Chapter 8

NOVEL STATE SPACE APPROACH TO

ELECTRIC CIRCUITS WITH VOLTAGE
SOURCE

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 NOVEL STATE SPACE APPROACHES TO ELECTRIC CIRCUITS
WITH VOLTAGE SOURCE

The modern control theory which has developed to meet the stringent

requirements of complex systems with multiple inputs and multiple outputs is based on

state space representation approach. State space analysis of a system is a simple task

provided the system variables are assigned with correct state variables. It is used in

classical dynamics, mechanical systems and all engineering systems. Nevertheless for an

electric circuit, assigning state variables and state space modeling is a difficult task. In

this thesis novel methods of assigning state variables particularly for electric circuits have

been suggested. This makes the state space representation of electric circuit a routine one

that does not require any specific substitution.

8.1 State space representation of Electric circuits

State space method of analysis of a multivariable system is an appropriate tool for

finding complete solution of system variables even with initial conditions. Hence state

space representation of a system has become popular. There are numerous ways of

representing a system in state space. The application of state space techniques to electric

circuits is relatively tedious work compared to mechanical and other systems. For

electrical circuits, Ogata has tried a method [6] based on choosing energy variables, such

as current through the inductor and voltage across the capacitor as state variables and that

is adopted for electric circuits. To use such variables the circuit should be simple enough

with just one capacitor in the shunt branch and an inductor in the series branch. In

pedagogical point of view and as new teaching methods, interesting techniques have been

evolved and reported here, which will be applicable even when circuit is complicated.

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These methods do not need any critical imagination in choosing the state variables and

they follow sequential steps.

For simple electric circuits with shunt capacitor and series inductor iL and vc> may

be ideal state variables. When the capacitor in a circuit has resistance or inductance in

series the selection of state variables becomes difficult. Nise [4] tries to solve the circuit

equations for the voltage across the inductor and current through the capacitor to find the

state space representation in a round about manner. Francois [19] suggests admittance

method, which is also difficult to evaluate the state variables. Here effective methods of

state space approach to electric circuits with voltage source are developed and presented.

The proposed method is based on converting integro-differential equations into

ordinary linear differential equation. This idea is brought out by comparing with

mechanical systems. In mechanical and other such systems one can notice that system

equations are not in integro-differential form but represented by ordinary linear

differential equation. When we adopt ordinary linear differential equation and variables

other than iL and vc as state variables, state space modeling becomes easy even for

complicated circuits. Nise[4] has tried to solve the circuit equations for the voltage across

the inductor and current through the capacitor to find state space representation. But this

method becomes quite involved when the number of loops is more. Francois suggests

admittance method which is also difficult to evaluate the state variables.

When the circuit has more loops with energy storage elements, the numbers of

simultaneous equations are equally increasing which further complicates the analysis.

Francois in analysing an electric circuit has straight away differentiated the integro

differential equation to eliminate the integral term. This leads to derivative term present in

the input variable that will also complicate the analysis. Our method explained below has

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high teaching value and becomes an additional simple technique along with the existing

methods.

8.2 Circuits with voltage source

A typical electric circuit with voltage source is shown in Fig.8.1.The state

variables for this circuit are assigned by skillfully selecting the electrical parameters as

state variables. In the conventional method, current through the inductor and voltage

across the capacitor are chosen as state variables, i.e. physical variables are

considered as state variables. The circuit equations are written such that each equation

is a first order differential equation. Here state variables are selected by listing voltage

current relationship between energy storage elements.

Applying Kirchhoff s Current law to the node in the circuit

U + i2 + i3 = 0

dv
i.e., i.+i,+c—- = 0 ...(8.1)
' 2 dt '

Applying Kirchhoff s Voltage law for loop 1

Li - vc + i| R i +e(t) = 0 ...(8.2)
at

Applying Kirchhoff s voltage law for loop 2

...(8.3)

Here the variables ii(t), i2(t) and vc(t) are chosen as state variables xi(t), x2(t) and

X3(t) respectively because in each equation one variable contains first order differential

term.

The equations in terms of state variables are

Lx x, = -i^x, + x3 - u{t) ...(8.4)

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 L2 x2 = -R2x2 + x3 ...(8.5)

Cx3 = —x, -Xj ...(8.6)

Fig.8.1 Electric circuit with branch current

The corresponding state space representation is given by the expression

1 '
0 1 '

X| Lx X, ~L\
R,2 1
x2l = 0 x7 + 0 ...(8.7a)
l2 t2
x3 1 1 X, 0
~c
0
L J

where u(t) = e(t). If the output y(t) is concerned with potential drop across the resistor R2.

