State space representation

&
First-order
Lecture 3
System
Review

Chapter 2 We study the transformation of the physical model into

a mathematical equation. The input / output relationship is written
as a transfer function in the frequency domain.
 Analysis and design of FCS
Analysis and design

Classical Control Modern Control

System analysis System analysis
Frequency domain Time domain
(Ch. 2) (Ch. 3)
Chapter 3
.

Advantage and disadvantage of

classical approach
 Pros:
 Can check the stability of the system.
 Can see the effect of transient response
 Only linear, time-invariant systems and linear-invariant systems are
available
 Can not analyze nonlinear systems and systems with non-zero initial
condition.
Modern approach

It is a process that can be applied to the creation, analysis, and

design of systems in general. Regardless of whether the system is
linear, time-invariant or not, you can also set initial conditions for
the system.
State space representation

Classical

Input Output
System
System
H(s)
H(s)
U(s) Y(s)
Modern

Input Output
 

u(t) y(t)
  𝑑𝑖 + 𝑅𝑖 =𝑣 (𝑡 )
𝐿
𝑑𝑡

 𝑑𝑖 =− 𝑅 𝑖 + 1 𝑣 (𝑡 ) State equation

𝑑𝑡 𝐿 𝐿

Output equation
 𝑥˙ = 𝐴𝑥+ 𝐵𝑢
 

  𝑑 𝑞 / 𝑑𝑡 0 1
[ 𝑑 𝑖 / 𝑑𝑡 ]
=
− [1
𝐿𝐶
−
𝑅
𝐿 ][ ] [ ]
𝑞
𝑖
+
0
1
𝑣 (𝑡 )
 State space representation
(cont.)
  State equation

Output equation

x  state vector
A  system matrix
u  input
y  output B  input matrix
C  output matrix
D  feedforwar d matrix
called controllable canonical form
State space representation

2-Dimension
dx1
 a11 x1  a12 x2  b1u (t )
dt
 
dx2
 a21 x1  a 22 x2  b2u (t )
dt
y  c1 x1  c2 x2  d1u (t )

 b1   a11 a12 
B  A
a a  C   c1 c2  D  [d1 ]
b2   21 22 
Easy 2-D example
We need to write the following equation as a state space form.
dx1
 3x1  5 x2  u (t )  
dt
dx2
 9 x1  7 x2  2u (t )
dt
y  4 x1  8 x2

? ? ?
B 
C   ? ? D  [?]
A 
? ?  ?

−3 5   1 𝐶=[ 4 − 8 ] 𝐷= [ 0 ]
 
𝐴=
9 [ −7 ] 𝐵=
[]
2
   
PROBLEM: Find the state equations for the translational
mechanical system shown

2 2
 𝑀 𝑑 𝑥 1 + 𝐷 𝑑 𝑥 1 + 𝐾 𝑥 − 𝐾 𝑥 =0  𝑀 𝑑 𝑥 2 − 𝐾 𝑥 + 𝐾 𝑥 =𝑓 (𝑡 )
1 2 1 2 2 2 1 2
𝑑𝑡 𝑑𝑡 𝑑𝑡
 2
  𝑑2 𝑥1 𝑑 𝑥1  𝑀 𝑑 𝑥 2 − 𝐾 𝑥 + 𝐾 𝑥 =𝑓 (𝑡 )
𝑀 1 2
+ 𝐷 + 𝐾 𝑥 1 − 𝐾 𝑥2 =0 2
𝑑𝑡
2 1 2
𝑑𝑡 𝑑𝑡

  𝑑 2 𝑥1 𝑑 𝑣1 𝑑2 𝑥2 𝑑 𝑣2
𝑁𝑜𝑤 𝑙𝑒𝑡 2
= , 𝑎𝑛𝑑 2
=
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
In vector-matrix form
PROBLEM: Represent the translational mechanical system shown
in state space, where x3(r) is the output.
Converting transfer function to state space

Step 1: Starts from the transfer function in the form.

differential equation
Y (s) b0
T ( s)   n
U ( s ) s  an 1s n 1    a1s  a0

n n 1
d y d y dy
n
 an 1 n 1    a1  a0 y  b0u
dt dt dt
 Converting transfer function to state space

Step 2: Determine the state vector in the differential equation,

where The vector equals the order of the differential equation (n).
Converting transfer function to state space (cont.)

Step 3: Newly formatted, written in matrix A, B, C, and D.

 x 1   0 1 0 0 0   x1   0 
   0 0 1 0 0      
   u
 x n 1   0 0 0 0 1   xn 1   0 
      
 x n    a0
  a1  a2   an 1   xn  b0 
 x1 
 
y  1 0  0  
 xn 1 
 
 xn 
Transfer Function for a Differential
Equation
PROBLEM: Find the transfer function represented by

 𝑑𝑐(𝑡 ) +2 𝑐 ( 𝑡 )=𝑟 (𝑡 )
𝑑𝑡 𝑟
  ( 𝑡 ) =𝑢 ( 𝑡 ) , 𝑅 ( 𝑠 ) =1 / 𝑠

𝑠𝐶
  ( 𝑠 ) +2 𝐶 ( 𝑠 ) = 𝑅( 𝑠)
  ( 𝑠 ) =𝑅 ( 𝑠 ) 𝐺 ( 𝑠 )= 1
𝐶
𝑠( 𝑠+2)
The transfer function, G(s), is
  ( 𝑠 ) = 1 / 2 − 1/ 2
𝐶
𝑠 𝑠 +2
  ( 𝑠 )= 𝐶 (𝑠 ) = 1
𝐺
𝑅 (𝑠) 𝑠+2 1 1
𝑐  (𝑡 )= − 𝑒 −2 𝑡
2 2
  ( 𝑠) ∗ 1
𝐹
( 2
𝑀 𝑠 +𝑓 𝑣 𝑠 + 𝐾)= 𝑋 ( 𝑠)
Converting a Transfer Function with a Constant Term in
the Numerator
PROBLEM: Find the state-space representation in phase-
variable form for the transfer function shown in figure shown

