Chapter: 3 State Space Representation

1
Background
Two approaches for analysis and design
of any feedback control system:
◦ Classical or Frequency domain technique
(Chp-2)
Arrival of space exploration- technique
became obsolete.
State-space approach- Modern or time-
domain approach for modelling, analyzing
and designing a system.
Goals
Find mathematical models (known as
state-space representation) in time domain
Model electrical and mechanical systems
in time domain
Convert transfer function to state space
and vice versa
Introduction
 Classical or frequency-domain technique is applicable to
linear time invariant systems only (a major disadvantage)
 The major advantage of frequency-domain technique is
direct and quick insight into stability and transient response
of the system (see effects of varying system parameters until
expectation is met. )

 The modern or time-domain approach provides a unified

framework for modeling, analyzing and designing both
linear and non-linear systems having backlash, saturation
and deadzone.
 Examples of time varying systems?
◦ Missile with varying fuel levels ……
 Also helps to represent multiple input multiple output
systems
 State Space Representation
Five main steps:

1. Select a particulars Subset of all possible system variables and

call the variables in subset as state variables (must be linearly
independent)
2. For Nth order system, writing n- first order differential equations
in terms of state variables. Calling this system of simultaneous
differential equations as state equations
3. Solving these simultaneous differential equations simultaneously
by placing initial conditions for state variables of t>to
4. Algebraically combining the state variable with the system’s input
to find systems output equation
5. These state equations and output equation form a viable
representation called state-space representation
 General State-Space Representation
Definitions:
Linear Combination: A linear combination of n variables, x i, for
i=1 to n, is given by
S= Knxn+…..+K1x1
Linear Independence: A set of variables are linearly
independent if none of the variables cannot be written as a
linear combination of others.
System variable: Any variable that responds to an input or
initial conditions in a system.
State variables: The smallest set of linearly independent system
variables such that the values of the members of these at time t 0
along with known forcing functions completely determine the
value of all system variables for all t>t0.
 General State-Space Representation
Definitions:
State Vector: A vector whose elements are the
state variables.
State Space: The n-dimensional space whose axes
are state variables.
 General State-Space Representation
Definitions:
State Equations: A set of n simultaneous, first-
order differential equations with n variables,
where the n variables to be solved are the state
variables.
Output equation: The algebraic equation that
expresses the output variables of a system as
linear combinations of the state variables and the
inputs.
General State-Space Representation
A system in state-space is represented by equations below
for t>t0 and initial conditions, x(t0):
Applying State-Space Representation
First step in representing a system is to
select the state vector using the following
guidelines:
◦ Select a minimum number of state variables to
completely describe the state of the system
◦ Chosen state variables (components of state
vector) must be linearly independent
 State Space Representation
To illustrate how we select a set of state variables, consider an nth-order linear plant
model described by the differential equation
dny d n1 y dy
n
 an 1 n 1
   a1  a0 y  u (t )
dt dt dt

where y (t ) is the plant output and u (t ) is the plant input. A state model for this system is
not unique but depends on the choice of a set of state variables. A useful set of state
variables, referred to as phase variables, is defined as
x1  y, x2  y , x3  y,  , xn  y n 1

14
 Introduction
Taking the derivatives, we have
x1  x2 , x 2  x3 , x 3  x4 ,  , and x n is given by (2). (3)
x n  a0 x1  a1 x2    an1 xn  u (t )
or in matrix form

 x1   0 1 0  0   x1  0 
 x   0 0 1  0   x2  0 
 2    
                u (t ) (4)
       

 n 1   0
x 0 0  1   xn 1  0 
 x n   a0 a1 a2 an1   xn  1 

and the output equation is

y  1 0 0  0 x

15
 Example
Obtain the state equation in phase variable form for the following differential equation.
d3y d2y dy
2 3  4 2  6  8 y  10u (t )
dt dt dt
The differential equation is third order, thus there are three state variables as follows
x1  y, x2  y , x3  y
and the derivatives are
x1  x2 , x 2  x3 , and x 3  4 x1  3x2  2 x3  5u (t )
Or in matrix form

 x1   0 1 0   x1  0 
 x    0 0 1   x   0  5u (t )
 2    2  
 x 3   4 3 2   x3  1 
 x1 
y  1 0 0  x2 
 x3 

16
Minimum number of state variables
State variable should be linearly independent . Examples?
◦ Else we will not have enough information to solve to solve for all
system variables.

