State Space Analysis:

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Example 1: Determine state variable model of the following electrical circuit. Draw the state diagram of the circuit.
Consider potential across the resistance R2 as output.
Solution:

Let us define the state variables as follows:

VC (t )  x1 (t )

i1 (t )  x2 (t )

i 2 (t )  x3 (t ) .
The circuit equations can be expressed as

dVC
C  i1 (t )  i2 (t )
dt
di1 (t )
Vi (t )  R1i1 (t )  L1  VC (t )
dt
di2 (t )
L2  R2i2 (t )  VC (t ) .
dt
In terms of the state as defined, the equations can be written as below.

dVC (t ) i1 (t ) i2 (t )
x1 (t )   
dt C C
x2 (t ) x3 (t )
i.e. x1 (t )   .
C C

di1 (t ) R V (t ) V (t )
x 2 (t )    1 i1 (t )  C  i
dt L1 L1 L1

x1 (t ) R1 V (t )
i.e. x 2 (t )    x2 (t )  i
L1 L1 L1
 di2 (t ) VC (t ) R2
x3 (t )    i2 (t )
dt L2 L2
X 1 (t ) R2
x3 (t )   X 3 (t )
L2 L2

The state equations can be expressed as

 1 1
 0  
 1  
x (t ) C C   x1 (t )   0 
 x (t )   1 1
0   x2 (t )   Vi (t )
R
 1
 2   L  
 x3 (t )   1 1
L1
   L1 

R  3   0 
x (t )
 0  2
 L2 L2 

 x1 (t ) 
 y(t )  0 0 R2  x2 (t ) .
 x3 (t ) 
State diagram

Example 2: Determine state variable model of the electrical circuit shown below. Consider voltage across the
inductance L as output of the circuit.
Solution:

The circuit equations can be expressed as

Vi (t )  x1
 C1 x1  C2 x 2
R1
C2 x 2  x3

x1  x2  Lx3  0
The above equations can be rearranged and written as

x1 x V (t )
x1    3  i
R1C1 C1 R1C1

x3
x 2 
C2

x1 x2
x3  
L L

There fore the state model can be represented as

 1 1
 0 
C1   x  
 1 
RC 
 x1   R1C1
 1
 x    1    1 1 
0 0 x2  0 Vi (t ).
 2  C2    
 x3   1 1   x3   0 
  0   
 L L 
Since output y  Lx3 = x1  x2

 x1 
Output state matrix is given by  y   1  1 0 x2 
 x3 
Example 3: Determine state variable model of the following mechanical system where K1 , K 2 K 3 are spring
constants, B1 , B2 are damping coefficients, M1 , M 2 are representing masses and Y1 , Y2 , Y3 are displacements
and F (t ) is the applied force which acts as input. Consider the displacement Y3 as output.

Solution:

The free body diagram of the mechanical system is shown below

The differential equations of the system is given by

M 1Y1  B2 (Y2  Y1 )  K 2 (Y2  Y1 )  K1Y1  B1Y1

M 2Y2  K 3 (Y3  Y2 )  B2 (Y2  Y1 )  K 2 (Y2  Y1 )

F (t )  K 3 (Y3  Y2 ) .

The state can be defined as

x1  Y1
x2  Y1
x3  Y2
x4  Y2
The mechanical system has 5 energy storing elements, because it has 2 masses and 3 springs, but only 4 are
independent, since M2 and K 3 are dependent. Therefore the four state variables are chosen as above.

The differential equations can be rearranged as

x1  x2

 K  K2   B  B2  K B
x 2   1  x1   1  x2  2 x3  2 x4
 M1   M1  M1 M1
x3  x4

K2 B K B F (t )
x 4  x1  2 x2  2 x3  2 x4  .
M2 M2 M2 M2 M2
The output equation can be expressed as

E (t )
Y  Y3  Y2 
K3

F (t )
i.e. Y  x3  .
K3
Therefore the state variable model can be written as

 0 1 0 0   0 
 x1   ( K1  K 2 ) ( B1  B2 ) K2 B2   x1  
 x     x  0 
M1  2   
  0 F (t )
 2   M1 M1 M1

 x3   0 0 0 1   x3 
    1 
 2   x4  
K B2 K B
 x 4  
2
 2 
 M2 M2 M2 M 2  M2 
Where as the output equation is given by

 x1 
x 
 
Y   0 0 1 0 2    1 F (t ) .
 x3   K 3 
 
 x4 

Example 4: Consider the armature controlled D. C motor where L and R represents the inductance and
resistance of the motor armature circuit, and the voltage Vb represents the generated back e.m.f which is
d
proportional to the shaft velocity . The torque T generated by the motor is proportional to the armature current
dt
i . The inertia J represents the combined inertia of the motor armature and the load, and B is the total viscous
friction acting on the output shaft. Determine the state variable model of the electromechanical system. Assume the
input voltage of the motor is V and motor shaft angle  as output.
Solution:

The system equations can be expressed as

di d
Ri  L V  K f
dt dt
d 2 d
J B  K t i.
dt dt

Since it is a third order system it will have three state variable to describe its dynamic behavior.

