of Control Engineering, Reading, Mass,
Prentice Hall, 1997.
Plot of results kinematic parameters such as the
position and velocity of individual masses can be seen on
the Figure 8. Review process
Single-blind peer review process.

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