Then the output equation in state space form is

y(/)=[0 R2 0 ...(8.7b)

When the circuit becomes somewhat complicated as shown in Fig.8.2, the analysis

becomes lengthy and cumbersome as the selection of proper set of state variables

becomes a difficult task and the conventional method fails.

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8.3 Proposed Simultaneous Equation Method (Method - 1)

Here a simultaneous equation method is suggested to retain iL and vc as state

variables. It is possible to retain the physical state variables using simultaneous equations.

The method is developed for circuit shown in Fig.8.1 as follows.

Consider i|, \2 and ic as outgoing branch currents, while ii is flowing through Lj, h

is flowing through L2 and ic is flowing through the capacitor.

VL| + 0 vl2 + 0ic = -it Ri+0h + vc —ej(t) ...(8.8)

0 vli + vl2 + 0 ic = Oil ~~h R2 + vc .. .(8.9)

0 vLi + 0 vL2 + ic = -ii - i2 + 0 vc ...(8.10)

It is clear from the above equations the variables ij, i2 and vc are the state variables xi(t),

x2(t) and X3(t) respectively written in terms of vLi, vL2 and ic which will contribute first

differential of the state variables. The equations (8.8), (8.9) and (8.10) are solved to

evaluate vli, vl2 and ic in terms of i2 and vc. The resulting solution is

vL] =-Riii+vc-ei(t) ...(8.11)

vL2 = - R2j2 + vc ...(8.12)

ic = -ii -h ...(8.13)

where vLi = Ljdii/dt, vL2 = L^dh/dt and ic = Cdvc/dt.

Hence it, 12 and vc are chosen as state variables xi(t), x2(t) and x3(t) respectively and the

equations (8.11), (8.12) and (8.13) are written in state variable form.

vLi =-RiXi+x3-ej(t) ...(8.14)

vL2 = - R2X2 + x3 ...(8.15)

ic = -xi - x2 ...(8.16)

The state space representation is obtained as given in equation (8.7). This new method

utilising simultaneous equations is routine but time consuming.

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 For the slightly modified circuit shown in Fig.8.2 with outgoing branch currents ii

through iLi, b through iL2 and ic through C. The loop equations are written in terms of ij,

i2 and vc as

VLI +ii R]+ e;(t) - icR2- vc = 0 ...(8.17)

Vl2 + b R3 - icR2 - vc = 0 ...(8.18)

ic = -ii -b ...(8.19)

The three unknowns vli, vl2 and ic are written in terms of i 1)2 and vc which are chosen as

state variables.

Writing in proper form

vli + 0 vL2 - icR2 = -ii Ri + 0i2 + vc - e;(t) ...(8.20)

0 vLi + vL2 - icR2 = Oil - i2 R3 + vc ...(8.21)

0 vli + 0 vl2 + ic = -ii - b + 0 vc ...(8.22)

where, vLi = Lidii/dt, vL2 = L2di2/dt and ic = Cdvc/dt.

Hence ij, i2 and vc are chosen as state variables xi(t), X2(t) and X3(t) respectively and the

equations (8.11), (8.12) and (8.13) are written in state variable form.

VLi = -(R1+R2) XI- R2X2 + x3 - e,(t) ...(8.23)

vl2 = - R2X1 - (R2+R3) x2 + x3 ...(8.24)

ic = -xi - x2 ...(8.25)

The resulting state space equation is as follows

VL1 “(R1+R2) — R2 1 X1 f

VL2 = -R2 -(R2+R3) 1 x2 + 0 ...(8.26)

*c L -1 -10 _x3 _ 0

In a bid to retain the physical variables as state variables, the solution of state space

representation based on simultaneous equation becomes slightly complicated even though

routine. The addition of new element like resistance here or a loop of elements will

increase the complexity but the method is routine and based on sequential steps.