Minimum number of state variables should be selected to

completely describe the state of the system

HOW??
◦ By determining the order of differential equations by cancelling out
the common factors in denominator and numerator

◦ Count the number of independent energy storage elements in the

system
 Step by Step Example
Consider the RL network with an initial current of
i(0)
 Step by Step Example
Consider the RL network with an initial current of
i(0)
 Step by Step Example
Consider the RL network with an initial current of
i(0)

State variable

State equation
 Step by Step Example
Consider the RL network with an initial current of
i(0)
 Step by Step Example
Consider the RL network with an initial current of
i(0)

Output Equations
Hence knowing the state variable i(t), and the input, V(t), we can find the value
or state of any network variable at any time t>t0 solve the differential equation.
The above three equations are known as output equations.
 Step by Step Example
Consider the RL network with an initial current of
i(0)

5. The state equation and the output equations together form the state-space
representation of the network.
State equation

Output Equations
 Note

The state equation describes the dynamics of the network and is not unique. It
can be written in terms of any other network variable.

Knowing the initial condition VR(0)=Ri(0) and V(t), we can solve the differential
equation. The state variable here is VR(t).
Second Order Example
Second Order Example
 Second Order Example
(1) (2)

Let’s convert the above equations into two simultaneous first order differential
equations in terms of i(t) and q(t) of the form below.

into equation 1
Second Order Example

(1) (2)

(2) and
Output Equation shows that
VL(t) is a linear combination of
state variables q(t), i(t) and the
input v(t)
 Second Order Example

5. The two state equations and output equations form a viable state-space
representation of the second order network

State Equations

Output Equation
 Notes
The number of state variable required to represent a system
should be at least equal to the order of the system’s differential
equation. More number of state variable can be chosen than
minimal, however they should be linearly independent.
State variable must ne linearly independent i.e. any state variable
cannot be written as a linear combination of other state variables
State equations can be solved if we know the initial conditions
and the input
All network variables can be represented as linear combination
of state variables and input.
 State-Space Representation
In general, state and output equations are written in vector-matrix form

State Equations Output Equation

Summary
A state space representation consists of:
◦ First order differential equations from which
state variables can be solved
◦ the algebraic output equation from which all
other system variables can be found
Tillnow we have focused on Single Input
Single Output systems
 Example 1
Find state-space representation if output is the
current through the resistor

State variables are Vc and iL

 Example 1
Find state-space representation if output is the
current through the resistor

• State variables are Vc and iL but iC and VL are not state variables
• The next logical step is to represent iC and VL as linear combination of state
variables Vc and iL and input v(t).
 Example 1
Find state-space representation if output is the
current through the resistor

Step 4: Substitute the results

 Example 1
Find state-space representation if output is the
current through the resistor
 Example 1
Find state-space representation if output is the
current through the resistor

State-Space Representation
 Example 2

In mechanical systems we turn to position and

velocity of each point of linearly independent
motion, similar to current and voltages of energy-
storage elements in electrical networks.
 Example 2

Find the state equations for the translational mechanical

system shown above.
First we write the differential equation of motion using
methods of chapter 2 and assuming zero initial
conditions.
 Example 2

Find the state equations for the translational mechanical

system shown above.

and choose x1, v1, x2 and v2 as state variables

Now, Let’s rearrange the above differential equations

 Example 2

Find the state equations for the translational mechanical

system shown above.
 Example 2

Find the state equations for the translational mechanical

system shown above.