Control System II

Dr. Ahmed Aly Elsakaan

Lecture 2
Lecture Learning Outcomes
After completing this lecture, the student will be able to:

 Find a mathematical model, called a state-space

representation, for a linear, time invariant system • Model
electrical and mechanical systems in state space
 Convert a transfer function to state space
 Convert a state-space representation to a transfer
function
 Linearize a state-space representation

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Control II 2021
 Modeling

Electrical Systems:
Derive mathematical models for: • Kirchhoff’s voltage & current laws
• Electrical systems Mechanical systems:
• Mechanical systems • Newton’s laws

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Control II 2021
2.1 Introduction
•. Two approaches are available for the analysis and design of
feedback control systems. The first, which we began to study in
Lecture 1 , is known as the classical, or frequency-domain,
technique.
• The 1st approach is based on converting a system's differential
equation to a transfer function, thus generating a mathematical
model of the system that algebraically relates a representation
of the output to a representation of the input.
• The primary disadvantage of the classical approach is its
limited applicability: It can be applied only to linear, time-
invariant systems or systems that can be approximated as such.

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Control II 2021
• The 2nd approach is state-space approach (also referred to as
.the modern, or time-domain, approach) is a unified method
for modeling, analyzing, and designing a wide range of
systems.
• For example, the state-space approach can be used to
represent nonlinear systems, Time-varying systems, Multiple-
input, multiple-output systems.
• The time-domain approach can also be used for the same class
of systems modeled by the classical approach.

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Control II 2021
2.2 Some Observations
• .We proceed now to establish the state-space approach
as an alternate method for representing physical
systems.

• In general, an nth-order differential equation can be

decomposed into n first-order differential equations.

• Because, in principle, first-order differential equations

are simpler to solve than higher-order ones, first-order
differential equations are used in the analytical studies
of control systems.

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Definition of State Variables

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2.3The General State-Space Representation
State space model composed of 2 equations;

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Dr. Ahmed Aly
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 Where
.

The state variables of a system are defined as a minimal set of variables,

x1(t),x2(t), ... ,xn(t), such that knowledge of these variables at any time to
and information on the applied input at time t0 are sufficient to determine
the state of the system at any time t > to

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Control II 2021
Example
Given 2nd order Diff Eq.: 1

Above eq. can be transform into state eq. ;

Let :

then Eq. (1) is decomposed into the following two first-order

differential equations:

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Dr. Ahmed Aly
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General form of state Space model
In general, the differential equation of an nth-order
system is written:

Let us define:

then the nth-order differential equation is decomposed into n

first-order differential equations:

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Advance Control 2020
3.4 Applying the State-Space Representation
In this section, we apply the state-space formulation to the
representation of more complicated physical systems. The first
step in representing a system is to select the state vector, which
must be chosen according to the following considerations:

1. A minimum number of state variables must be selected as

components of the state vector. This minimum number of state
variables is sufficient to describe completely the state of the
system.
2. The components of the state vector (that is, this minimum
number of state variables) must be linearly independent.

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Linearly Independent State Variables

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Minimum Number of State Variables

• Typically, the minimum number required equals the order

of the differential equation describing the system. For
example, if a third-order differential equation describes the
system, then three simultaneous, first-order differential
equations are required along with three state variables.

• From the perspective of the transfer function, the order of

the differential equation is the order of the denominator of
the transfer function after canceling common factors in the
numerator and denominator.

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Control II 2021
.• In most cases, another way to determine the number of state
variables is to count the number of independent energy-
storage elements in the system.
• The number of these energy-storage elements equals the
order of the differential equation and the number of state
variables.

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Example
Find state model of
System shown in the Fig.

Solution

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This format is also known as the state form if we set

OR

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Example
Find the state eq. of the
mechanical system shown:

Solution:

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Control II 2021
3.5 Converting a Transfer Function to State Space

In the last section, we applied the state-space representation to

electrical and mechanical systems. We learn how to convert a
transfer function representation to a state-space representation in
this section.
One advantage of the state-space representation is that it can be
used for the simulation of physical systems on the digital
computer. Thus, if we want to simulate a system that is
represented by a transfer function, we must first convert the
transfer function representation to state space.

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Control II 2021
Converting T.F to S.S

• System modeling in state space can take on many

representations
• Although each of these models yields the same output for a
given input, an engineer may prefer a particular one for
several reasons.
• Another motive for choosing a particular set of state
variables and state-space model is ease of solution.

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Control II 2021
There
. are many ways of converting T.F into S.S but the
most useful and famous are:

1. Direct Decomposition
2. Cascade Decomposition
3. Parallel Decomposition

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Direct Decomposition

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.

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From State diagram

In vector-matrix form,

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.

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Cascade (Series) Decomposition

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Cascade (Series) Decomposition
.

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Dr. Ahmed Aly
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Now write the state equations for the new representation of the system.

The state-space representation is completed by rewriting above

Eqs. in vector-matrix form:

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 Parallel Decomposition
Parallel subsystems have a common input and an output formed
by the algebraic sum of the outputs from all of the subsystems.

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Example

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.

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.

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3.6 Converting from State Space to a
Transfer Function

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Converting From S.S to T.F
.

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Example

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

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Example
Given the system defined below, find the transfer function,
T(s) = Y(s)/U(s),

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we obtain the final result for the transfer function:

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Control II 2021
End