CHAPTER 4

State Space Analysis and

Design
 Analysis & Design of
Feedback Control System

Classical Control
Modern Control
(Fequency domain)

i.e. Root locus, Bode diagram,

i.e. State, space, time domain
Nyquist plot, Nicols chart

Only applicable for linear time

Applicable for linear and non-
invariant system, SISO system.
linear, time-varying, MIMO, digital
systems.
Advantage: simple
 State Space Representation
A system is represented in state space by the following equations:

x  Ax  Bu (State equation)

y  Cx  Du (Output equation)
Schematic Representation of
State Space
 Transfer Function to
State Space
Transfer function with constant term in numerator

Find the state space representation in phase variable form for the transfer
function shown below:

C ( s) 24
 3
R( s) s  9s 2  26s  24

24
s 3  9s 2  26s  24

Transfer function
Step 1: Cross-multiply both sides of the transfer function.

s 3

 9s 2  26s  24 C (s)  24R(s)

Step 2: Find the corresponding differential equation (using inverse Laplace

transform)

c  9c  26c  24c  24r

c  24c  26c  9c  24r

Step 3: Select the state variables

x1  c
x2  c
x3  c
Step 4: Differentiate both sides to find x  2and x
1 , x 3
x1  c  0 1 x2 0 0
x2  c  0 0 1x3 0
x3  c  24 x1  26 x2  9 x3  24r From Step 2

yc 1 x1 0 0 0
Step 5: Write in vector-matrix form

 x1   0 1 0  x1   0 
 x    0 0 1  x    0 r
 2    2  
 x3   24  26  9  x3  24
 x1 
y  1 0 0  x2 
 x3 
or
 0 1 0 0
x   0 0 1  x   0  r
 24  26  9 24
y  1 0 0 x
Equivalent Block Diagram
 Exercise
Find the state space representation in phase variable form for the transfer
function shown below:

C ( s) 12
 3
R( s) s  18s 2  23s  16

Answer:

 x1   0 1 0   x1   0 
 x    0 0 1  x    0 r
 2    2  
 x3   16  23  18  x3  12
 x1 
y  1 0 0  x2 
 x3 
 Transfer Function to
State Space
Transfer function with polynomial in numerator

C ( s) s 2  7s  2
 3
R( s) s  9s 2  26s  24

s 2  7s  2
s 3  9s 2  26s  24

Transfer function
Step 1: Separate the system into 2 cascaded block
(numerator and denumerator).
Step 2: Find the state equation for the denumerator block

 x1   0 1 0  x1  0
 x    0 0 1   x   0  r
 2    2  
 x3   24  26  9  x3  1
Step 3: Introduce the effect of numerator block

 
C ( s)  s  7 s  2 X 1 ( s)
2

Step 4: Find the corresponding differential equation (using inverse Laplace

transform)

c  x1  7 x1  2 x1
 x3  7 x2  2 x1
Step 5: Write the output equation in vector-matrix form

 x1 
y  2 7 1  x2 
 x3 
Step 6: Write both the state equation and output equation in vector-matrix
form

 x1   0 1 0  x1  0
 x    0 0 1   x   0  r
 2    2  
 x3   24  26  9  x3  1
 x1 
y  2 7 1  x2 
 x3 
Equivalent block diagram.
Note: y(t) = c(t)
 Exercise
Find the state space representation in phase variable form for the transfer
function shown below:

C ( s) s 2  8s  6
 3
R( s) s  2s 2  32s  23

Answer:

 0 1 0 0 
x   0 0 1  x  0 r
 23  32  2 1
y  6 8 1 x
 Exercise
Find the state space representation in phase variable form for the block
diagram shown below:
 Solution
The system can be simplified as follows:

1
X 2 ( s)  R( s )
s 1
Cross-multilply both sides of the transfer function

s  1X 2 (s)  R(s)

sX 2 ( s)   X 2 ( s)  R( s)
Find the corresponding differential equation (using inverse Laplace
transform)

x2   x2 (s)  r …(1)

