Pimpri Chinchwad Education Trust’s

Pimpri Chinchwad College of Engineering

Department of Electronics and Telecommunication Engineering

Experiment No.: 8
Academic Year: 2020- 2021 Year: SE (A, B, C) Semester: II
Course: Signals & Control System Lab Course Code: 204195
NAME:SRUSHTI CHOUDHARI
Roll no: SEETB255
TITLE: Computation of State Model from Transfer function and Compute Transfer Function from state
model.
OBJECTIVES OF THE EXPT.:

1. To compute the state model from Transfer Function of given system.

2. To compute the Transfer Function from given state model representation.
CO and PO MAPPED:

CO4: Simulate and analyze the given systems in time and frequency domain and hence
determine the stability

PO: PO1, PO5, PO12

SOFTWARE’s USED: Numericals only

THEORY:

A time-varying control system is a system for which one or more of the parameters of the system may
vary as a function of time. For example, the mass of a missile varies as a function of time as the fuel
is expended during flight. A multivariable system is a system with several input and output.

The State Variables of a System:

The time-domain analysis and design of control systems utilizes the concept of the state
of a system.
The state of a system is a set of variables such that the knowledge of these variables and
the input functions will, with the equations describing the dynamics, provide the future
state and output of the system.
For a dynamic system, the state of a system is described in terms of a set of state
variables as:
[𝑥1(𝑡) 𝑥2(𝑡) … 𝑥𝑛(𝑡)]
The state variables are those variables that determine the future behavior of a system

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 when the present state of the system and the excitation signals are known. Consider the
system shown in Figure 8.1, where y1(t) and y2 (t) are the output signals and u1(t) and
u2(t) are the input signals. A set of state variables [x 1 x2 ... xn] for the system shown in
the figure is a set such that knowledge of the initial values of the state variables [x 1(t0 )
x2(t0 ) ... xn(t0)] at the initial time t0, and of the input signals u1(t) and u2 (t) for t˃=t0,
suffices to determine the future values of the outputs and state variables.

Fig. 8.1: A system under consideration

The state variables describe the future response of a system, given the present state, the
excitation inputs, and the equations describing the dynamics.
A simple example of a state variable is the state of an on-off light switch. The switch
can be in either the on or the off position, and thus the state of the switch can assume
one of two possible values. Thus, if we know the present state (position) of the switch at
t0 and if an input is applied, we are able to determine the future value of the state of the
element.

The State Differential Equation:

The state of a system is described by the set of first-order differential equations written
in terms of the state variables [x1 x2 ... xn]. These first-order differential equations can be
written in general form as

𝑥1 = 𝑎11𝑥1 + 𝑎12𝑥2 + ⋯ 𝑎1𝑛𝑥𝑛 + 𝑏11𝑢1 + ⋯ 𝑏1𝑚𝑢𝑚

𝑥2 = 𝑎21𝑥1 + 𝑎22𝑥2 + ⋯ 𝑎2𝑛𝑥𝑛 + 𝑏21𝑢1 + ⋯ 𝑏2𝑚𝑢𝑚
⋮
𝑥𝑛 = 𝑎𝑛1𝑥1 + 𝑎𝑛2𝑥2 + ⋯ 𝑎𝑛𝑛𝑥𝑛 + 𝑏𝑛1𝑢1 + ⋯ 𝑏𝑛𝑚𝑢𝑚

Thus, this set of simultaneous differential equations can be written in matrix form as follows:

E & TC – Signal and Control Systems Lab Page

  x 1  a11 a12 a1n  x 1  b   u 
  a a a   x 2   b 11
 ⁝
1m 1
d x2
    21 22 2n  
⁝   ⁝ 
dt  ⁝   ⁝ ⁝   ⁝     
       bn1 bnm  u m 
 x n  a n1 an 2 a nn   x n 
Where, n: number of state variables, m: number of inputs.