Let us define the state as

x1  
x  
2

x3  i.
The equations can now be expressed as

x1  x2

B K
x 2   x2  t x3
J J
Kf R V
x3   x2  x3  .
L L L
Therefore the state variable model can be written as

 
 x1  0
 1 0   x1   0 
 x   0  B Kt    
 x2   0 V 
 2  J J    1 
 x3   Kf R   x3   L 
0  L  
L
  x1 
Y   1 0 0 x2 .
 x3 

The denominator polynomial of the above transfer function represent the

characteristics equation. Therefore the characteristics equation can be represented as
Block diagram representation of Transfer Function:
Lecture note: 4
State Space Analysis

State variable model of transfer function from signal flow

diagram.
Example: Determine state variable model of the following transfer function and also draw
signal flow diagram of the system.
S 3  2S 2  S  5
F (S )  3 .
S  6S 2  11S  4

Solution: Method - 1
The transfer function may be expressed as per following block diagram. Let U (s) as input
and Y (s) as output.

X 1 ( s) 1
i.e.  3 .
U ( s) S  6S 2  11S  4
X 1 ( s)
The state space representation of the transfer function can be expressed as per equation
U ( s)
(3.24) is given by
 x1 (t )   0 1 0   x1 (t )  0
 x (t )   0 0 1   x2 (t )  0u .
 2      
 x3 (t )   4  11  6  x3 (t )  1

Y ( s)
From the block diagram  S 3  2S 2  S  5 .
X 1 ( s)

i.e. y(t )  x1 (t )  2x1 (t )  x1 (t )  5x1 (t ) .

 {4 x1 (t )  11x2 (t )  6 x3 (t )  u}  2 x3 (t )  x2 (t )  5x1 (t )

 x1 (t )  10 x2 (t )  2 x3 (t )  u

 x1 (t ) 
i.e.  y (t )  1  10  2 x2 (t )  u .
 
 x3 (t ) 
Solution: Method - 2
The transfer function T (S ) can be rearrange as
2 1 5
1  2  3
T (S )  S S S
6 11 4
1  (  2  3 )
S S S
In chapter eight it was shown that transfer function and signal flow graphs are related by the
 Pi  i
mathematical expression T i

where Pi is the i th forward path gain,  is the determinant of the graph and  i is the value
of  which doesn’t touch i th forward path.
From the given transfer function we observe that it will have three feedback loop touching
6 11 4
each other, with gain  ,  2 ,  3 . The graph will have four forward path which touches
S S S
2 1 5
the loops with gain 1, , 2 , 3 .
S S S
The signal flow graph which satisfies the above requirements is shown below.
From the signal flow graph, we have the following node equations.
y  x1  u
x1  6( x1  u )  x2  2u
x1  6 x1  x2  4u
x 2  11x1  x3  10u
x3  4 x1  u

Therefore the state equations can be expressed as

 x1    6 1 0  x1    4 
 x    11 0 1  x    10u 
 2   2   
 x3    4 0 0  x3    1 

 x1 
 y   1 0 0 x1   1u .
 x1 
Lecture note: 5
State Space Analysis
Example 1: Determine state variable model in diagonal canonical form (DCF) of the following transfer
function. Also draw signal flow diagram of the system.

S 2  6S  6
F ( s)  .
( S  1)(S  2)
Solution:
The transfer function may be expressed as

Y ( s) S 2  6S  6 1 2
F ( s)   1 
U ( s) ( S  1)(S  2) S 1 S  2
where U (s ) is input and Y (s) is output.
 1 2
Therefore Y ( s)  U ( s)  U ( s)  U ( s).
S 1 S2
Let us choose the state as

1
X 1 (s)  U ( s)
S 1
1
X 2 ( s)  U ( s ).
S2
Therefore the chosen state may be rewritten as

SX 1 ( s)   X 1 ( s)  U ( s)
SX 2 ( s)  2 X 2 ( s)  U ( s).
The inverse Laplace transforms of these equations give

x1 (t )   x1 (t )  u
x 2 (t )  2 x2 (t )  u.
The output equation is given by

y(t )  x1 (t )  2 x2 (t )  u.

Therefore the state space representation of the system is given by

 x1 (t )   1 0   x1 (t )  1
 x (t )   0  2  x (t )  1u 
 2    2   

 x (t ) 
 y(t )  1 2 1   1u .
 x2 (t )
The state diagram

Example 2: Determine state variable model in Jordan canonical form (JCF) of the following transfer
function and draw signal flow diagram (state diagram) of the system.
 Y ( s) 1 3 2
   .
U ( s) ( S  2) 2
( S  2) ( S  1)
Consider U (s ) as input and Y (s) as output.

Solution:
The transfer function may be rewritten as

1 3 2
Y ( s)  U ( s)  U ( s)  U ( s)
( S  2) 2
( S  2) ( S  1)
Let us define the state as following:

U (s)
X 1 (s) 
( S  2) 2
U (s)
X 2 (s) 
( S  2)
U (s)
X 3 (s)  .
( S  1)
X 1 ( s) 1
Therefore  .
X 2 ( s) S  2
The equations may be expressed as

SX 1 ( s)  2 X 1 ( s)  X 2 ( s)
SX 2 ( s)  2 X 2 ( s)  U ( s)
SX 3 ( s)   X 3 ( s)  U ( s).
Therefore the inverse Laplace transform if these equations can be written as

x1 (t )  2 x1 (t )  x2 (t )
x 2 (t )  2 x2 (t )  u
x3 (t )   x3 (t )  u
y(t )  x1 (t )  3x2 (t )  2 x3 (t ).
i.e. The state space representation of the transfer function can be expressed as

 x1 (t )   2 1 0  x1 (t )  0
 x (t )   0  2 0  x (t )  1u 
 2    2   
 x3 (t )   0 0 1  x3 (t )  1