Dynamic System Analysis

State Variables
Introduction to State Variables
Review from Chapter 2 / Motivation
Parameters Input

𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡

Variable

Sketch Free body Diagram Model

• In Chapter 3, we want to re-express the equations in a “nicer”

form:
• Express in terms of what we shall call as state variables
• Nice: Hopefully reduce the order of the differential equation
• Price to pay for nice: number of equations
State-Variable Equations
𝒒 𝑡 = 𝑞1 𝑡 … 𝑞𝑖 𝑡

• A form of system models is known as state-variable formulation.

𝑡 = 𝑡0
𝑓 𝑡 𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡

t
𝑞 𝑡 < 𝑡0 𝑞 𝑡0 𝑞 𝑡 > 𝑡0

• This set of state variables must completely describe the effect of the
past history of the system on its response in the future.
 State-Variables Properties
𝒒 𝑡 = 𝑞1 𝑡 … 𝑞𝑖 𝑡
• State variables must be independent,
• It must be impossible to express any state variable as an algebraic function of the
remaining state variables and the inputs.
𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡
• State variables are not unique,
• For the same problem we could choose many different sets of state variables.

• Number of state variables needed

• Hint 1: For mechanical systems, the state variables are usually related to the energy stored
in each of the system’s energy-storing elements (i.e., number of springs and mass)
• Hint 2: inspect the element at each “junction”
• Each mass needs at least 2 state variables
• At each junction, if you have a least one friction element then add a state variable
 State-Variable Equations
• In some systems, the number of state variables is different from the number of energy-
storing elements. Think of a connection between a spring and damper in series.

Node / Node /
Junction Junction

x1 x2
𝑥1
• If we choose the state variable 𝒒 𝑡 = 𝑣 , you can not determine 𝑥2 and 𝑣2?
1
State-Variable Equations

𝑀𝑥ሷ 𝑡 + 𝐵𝑥ሶ 𝑡 + 𝐾𝑥 𝑡 = 𝑓𝑎 𝑡

Variable Input

Sketch Free body Diagram Model

• State variables: 𝒒 𝑡 = 𝑞1 𝑡 𝑞2 𝑡 𝑞3 𝑡
• Inputs: 𝒖 𝑡 = 𝑢1 𝑡 𝑢2 𝑡
• Model:
No derivatives
𝑞ሶ 1 = 𝑎11 𝑞1 + 𝑎12 𝑞2 + 𝑎13 𝑞3 + 𝑏11 𝑢1 + 𝑏12 𝑢2
𝑞ሶ 2 = 𝑎21 𝑞1 + 𝑎22 𝑞2 + 𝑎23 𝑞3 + 𝑏21 𝑢1 + 𝑏22 𝑢2
𝑞ሶ 3 = 𝑎31 𝑞1 + 𝑎32 𝑞2 + 𝑎33 𝑞3 + 𝑏31 𝑢1 + 𝑏32 𝑢2
 State-Variable Equations
• State variables, qi, are solved as a group at each time step and we don’t solve them independently. Solve the
differential equations simultaneously.

𝑞ሶ 1 = 𝑎11 𝑞1 + 𝑎12 𝑞2 + 𝑎13 𝑞3 + 𝑏11 𝑢1 + 𝑏12 𝑢2

𝑞ሶ 2 = 𝑎21 𝑞1 + 𝑎22 𝑞2 + 𝑎23 𝑞3 + 𝑏21 𝑢1 + 𝑏22 𝑢2
𝑞ሶ 3 = 𝑎31 𝑞1 + 𝑎32 𝑞2 + 𝑎33 𝑞3 + 𝑏31 𝑢1 + 𝑏32 𝑢2
• Coefficients, 𝑎𝑖𝑗:
• For linear systems all coefficients are constants.
• For linear systems whose parameters vary with time, some of these coefficients are functions of time
• Nonlinear elements could yield coefficients which are functions of the state variables.

𝑡 = 𝑡0 𝑓 𝑡

t
𝑞 𝑡 < 𝑡0 𝑞 𝑡0 𝑞 𝑡 > 𝑡0
 State-Variable Equations
• After solving the model, one can solve for the 𝑞’s for all time.
𝑡 = 𝑡0
𝑓 𝑡

t
𝑞 𝑡 < 𝑡0 𝑞 𝑡0 𝑞 𝑡 > 𝑡0

• One can solve for the outputs, (𝑦1, 𝑦2) variables

𝑦1 = 𝑐11 𝑞1 + 𝑐12 𝑞2 + 𝑐13 𝑞3 + 𝑑11 𝑢1 + 𝑑12 𝑢2

𝑦2 = 𝑐21 𝑞1 + 𝑐22 𝑞2 + 𝑐23 𝑞3 + 𝑑21 𝑢1 + 𝑑22 𝑢2

• It is not uncommon to have some of the output variables, yi, to be identical to the state variables.
 State-Variable Equations
• The general approach for deriving the mathematical model in state-variable form includes:

1. Identify the state variables and the inputs

2. Draw FBD for each independent mass and junction point that can move with an unknown motion.

3. Sum the forces on each FBD to obtain a set of differential equations. Add equations of the state variables.

4. Manipulate the equations in state-variable form.

5. Express the output variables as algebraic functions of the state variables, the inputs and possibly time.