The column matrix consisting of the state variables is called the state vector and is written as

 x 1 
 
x   2 
x
 ⁝ 
 

 x n 
The vector of input signals is defined as u. Then the system can be represented by the compact
notation of the state differential equation as

𝑥 = 𝐴𝑥 + 𝐵𝑢
This differential equation is also commonly called the state equation. The matrix A is an n x n
square matrix, and B is an nxm matrix. The state differential equation relates the rate of change of
the state of the system to the state of the system and the input signals. In general, the outputs of a
linear system can be related to the state variables and the input signals by the output equation

𝑦 =𝐶 𝑥+𝐷 𝑢
Where y is the set of output signals expressed in column vector form. The state-space
representation (or state-variable representation) is comprised of the state variable differential
equation and the output equation.
State Space representation of the system:
Consider the RLC circuit shown in Fig. 8.2

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 Fig. 8.2 : RLC circuit
The state of this system can be described in terms of a set of variables [x1 x2], where x1 is the
capacitor voltage vc(t) and x2 is equal to the inductor current iL(t). This choice of state variables is
intuitively satisfactory because the stored energy of the network can be described in terms of these
variables.
Therefore x1(t0) and x2(t0) represent the total initial energy of the network and thus the state of the
system at t=t0.
Utilizing Kirchhoff’s current low at the junction, we obtain a first order differential equation by
describing the rate of change of capacitor voltage

𝒅𝒗𝒄
𝒊𝒄 = 𝑪 = 𝒖(𝒕) − 𝒊𝑳
𝒅𝒕
Kirchhoff’s voltage low for the right-hand loop provides the equation describing the rate of change
of inducator current as

𝑑𝑖𝐿
𝐿 = −𝑅𝑖𝐿 + 𝑣𝑐
𝑑𝑡
The output of the system is represented by the linear algebraic equation

𝑣0 = 𝑅𝑖𝐿(𝑡)
We can write the equations as a set of two first order differential equations in terms of the state
variables x1 [vC(t)] and x2 [iL(t)] as follows:

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 The output signal is then

𝑦1(𝑡) = 𝑣0(𝑡) = 𝑅𝑥2

Utilizing the first-order differential equations and the initial conditions of the network represented
by [x1(t0) x2(t0)], we can determine the system’s future and its output.
We can write the state variable differential equation for the RLC circuit as

 0 1 
 C  x  1 
x  u(t)



1  C
 R
   0 
 
L L 
and the output as

y  0 R x

Transfer Functıon from the State Equatıon:

The transfer function of a single input-single output (SISO) system can be obtained from the state
variable equations.

x A x  Bu
yCx
where y is the single output and u is the single input. The Laplace transform of the equations

sX(s)  AX(s)  B U(s)

Y(s)  CX(s)
where B is an n x 1 matrix, since u is a single input. We do not include initial conditions,
since we seek the transfer function. Reordering the equation

[sI  A] X(s)  B U(s)

X(s)  sI  A  BU(s)  (s)BU(s)
1

Y(s)  C(s)BU(s)

E & TC – Signal and Control Systems Lab Page

 Therefore, the transfer function G(s)=Y(s)/U(s) is

G(s)  C(s)B
Where ∅ (𝒔) = [𝒔𝑰 − 𝑨]−𝟏
Example:
Determine the transfer function G(s)=Y(s)/U(s) for the RLC circuit as described by the state
differential function:

 0 1 
C   1 
x x u y  0 R x
 

,
1  C
 R
   
 0 
L L 




sI  A  
 1 s
 L L
 R 1 
    1 1 s  L  
(s) sI A   C
(s)  1 s 
 L 
R 1
(s)  s 2  s 
 L LC
Then the transfer function is

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  R 1 
 s      1 
G(s)  0 R (s)L C(s)  C 
 

1 s 0 
   
 L(s) (s) 
G(s)  R / LC  R / LC


(s) R
s 2  s 
1
L LC

NUMERICALS:
1. Obtain the response y(t) of the following system:

where u(t) is the unit-step input occurring at t=0, or u(t)=1(t)

2. Obtain the transfer function of the system represented by following state space model:

3. Obtain the state transition matrix for the following system:

4. Find the transfer function of the system with state model as:

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 SOLUTION:
(Note: Solve on separate assignment sheets)

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COMMENTS AND CONCLUSION:
In this experiment we studied state model from Transfer Function of given system and also compute
the Transfer Function from given state model representation.

QUESTIONS:

1. Define state transition matrix. State and prove any four properties of state
transition matrix.

2. Derive the formula for obtaining transfer function from the state model.

REFERENCES:
CS Lab Manual

E & TC – Signal and Control Systems Lab Page

E & TC – Signal and Control Systems Lab Page