Outline

• State variables.
State Variables • State-space representation.
• Linear state-space equations.
M. Sami Fadali • Nonlinear state-space equations.
Professor of Electrical Engineering • Linearization of state-space equations.
UNR

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Input-output Description Linear Systems

• Single-input-single-output (SISO)
௡ ௡ିଵ
The description is valid for
௡ ௡ିଵ ௡ିଵ ଵ ଴
a) time-varying systems: parameters are explicit functions
of time. ௡ ௡ିଵ
b) multi-input-multi-output (MIMO) systems: l input-output ௡ ௡ିଵ ଵ ଴
௡ ௡ିଵ
differential equations, l = # of outputs.
c) nonlinear systems: differential equations include • Time-dependent coefficients for time-
nonlinear terms.
varying system.

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 State Variables
To solve the differential equation we need
(1) The system input for the period of interest.
(2) A set of constant initial conditions.
ଶ ௡ିଵ
଴ ଴
଴ ଶ ௡ିଵ
• Minimal set of initial conditions: incomplete
knowledge of the set prevents complete solution
but additional initial conditions are not needed to
obtain the solution.
• Initial conditions provide a summary of the history
of the system up to the initial time.
Definitions
System State: minimal set of numbers
௜ ଴ , needed together with
the input ଴ ௙ to uniquely
଴ determine the behavior of the system in
the interval ଴ ௙ . = order of the system.
State Variables: As increases, the state of
the system evolves and each of the
numbers ௜ becomes a time variable.
State Vector: vector of state variables
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Notation Definitions
• Column vector bolded State Space: -dimensional vector space where
் ௜ represent the coordinate axes
• Row vector bolded and transposed . State plane: state space for a 2nd order system
ଵ Phase plane: special case where the state
variables are proportional to the derivatives of
் ଶ .
ଵ ଶ ௡ ଵ
Phase variables: state variables in phase plane.
௡ State trajectories: Curves in state space
State portrait: plot of state trajectories in the plane
(phase portrait for the phase plane).

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 Example 7.1 Example 7.1
• State for equation of motion of a point mass Write state-space equations for the spring-
driven by a force mass-damper system driven by a force
= displacement of the point mass. = mass = spring constant
௧ ௧
= damper constant
଴ ଴ = displacement of the point mass.
௧బ ௧బ
଴ ଴
2  system is second order

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Solution Solution (cont.)

• Obtain a complete solution given the • Two first order differential equations
force, if 2 initial conditions are known ଵ ଶ
଴ ଴ : state of the system at time
଴. ଶ ଵ ଶ
• 2 I.C.s  system is second order. ଵ
• State (phase)Variables: ଵ 1.First equation: from definitions of state
ଶ variables.
• State Vector: ் ଵ 2.Second equation: from equation of motion
ଵ ଶ
ଶ
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 State-space Representation
• Representation for the system described
by a differential equation in terms of state
and output equations.
• Linear Systems: More convenient to write
state (output) equations as a single matrix
equation.
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Output Equation
• Algebraic equation expressing the output
in terms of the state variables and the
input.
• Multi-output systems: a scalar output
equation is needed to define each output.
• Substitute from solution of state equation
to obtain output.
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State Equations
• Set of first order equations governing the state
variables obtained from the input-output
differential equation and the definitions of the state
variables.
• In general, n state equations for a nth order
system.
• The form of the state equations depends on the
nature of the system (equations are time-varying
for time-varying systems, nonlinear for nonlinear
systems, etc.)
• State equations for linear time-invariant systems
can also be obtained from their transfer functions.
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Solution of State Equations
For the spring-mass-damper system
• Solve the 1st order differential equations
then substitute in ଵ
• 2 differential equations + algebraic
expression are equivalent to the 2nd order
differential equation.
• Feedback Control Law 2nd order
underdamped system
ଶ ଵ
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 More on the Solution Phase Portrait
1.Solution depends only on initial conditions. x2 3

2.Obtain phase portrait using MATLAB 2

command lsim or initial 1

3.Time is an implicit parameter.

0

4.Arrows indicate the direction of increasing

time. -1

5.Choice of state variables is not unique. -2

-3 x1
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2

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Example 7.2: Matrix Form General Form for Linear Systems

Scalar Eqns. Matrix Form

ଵ ଶ ଵ ଵ real vectors.
ଶ ଶ Matrices:
ଶ ଵ ଶ
state or system matrix
input or control matrix
output matrix
ଵ
ଵ
ଶ
direct transmission or
feedforward matrix
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 State Space in MATLAB Linear Vs. Nonlinear State-Space
» a = [0, 1; 5, 4];b=[0;1];c=[1,1];d=0;
» p = ss(a,b,c,d) % State-space quadruple Example 7.3: The following are examples of
a=
x1 x2
state-space equations for linear systems
x1 0 1
x2 -5 -4
a) 3rd order 2-input-2-output (MIMO) LTI
b=
u1  x1   11 . 0.3 15.   x1  01 . 0
 x    01      u1 
x1 0
. 35. 2.2 x 2  0 11 .  
x2 1    2
    u 2 
c=  x 3  0.4 2.4 11
.   x 3  10 . 
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x1 x2
y1 1 1  x1 
 y1  1 2 0   1 2  u1 
 y   0 0 1  x 2   0 1 u 
d=
u1  2     2 
y1 0  x 3 
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Continuous-time system.

Example 7.3 (b)

2nd order 2-output-1-input (SIMO) linear
time-varying
ଵ ଵ
ିଷ௧
+
ଶ ଶ
ଵ ଵ
ଶ ଶ
1. Zero D, constant and .
2. Time-varying system: has entries that
are functions of .
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