KON 317E Control Systems

State Space Representation

Assoc. Prof. Dr. Tufan Kumbasar
The General State-Space Representation
• The state and output equations can be written in vector matrix form if the system is linear

for 𝑡 ≥ 𝑡 and initial conditions 𝒙 𝑡 , where 𝑥

• x= state vector
• 𝐱̇ = derivative of the state vector with respect to time
• y= output vector
• u= input or control vector
• A= system matrix
• B= input matrix
• C= output matrix
• D= feedforward matrix

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Example-1
Obtain the representation in state space

Step 1: Label all of the branch current in the network,

𝑖 ,𝑖 ,𝑖
Step 2: Select the state variables by writing the derivative
equation

Step 3: Apply network theory, such of Kirchhoff’s voltage

and Current laws, to obtain 𝑖 and 𝑣 in terms of state
variables, 𝑣 and 𝑖 . At node 1,

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Example-1

Step 4: Using above equations, we can obtain the following

state equations:

or

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Example-1
Step 5: Find the output equation. Since output is 𝑖 𝑡

The final result in vector matrix form as follows:

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Example-2
Find the state equation of the system

Step-1: First we write differential equations

Step-2: Define state Variables

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Example-2
Step-2: Define state Variables

Step-3: Redefine the differential equations

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Example-3
Step-3: Redefine the differential equations

The final result in vector matrix form as follows:

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Converting a Transfer Function to a State Space Model

• A convenient way to choose state variables is to choose the output, y(t), and its (n - 1)
derivatives as the state variables.
• This choice is called the phase-variable choice.
• Choosing the state variables, 𝑥 , we get

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Converting a Transfer Function to a State Space Model
• After differentiating both sides yields

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Converting a Transfer Function to a State Space Model
• In matrix-vector form

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Problem-3
Find the state space representation in phase variable form the transfer function shown in
Figure

Step-1:

Cross-multiplying yields

Corresponding diff. Eq.

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Problem-3
Corresponding diff. Eq.

Step-2: Select the state variables. Choosing the state variables as successive derivatives

Since output is 𝑥 , the combined state and output equations are

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Problem-3

In vector-matrix form

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Problem-4
Find the state equations and output equation for the phase variable representation of the
transfer function

First derive the state equations for the transfer function without zeros.

Cross-multiplying yields

Corresponding diff. Eq.

Defining State variables

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Problem-4
Hence

Using the zeros of the transfer function, we find the output equation to be

The resulting state space model is then

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Converting from State Space to a Transfer Function

Taking the Laplace transform assuming zero initial conditions

Solving X(s)

where I is identity matrix. Then,

We obtain:

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Example-5
Convert the state and output equations shown below

Solution:
The state equation is converted to a transfer function using

where

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Example-5
Evaluting (𝑠𝑰 − 𝑨) yields

Taking the inverse, we obtain

Substituting all expressions

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