 10
X 1 ( s)  X 2 ( s) (2) and Y (s)  X1 ( S ) (3)
s5
Cross-multilply both sides of the transfer function

s  5X1 (s)  10 X 2 (s)

sX1 ( s)  5 X 1 ( s)  10 X 2 ( s)
Find the corresponding differential equation (using inverse Laplace
transform)
x1  5x1  10 x2 …(2) and y  x1 …(3)
Rearrange (1), (2) and (3) to form state space equation
x1  5 x1  10 x2
x2   x2  r
y  x1
 x1   5 10   x1  0
 x    0  1  x   1 r
 1   2   
 x1 
y  1 0 
 x2 
State Space to Transfer Function
Given the state and output equations:
x  Ax  Bu y  Cx  Du
Take the Laplace transform

sX( s)  AX ( s)  BU( s) ...(1)

Y( s)  CX( s)  DU( s) ...(2)

Solve X(s)

( sI  A) X( s)  BU( s)
X( s)  ( sI  A) 1 BU( s) ...(3)

Substitute (3) into (2)

Y(s)  C(sI  A) 1 BU(s)  DU(s)

Y( s )
 C( sI  A) 1 B  D
U( s )
 Example
Given the system defined by the following equations, find the transfer
function, T(s) = Y(s)/U(s).

0 1 0 10
x   0 0 1  x   0 u
 1  2  3  0 
y  1 0 0 x
Find ( sI  A)
 s 0 0  0 1 0  s 1 0 
( sI  A)  0 s 0   0 0 1   0 s  1 
0 0 s   1  2  3 1 2 s  3

Find ( sI  A) 1

1 1
( sI  A)   adj ( sI  A)
det(sI  A)
 s 2  3s  2 s3 1
1  
 3  1 s ( s  3) s
s  3s  2s  1 
2
2
  s  ( 2 s  1) s 
 Y( s)
  C( sI  A) 1 B  D
U( s)
 s 2  3s  2 s3 1 
 3 
 s  3s 2
 2s  1 s 3  3s 2  2s  1 s 3  3s 2  2 s  1 10
1 s ( s  3) 00
 1 0 0 3
 s 
 s  3s 2  2s  1 s 3  3s 2  2s  1 s 3  3s 2  2 s  1  
   0 
s  (2 s  1) s2
 3 
 s  3s  2s  1 s 3  3s 2  2s  1 s  3s  2 s  1
2 3 2

10( s 2  3s  2)
 3
s  3s 2  2 s  1
 Exercise
Given the system defined by the following equations, find the transfer
function, G(s) = Y(s)/U(s).

 4  1.5  2
x    x   u
4 0  0 
y  1.5 0.625 x

Answer:
3s  5
G( s) 
s 2  4s  6
 State Space Representation of
Transfer Function
Given the following transfer function,

s 2  7s  2
G( s)  3
s  9s 2  26s  24

Controllable canonical form: Observable canonical form:

 0 1 0 0   9 1 0 1 
x   0 0 1  x  0u x   26 0 1 x  7u
 24  26  9 1  24 0 0 2
y  2 7 1 x  [0]u y  1 0 0 x  [0]u
 Stability of State Variables
System
Y( s )
 C( sI  A) 1 B  D
U( s )

C
 adj ( sI  A)
BD
det(sI  A)
adj ( sI  A) Cadj ( sI  A)B  D sI  A
C BD
sI  A sI  A
 The system poles are the roots of the characteristic equation:

sI  A  0
The system is stable if and only if all the poles are in the left half of the
complex plane
 Example (Jan 2013)
The state space representation for a system is given by:

0 1 0  0 
x  0 0 1  x  0u
0  36  15 1
y  1000 100 0 x

Determine the stability of the process.

 sI  A  0
s 0 0  0 1 0 
0 s 0  0 0 1   0

0 0 s  0  36  15
s 1 0 
0 s  1   0

0 36 s  15
s ( s 2  15s  36)  0
s  0, s  3, s  12

Since all poles located at the left hand side of the complex plane,
the system is stable.
 Controllability
A linear system with state vector x is called controllable if and only if the system states
can be changed by changing the system input, u.

