Lecture#4 State Space Model

Prof.
Wahied GHARIEB

EE455: Applied Control

Lecture# 4
State Space Model
2 EE455: Applied Control

Advantages of State Space Approach
Classical Approach
Modern Control Approach
Transfer Function
Linear Time Invariant
System, SISO
Laplace Transform,
Frequency domain
Only Input-output
Description: Less Detail
Description on System
Dynamics

State Variable Approach
Linear Time Varying,
Nonlinear, Time
Invariant, MIMO
Time domain
Detailed description of
Internal behavior in
addition to I-O
properties

State Space Representation
Select a particular subset of all possible independent
system variables and call them state variables.

For an nth-order system, write n simultaneous first-
order differential equations in terms of state
variables.

If we know the initial conditions of all state variables
at t
0
and the system input for t>t
0
, we can solve the
simultaneous differential equations for the state
variables for t>t
0
.


Concept of State Variable
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.

Sate vector: A vector whose elements are the state variables.

State space: The n-dimensional space whose axes are the state variables.

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.

Dynamic System must involve elements that memorize
the values of the input

Integrators in CT serve as memory devices

Outputs of integrators are considered as internal state
variables of the dynamic system

Number of state variables to completely define the
dynamics of the system=number of integrators involved
Concept of State Variable

State Space Model
Input equation
Output equation

State Space Model
Most linear systems encountered are time-invariant: A, B,
C, D are constant, i.e., dont depend on t
Example: DC motor with constant coefficients

when u(t) and y(t) are scalar, system is called single-
input, single-output (SISO)

when input & output signal dimensions are vectors,
MIMO
Example: Aircraft , Electrical power station


Mass-Spring-damper system
Therefore, we define variable x
1
and
x
2
.
) ( ) (
) ( ) (
2
2
t r t ky
dt
t dy
b
dt
t y d
M = + +
y x =
1
y x

=
2
Dynamic equation of the
system:

If the measured output of the system
is position, then we have:
In matrix form:
General State-Space
Model:
Mass-Spring-damper system

Electrical System


RLC Circuit


RLC Circuit


RLC Circuit

Example: Given the electric network, find a state-space
representation. (Hint: state variables V
c
and i
L
, output i
R
)
) (
/ 1
0
0 / 1
/ 1 ) /( 1
t v
L i
v
L
C RC
i
v
L
C
L
C
(
+
(
=
(
| |
(
=
L
C
R
i
v
R i 0 / 1

Block Diagram of State Space model
Time Invariant System
A(t)= State Matrix
B(t)= Input Matrix
C(t)=Output Matrix
D(t)=Direct Transmission Matrix

c x
c x
c x

=
=
=
3
2
1
1
3 2 1 3
3 2
2 1
24 9 26 24
x y
r x x x x
x x
x x
=
+ =
=
=
Transfer Function to State Space


Decomposed Transfer Function

Decomposed Transfer Function

State Space to Transfer Function
Du Cx y
Bu Ax x
+ =
+ =
Given the state and output equations

Take the Laplace transform assuming zero initial conditions:

(1)

(2)

Solving for in Eq. (1),

or
(3)
Substituting Eq. (3) into Eq. (2) yields

The transfer function is
) ( ) ( ) (
) ( ) ( ) (
s s s
s s s s
DU CX Y
BU AX X
+ =
+ =
) (s X
) ( ) ( ) ( s s s BU X A I =
) ( ) ( ) (
1
s s s BU A I X

=
) ( ) ( ) ( ) (
1
s s s s DU BU A I C Y + =

) ( ] ) ( [
1
s s U D B A I C + =

D B A I C
U
Y
+ =
1
) (
) (
) (
s
s
s

Eigen Values
Roots of Characteristics
Equation
Example

Diagonalization of nxn matrix




Another approach using the eigenvectors:

For distinct eigenvalues solve the equation

Where i is the eigenvalues index
i i i
P P A =
] P ...... P [P matrix n nsformatio linear tra The
n 2 1
=

Invariance of Eigenvalues

Free Response of State Space Model
) ( ) ( t Ax t x
dt
d
=
By taking Laplace transform
) 0 ( ) ( ) 0 ( ) ( ) (
) ( ) 0 ( ) (
1
x s x A sI s x
s Ax x s x s
u = =
=
) ( ) (
) 0 ( ) ( ) (
nxn matrix transition state t
x t t x
u
u =
By taking inverse Laplace transform

(t) compute ,
4 - 3 -
1 0
u
(
= A
1
) ( ) (

= u A sI s
1
4 - 3 -
1 0
s 0
0
) (

(
|
|
.
|
\
|
|
|
.
|
\
|
= u
s
s
1
4 s 3
1 -
) (

(
|
|
.
|
\
|
+
= u
s
s

(
|
|
.
|
\
|
+
+ +
= u
s 3 -
1 4
3 ) 4 (
1
) (
s
s s
s
(
u u
u u
=
(s) ) (
(s) ) (
22 21
12 11
s
s
3
5 . 0
1
5 . 1
) 1 )( 3 (
4
) (
11
+
+
=
+ +
+
= u
s s s s
s
s
3
5 . 0
1
5 . 0
) 1 )( 3 (
1
) (
12
+
+
=
+ +
= u
s s s s
s

3
5 . 1
1
5 . 1
) 1 )( 3 (
3
) (
21
+
+
+
=
+ +

= u
s s s s
s
3
5 . 1
1
5 . 0
) 1 )( 3 (
) (
22
+
+
+
=
+ +
= u
s s s s
s
s
(
(
+ +
= u

) e 1.5 5 . 0 ( ) e 1.5 5 . 1 (
) e 0.5 - 5 . 0 ( ) e 0.5 - 5 . 1 (
) (
3t - 3t -
-3t -3t
t t
t t
e e
e e
t
) 0 ( ) ( ) ( x t t x u =

Forced Response of state space model
) ( ) ( ) ( t Bu t Ax t x
dt
d
+ =
By taking Laplace transform
) ( ) ( ) 0 ( ) ( ) (
) ( ) ( ) 0 ( ) ( ) (
) ( ) ( ) 0 ( ) (
1 1
s Bu s x s s x
s Bu A sI x A sI s x
s Bu s Ax x s x s
u + u =
+ =
+ =

}
}
u + u =
u + u =
t
t
d Bu t x t t x
d t Bu x t t x
0
0
) ( ) ( ) 0 ( ) ( ) (
) ( ) ( ) 0 ( ) ( ) (
t t t
t t t
By taking inverse
Laplace transform

Forced Response of state space model
(
=
(
=
(
=
1
0
(0) x
(0) x
,
1
0
B ,
4 - 3 -
1 0
2
1
A
Free response
t t
t t
e e t x
e e t x
3
2
3
1
5 . 1 5 . 0 ) (
5 . 0 5 . 0 ) (

+ =
=
Forced response
t
t
t t
t
t
t t
e d e e t x
e d e e t x
3
0
) ( 3 ) (
2
3
0
) ( 3 ) (
1
] 5 . 1 5 . 0 [ ) (
) 1 (
3
1
] 5 . 0 5 . 0 [ ) (

= + =
= =
}
}
t
t
t t
t t
Complete response = free response + forced response

Lecture#4 State Space Model

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Transfer Function to State Space

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