Advanced Control Systems (ACS)

Introduction to State Space

Modeling & Analysis
 Lecture Outline
• Introduction to state space
– Basic Definitions
– State Equations
– State Diagram
– State Controllability
– State Observability
– Output Controllability
 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.
 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.
 Definitions
• Let x1 and x2 are two states variables that define the state
of the system completely .

dx
x2 dt
Velocity State (t=t1)
State (t=t1)

State
Vector
x1 Position
x

Two Dimensional State space State space of a Vehicle

5
 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

 𝑥
˙ 1 ( 𝑡 )= 𝑓 1 ( 𝑥1 , 𝑥2 , ⋯ , 𝑥 𝑛 ; 𝑢 1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )

 𝑥
˙ 2 ( 𝑡 )= 𝑓 2 ( 𝑥1 , 𝑥2 , ⋯ , 𝑥 𝑛 ; 𝑢 1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )

 𝑥
˙ 𝑛 ( 𝑡 )= 𝑓 𝑛 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 , 𝑢2 , ⋯ ,𝑢 𝑟 ;𝑡 )
 State Space Equations
•• The
  outputs of the system may be given as.
 𝑦 1 ( 𝑡 ) = 𝑔1 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )

 𝑦 2 ( 𝑡 ) = 𝑔2 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )

 𝑦 𝑚 ( 𝑡 ) = 𝑔 𝑚 ( 𝑥1 , 𝑥2 , ⋯ , 𝑥 𝑛 ; 𝑢 1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )
• If we define
𝑥1   𝑓 1 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢2 , ⋯ ,𝑢 𝑟 ; 𝑡 )  

[ ]
 

[]𝑥
𝒙 ( 𝑡 )= 2
⋮
𝑥𝑛
𝒇 ( 𝒙 ,𝒖 , 𝑡 )= 𝑓 2 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢2 , ⋯ ,𝑢 𝑟 ; 𝑡 )  
⋮
𝑓 𝑛 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )     𝑢1

  𝑦1   𝑔 1 ( 𝑥1 , 𝑥2 , ⋯ , 𝑥 𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )  
[]
𝑢
𝒖 (𝑡)= 2
⋮
𝑢𝑟

𝒚 ( 𝑡 )=
[]
𝑦2
⋮
𝑦𝑚
𝒈 ( 𝒙 , 𝒖 ,𝑡 )=
[
𝑔2 ( 𝑥1 , 𝑥2 , ⋯ , 𝑥 𝑛 ;𝑢 1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )
⋮
𝑔 𝑚 ( 𝑥1 , 𝑥2 , ⋯ , 𝑥 𝑛 ; 𝑢 1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )  
]
 State Space Modelling

• State space equations can then be written as

 
𝒙˙ ( 𝑡 )=𝒇 ( 𝒙 ,𝒖 , 𝑡 ) State Equation

 
𝒚 ( 𝑡 )=𝒈 ( 𝒙 , 𝒖 , 𝑡 ) Output Equation

• If vector functions f and/or g involve time t explicitly, then

the system is called a time varying system.
 State Space Modelling
• If above equations are linearised about the operating
state, then we have the following linearised 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

A
 Example-1
• 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

𝑚
  𝑦
¨ (𝑡 )+𝑏 𝑦˙ (𝑡 )+ 𝑘𝑦 (𝑡 )=𝑢(𝑡 )
 • This system is of second order. This means that the
system involves two integrators. Let us define state
variables and as

 𝑥 ( 𝑡 )= 𝑦 (𝑡 )
1
 𝑥 ( 𝑡 )= 𝑦˙ (𝑡 )
2
 Example-1
 𝑥 ( 𝑡 )= 𝑦 (𝑡 )  𝑥 ( 𝑡 )= 𝑦˙ (𝑡 )  𝑚 𝑦¨ (𝑡 )+𝑏 𝑦˙ (𝑡 )+ 𝑘𝑦 (𝑡 )=𝑢(𝑡 )
1 2

• Then we obtain
 𝑥
˙ ( 𝑡 )=𝑥 2 (𝑡 )
1

  𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 )=− 𝑦˙ ( 𝑡 ) − 𝑦 ( 𝑡 ) + 𝑢(𝑡 )
𝑚 𝑚 𝑚
• Or
 𝑥
˙ ( 𝑡 )=𝑥 2 (𝑡 )
1

  𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 )=− 𝑥 2 ( 𝑡 ) − 𝑥 1 ( 𝑡 ) + 𝑢(𝑡 )
𝑚 𝑚 𝑚
• The output equation is
 𝑦 ( 𝑡 ) =𝑥 (𝑡)
1
 Example-1
 𝑥
  𝑏 𝑘 1
˙
1 ( 𝑡 )=𝑥 2 (𝑡 ) 𝑥˙ 2 ( 𝑡 )=− 𝑥 2 ( 𝑡 ) − 𝑥 1 ( 𝑡 ) + 𝑢(𝑡 )  𝑦 ( 𝑡 )=𝑥 1 ( 𝑡 )
𝑚 𝑚 𝑚

• In a vector-matrix form,

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

 x1 (t ) 
y ( t )  1 0  
x
 2 ( t ) 