In order to be able to do whatever we want with the given dynamic system under control
input, the system must be controllable.

A LTI system is completely controllable if and only if its controllability matrix,

Mc  [B AB A 2B  A n1B]

has a full rank of n.

For SISO system, | Mc |  0

 Example
Determine whether the system is controllable:

 1 1 0 0 
x   0  1 0  x  1u
 0 0  2 1

Solution:

0 1  2 

M c  B AB 
A 2B  1  1 1 
1  2 4 
M c  1
Since the determinant of controllability matrix is not zero, the
system is controllable.
 Exercise
Determine whether the system is controllable:

 1 1
Answer:
2  2
x   0  1 5  x  1u
Controllable
 0 3  4 1

 1 1 0 0 
x   0  1 0  x  0u Uncontrollable.
 0 0  2 1
 Observability
A linear system with state vector x is called observable if and only if the value of the
initial state x(t0) can be determined from the system output y(t) that has been observed
through the time interval t0 < t < tf .

In order to see what is going on inside the system under observation, the system must
be observable.

A LTI system is completely observable if and only if its controllability matrix,

 C 
 CA 
 
M o   CA 2

 
  
CA n 1 

has a full rank of n.

For SISO system, | Mo |  0

 Example
Determine whether the system is observable:
0 1 0 0 
x   0 0 1  x  0u
 4  3  2 1
y  0 5 1x
Solution:
 C   0 5 1
M o   CA     4  3 3 
CA2   12  13  9
Cm  344
Since the determinant of observability matrix is not zero, the
system is observable.
 Exercise
Determine whether the system is observable:

 2  1  3  2 Answer:
x   0  2 1  x  1u
 7  8  9 2 Observable
y  4 6 8x

0 1  0 
x   21 x   u
  5 
4  1 Unobservable

y  5 4x
 Eigen value and Eigen vectors
The eigen values of matrix A are values of  that satisfy:
Ax i  xi
The eigen values are also called the characteristic roots.

Procedure in finding the eigen values and eigen vectors:

1. Solve the characteristic equation for the scalar .

2. For the eigen value , determine the corresponding eigen vector

x by solving the system (A - I) = 0.
 Example
Find the eigen values and eigen vectors of the matrix:

 3 2
A 
 2 0 

Solution
 0   3 2    3  2 
I  A       
 0    2 0    2  
I  A  0
 (  3)  4  0
2  3  4  0
The eigen values   4,   1
Eigen vectors for  = 4 Eigen vectors for  = -1

Ax i  x i Ax i  x i
3 2  x1   x1  3 2  x1   x1 
2 0  x   4  x  2 0  x   1 x 
  2   2   2   2
3x1  2 x2  4 x1  (1) 3 x1  2 x2   x1  (1)
2 x1  4 x 2  ( 2) 2 x1   x 2  ( 2)
We obtain: x1  2x2 1
x1   x2
We obtain:
2
 Lag compensator
• Explain the concept of lag compensator and how
it could achieve the required steady-state error.
• Lag compensator reduces the high-frequency
gain while keeping the low-frequency gain of the
uncompensated system. Therefore, the low
frequency gain could be made high by shift it
according to the required improvement to yield
high Kv for the system without causing instability
of the system.
 Lead compensator
• Explain the concept of lead compensator and
how it could achieve the required transient
response.
• Lead compensator increases the high-frequency
gain while keeping the low-frequency gain the
same as to keep the steady state error designed
at desired specifications. At the same time, lead
compensator increases the phase margin at
high frequencies to produce faster and stable
system
 Test 2
• Friday 21 June 2013
• DKP 1
• 8.00 – 10.00 pm
• Open-book
 Entrance and exit survey
• Please complete the entrance and exit
survey
Q&A