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 L, L2

r3

Fig.8.2 Electric circuit with two elements in the central branch

8.4 Proposed charge equation Method (Method - 2)

The electric charge equation method of state space representation, which does not

require any prior assumption is as follows. The loop equations are written for the electric

circuit shown in Fig. 8.2. The loop equation based on the reference current ii is written as

'A +L\^r + ~ R'i -h)dt = e{t)

...(8.27)
at c J

The loop equation based on the reference current i2 is written as

j(/2 -/,)dt + h^r + hR3 = 0

...(8.28)
dt

r2

The integration term in equations (8.27) and (8.28) are eliminated by changing

current as rate of charge. Hence equations (8.27) and (8.28) become

L, ~ + R^ + ~(qi -q2) = e(t)

...(8.29)
1 dt2 1 dt CWl H2

"2 dq2t +| 71 ; (#2 ~ 9i) - 0

;i' + Ri A ...(8.30)
dv dt C

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The state variables are directly chosen as

q,=xt, qi=x2, q2 = x3, q2 = x 4 x, = x2 ...(8.31)

The equation (8.29) becomes

x, = x2

1
.
X-, H-------X, + (x, -x3) e(/) ...(8.32)
I CZ,,

x3 x4 ...(8.33)

The equation (8.30) becomes

. R3 1 , . n ...(8.34)
x4 + -^x4+—(x3-x,) =0

The equations are written in vector matrix form

0 ]
r 0 1 0
" 0 '
*1 1 1 X,

X, CL
0
, 0
CL
0
, 0

1
x2
+
1

L, ...(8.35a)
*3
x3 0
1
0
1
Rj LX4j
0
*4. cl2 cl2 z.2_

The output is chosen as current q2 i.e. X4 through R2.

x,

2
j; = [0 0 0 ...(8.35b)
X3

x4

If the output is chosen as potential drop across R2 due to current X4, then

x,
2
y = [0 0 0 R ...(8.36)
3

*4

Suppose the state variables are chosen in the other way as

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 qi=Xi, q2 = x2, qi=x3, q 2=x4

Then equation (8.29) and equation (8.30) are written in state vector matrix form as

0
0 0 0 1
R, ...(8.37a)
CL, CZ,
R,
0 --
L*L2 (LL 7

y = [o 0 0 l'
...(8.37b)

The integro differential Kirchhoff equations for the circuit shown in Fig.8.2 are

written quit easily. Then the current is chosen as rate of charge ‘q’ and integro differential

equations become ordinary differential equations.

The loop equation based on the reference current ii is written as

/, R{ +L, — f(i, - i2 )dt + (/, - i2 )R2 = e(t) ...(8.38)

at c :

The loop equation based on the reference current i2 is written as

(/, - /, )R2 + — f(j, - /, )dt + L2 + /2i?3 = 0 ...(8.39)

n * dt
/It

The integration terms in equations (8.38) and (8.39) are eliminated by choosing current as

rate of charge as

d2q, , D dq, 1 ,dq, dq:

■) = «(<) ...(8.40)
■' ~1U'

d2q2 ,Ddq2 dq2 dqx 1

L 2 -------7----- 1" 7?3---------- H R2 ( ) + 7^2 -9,i) = 0 ...(8.41)
2 dt2 dt 2 dt dt C

The state variables are directly chosen as

134
 Ql ^1, q^ X2, Q2 X3, q 2 *^4

The equation (8.40) becomes

x, = x. ...(8.42)

Rl 1 , V . 1
x2 + —x2 + — (x, -x3) + -^(x2 -x4) = — e(0 ...(8.43)
Li| X-<j i-<j

The equation (8.41) becomes

...(8.44)

*3 4 + ^2 ,
x4 + —x \ -Xi) = 0 ...(8.45)
— (x4 -*2) +
•^2
The resulting state vector matrix is

*1
r 0 1 0 0 r 11
1 (A+tf2) 1 r2 *1
L
H
x2 Ck A Ck k *2 0 ...(8.46a)
0 0 0 1 *3
*3 1 R2 1 (R\+R2) 0
X4
x4_ CL, A> CL, h J 0

If the output is the potential drop e0 across R3

e<> i2 R-3 q 2 -^3

i.e. y = R3 X4

The output equation is

X\
x2
y=[0 0 0 R,
...(8.46b)
x3
x4

Suppose when the state variables are chosen in the other way as

qi=X], q2 = x2, <?,=x3, q2 = x4

The circuit equations become

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 X, =x3 ...(8.47)

x2 = X4 ...(8.48)

1 1 Rl +R2
------- X,----------- X, + x3 ...(8.49)
CLX 1 Cl, 2 k

R2+R, ...(8.50)
-x, + -x, +
CL. CL, L2 L.

