Lecture 02

EE-603 Linear System Theory
Lecture 02
Dr. Sheraz Khan
University of Engineering & Technology Mardan
October 28, 2022
Dr. Sheraz Khan (UET Mardan) EE-603 LCA October 28, 2022 1 / 20
Approaches for Solving Linear Systems
Laplace Tramsform Approach

In Laplace Transform, the input-output model is assumed to be
time-invariant, linear, and causal.
Besides, this method is not effective to model time-varying and
non-linear systems.
The input-output model regards a system as a black box, with certain
inputs and certain outputs. What is happening inside the box is not
clear.
Approaches for Solving Linear Systems
State-Space Approach
The state space approach to be studied in this course will be able to
handle more general systems.
The state space approach characterizes the properties of a system
without solving for the exact output.
In state space approach, the knowledge of the states is enough to
express anything inside the model box.
With all states known, the future outputs can be determined based on
the future inputs that will be given to a system.
Example:Laplace Transform Approach
Example:Laplace Transform Approach
State Space Representation
It is a mathematical model of a physical system as a set of input, output
and state variables related by first-order differential equations
A set of first-order differential equations

ẋ(t) = A(t)x(t) + B(t)u(t) (1)
A set of algebraic equations

y(t) = C(t)x(t) + D(t)u(t) (2)
State Space Terminology
State
The state of a dynamic system is a minimal set of variables and the
knowledge of these variables at t = t0 together with input for t ≥ t0
completely determines the behavior of the system for any time t. Where t0
is initial time.
State Variables and State Vector

The state variables of a dynamic systems is a minimal set of variables
which determines the dynamics of a linear system.
x1 (t), x2 (t), . . . , xn (t) are the state variables where t ≥ t0
x(t) = [x1 (t), x2 (t), . . . , xn (t)] is a state vector.
Initial State of the System

x1 (t0 ), x2 (t0 ), . . . , xn (t0 )
State Space Terminology
State Space
The state space is the n-dimensional space whose coordinate axis consists
of x1 -axis, x2 -axis, . . ., xn -axis
Representation of a state in state space

Any state can be represented by a point in the state space.
State Space Equations
Vector x is called the state

The set of two equations is called the state-space or, simply, the state
equation.
ẋ(t) = A(t)x(t) + B(t)u(t)

y(t) = C(t)x(t) + D(t)u(t)
State Space Equations as Linear System
A system y(t) = f (x(t), u(t)) is said to be linear if it follows the

following conditions:
if f (x1 (t), u1 (t)) = y1 (t)
and f (x2 (t), u2 (t)) = y2 (t)
then f (x1 (t) + x2 (t), u1 (t) + u2 (t)) = y1 (t) + y2 (t)
if f (x1 (t), u1 (t)) = y1 (t)
then f (αx1 (t), αu1 (t)) = αy1 (t)
Then it can also be implied that
f (αx1 (t) + βx2 (t), αu1 (t) + βu2 (t)) = αy1 (t) + βy2 (t)
Example:State Space Approach
The two equations are called state equations, and can be rewritten in
the form of:
The output is described by an output equation:
The state equations and output equation, combined together, form

the state space description of the circuit.
In a more compact form, the state space can be written as:
State Space Approach
More About State Space Approach

The state of a system at t0 is the information at t0 that, together
with the input u for t0 ≤ t < ∞, uniquely determines the behavior of
the system for t ≥ t0 .
The number of state variables = the number of initial conditions
needed to solve the problem.
As we will learn in the future, there are infinite numbers of state
space that can represent a system.
State Space Approach
The main features of state space approach are:

It describes the behaviors inside the system.
Stability and performance can be analyzed without solving for any
differential equations.
Applicable to more general systems such as non-linear systems,
time-varying system.
Modern control theory are developed using state space approach.
The state equations of a system can generally be written as:
where
x1 (t), x2 (t), . . . , xn (t) are the state variables
u1 (t), u2 (t), . . . , ur (t) are the system inputs
Note that
State equations are built of n linearly-coupled first-order ordinary
differential equations
Define
we can write
The outputs of the state space are the linear combinations of the
state variables and the inputs:
Define
we can write
Block Diagram of State Spaces
Block diagram

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EE-603 Linear System Theory

Dr. Sheraz Khan

University of Engineering & Technology Mardan

October 28, 2022

Laplace Tramsform Approach

A set of first-order differential equations

A set of algebraic equations

State Variables and State Vector

Initial State of the System

Representation of a state in state space

Vector x is called the state

ẋ(t) = A(t)x(t) + B(t)u(t)

A system y(t) = f (x(t), u(t)) is said to be linear if it follows the

The output is described by an output equation:

The state equations and output equation, combined together, form

In a more compact form, the state space can be written as:

More About State Space Approach

The main features of state space approach are:

The state equations of a system can generally be written as:

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