The corresponding state space equations is

0 0 1 0 1
X, X,
0 0 0 1 J,
1 1 (R)+R2) *2 *2
*2 + 0 ...(8.51a)
CLy CZ, k k
x3 A
x3
1 1 r2 (R2+R3) Xa
l2
0J
x4_ Ch CL2 L2

The output e0= 12R3 = q2 R3= R3X4

The output equation is

x,
x2
y = [0 0 0 R, ...(8.51b)
x3
X4

8.5 Analysis of Typical Circuit

The application of charge variable method for perfect nodal electric circuit is

explained here. The circuit shown in Fig.8.4 is simple, but choosing the state variables by

the existing method is tedious one. The state equations are determined by nodal analysis.

e- x x, - x.
C, Xi =----------- h • ■ ...(8.52)
R, R,

c, x 2 = ...(8.53)
R2

The state vector matrix equation is

136
 1
L

-----------
............

1
1

____
r-

+
xl

______________
*1*, -^2^1
Xi
+ ...(8.54a)

*
_x2
1 1 x2
R2c2 R2c2

1
1
The output e0 = X2 Hence

y = [o if*1"
...(8.54b)
1_*2 J

8.6 Proposed method

The charge variable method is convenient even for nodal type circuits. According

to the proposed method the circuit equations are written with reference to loop currents.

Ri R2

Fig.8.4 Simple RC circuit

e(t)=Rlii +-J-J(/, -i2)dt ...(8.55)

ci

7T f(»2 ~h)dt + R2h +~r[i2dt ...(8.56)

C, J C2 J

The above equations are simplified by replacing current with rate of charge as

XiVt + yriVi -42) = e(0 ...(8.57)

■Jr(g 2 -9i) + ^2?2 + 7“^2 =° ...(8.58)

c, c2

Choosing q, = x,, q2- x2 it is obtained

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 x' + ^7T"(x< ~x2) = --u(t) ...(8.59)
1\ j (_^ j iV]

v _l_------------v +------------(x -x ) .(8.60)

1 d r* K2C2 1 DC'1
K2(^ j 1

The state equation is

_ 1
1

*1 m RXC{
( , , \ + RX ...(8.61a)
i +
L*2j
0
_*2. r2cx r2cx r2c 2 J

The output is e0 = — \i2dt

C, J

1
i-e. e0= —-?2’ y
C,
i

i
_ _ _ _ _ _ _ _ _
H
1

1
_ _ _ _ _ _ _

- - - - - - - - j~
O

The output equation y : .(8.61b)

L c2j
----------
H
CM

8.7 Analysis by state variable diagram

In this method the input function is differentiated, to convert integrodifferential

equation into ordinary differential equation. The state variable diagram technique

explained in the previous chapters is applied to determine state space representation. The

state variable diagram of any one of the four categories shall be used to analyse electric

circuit.
R L C
-yw-------- ----------------«_]|------------

U(t)

Fig.8.5 Electric circuit with single input

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The equation for the electric circuits shown in the Fig.8.5 is

f
Ri + L — + — idt = i
dt C J

Further differentiating it is obtained

ndi Td2i 1 . , .. .
R—f- L—— h— / dt = u{t)
dt dt C

d2i Rdi 1 .\ .,x

i.q., —y+ — — + —» (0=-r«(0 ...(8.62)
dt L dt LC L

Taking Laplace Transform on both sides

2 R 1
...(8.63)
{s+Ts+Ic)1{s)=TsU{s)
Following the standard form for second order system

(s2 + axs + a2.v)/(i)= (b0s2 +b]s + b2)ll(s)

The equation for the circuit becomes

I(s) _ Os2 +6,5 + 0

...(8.64)
U(s) s2+axs + a2

Here b0 = 0 and b2 = 0

The state variable diagram is given in Fig.8.6

Then x] = x2

x2 = — a2x] — axx2

bo^--*

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The state vector matrix equation is

*1 ■ 0 1 “0"

__
+
_*2_
-a2 ~a,_ 1

The output equation format for second order system is

xi
y = [b2-b0a2 bx-b0a{]
*2

i.e., _y = [0-0a2 6,-0a,]

x,
y = [0 bx]
X1

8.8 Conclusion

An easy and direct method of selection of state variables for electrical circuits is

proposed. The method is simple. The state variables are selected in a sequential order.

There is no need of prediction and critical selection of state variables. The analysis also

becomes routine. The method is simple and important in pedagogical point of teaching.

Even though this method is novel one it has a limitation that if the element representing

highest derivative term in the circuit equation becomes common to two loop currents the

method fails. This can be averted by solving for the variables of the equation and the state

space representation for each variable shall done using phase variable technique. Here it

is proved that state variable diagram of any one of the four categories shall be used to

analyse electric circuit.

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