 Step 1 Find the associated differential

equation
 Step 2 Select the state variables

𝑥1 =𝑐 𝑥2=𝑐˙
¿ ¿ 𝑥3=¨𝑐
¿ ¿

In vector form

  𝑥˙1 0 1 0 𝑥1 0

[][
𝑥˙2 = 0
𝑥˙3 − 24
0
− 26
1
−9 ][ ] [ ]
𝑥2 + 0 𝑟
𝑥3 24

𝑥1
 
𝑦= [ 1 0
[]
0 ] 𝑥2
𝑥3
Converting from state space to transfer function

Y ( s )  T ( s)U ( s )

Take Laplace transform

sX ( s )  AX ( s )  BU ( s )  sX ( s )  AX ( s )  BU ( s)
 ( sI  A) X ( s)  BU ( s)
 X ( s )  ( sI  A) 1 BU ( s )
Y ( s )  CX ( s)  DU ( s )  Y ( s )  C[( sI  A) 1 BU ( s )]  DU(s)
 Y ( s)  C ( sI  A) 1 B  D  U ( s )

T ( s )  C ( sI  A) 1 B  D
State-Space Representation to Transfer Function

 PROBLEM: Given the system defined by equation below, find the transfer function,
, where U(s) is the input and Y(s) is the output.

  0 1 0 10
𝑥
˙= 0
−1 [ 0
−2 −3 ] [ ]
1 𝑥+ 0 𝑢
0

 𝑦=[ 1 0 0] 𝑥
𝑆𝑢𝑏𝑠𝑡𝑖𝑡𝑢𝑡𝑖𝑛𝑔
  ( 𝑠𝐼 − 𝐴 )− 1 , 𝐵 ,𝐶 𝑎𝑛𝑑 𝐷 𝑖𝑛𝑡𝑜
T ( s )  C ( sI  A) 1 B  D

  10

  0 1 0 10
𝐵= 0
0[ ]
𝑥
[
˙= 0
−1
0
−2 −3 ] [ ]
1 𝑥+ 0 𝑢
0 𝐶
  =[ 1 0 0]
 𝑦=[ 1 0 0] 𝑥
𝐷=0
 

we obtain the final result for the transfer function

  10 (𝑠 2+3 𝑠+2)
𝑇 ( 𝑠) =
𝑠 3+3 𝑠2 +2 𝑠 +1
Exercise
PROBLEM: Convert the state and output equations shown in Equation below to a
transfer function

answer
 Given the system defined by equation below, find the transfer function,
T(s) = Y(s)/U(s), where U(s) is the input and Y(s) is the output.

  0 1 0 10
𝑥
˙= 0
−1 [ 0
−2 −3 ] [ ]
1 𝑥+ 0 𝑢
0

  𝑦= [ 1 0 0] 𝑥

Q: what are A, B, C, D???

Q: after knowing A, B, C, D how do I do it???
Linearization

Let us proceed now to linearize the

equation about the equilibrium point
 General view for transformation

differential equation

classical approach modern approach

transfer function state space

Chapter 4
Overview

After we get the mathematical equations of the system we are

going to study. Later on, we will analyze the effects of both
transient and steady state systems. It covers the study of the
transient effect of a system, such as how to input step input into
the system.
Order of transfer function
Transfer function Will be in the form of fractions
Polynomial such as

6s  7
s  s5
2

Note: order of the system is order of transfer function

after all factor completed (equal to the number of poles
of the system)
Q: What is the order of the following system ???
a
T1 ( s )  T2 ( s ) 
3s  2
( s  a) s ( s  5)
Analysis and design tool

The tools that will be used to analyze and design the system are
the poles & zeros of the transfer function. This poles, zeros can
tell.
 The stability of the system.
 Sensitivity to Stability
.
Poles and Zeros

Poles is the root of the denominator that causes the

transfer function to be infinity. In other words, the value
of s that causes the part to be 0.
Zeros is the root of the fraction (numerator) that causes
the transfer. function is set to 0 or else the value of s
causes the fraction. Value is 0

Such as
( s  2)
Pole is -5 Zero is -2
( s  5)
Pole-Zero Plot

jω
s - plane
-3+2j
X

O σ
2

-3-2j X

Plot of poles, zeroes on the s-plane

Useful for system analysis
 Unit step u(t)
Laplace conversion is 1 / s

Pole-zero plot

( s  2) 2 / 5 3 / 5
 
s ( s  5) s s5
.

• Poles from the input will give a fixed response

• Poles from the transfer function will provide a natural response
• Amplitude is the result of both Poles and Zeros.
Type of Systems

• First-order Systems

• Second-order Systems

• Higher-order Systems
First-order Systems
a
C ( s )  R ( s )G ( s ) 
s( s  a)
 a 1 1  at
    1  e
inverseLaplace

s( s  a) s s  a
• Time constant = 1 / a = response time up to 63% Value of
final value

• Rise Time (Tr) = Duration used to response from 0.1 To 0.9

of the final value

2.31 0.11 2.2

Tr   
a a a

• Settling Time (Ts) = Duration used to response from

0 To 0.98 of final value

4
Ts 
a
Matlab commands

 Poles of transfer function: pole

 Zeros of transfer function: zero
 Step input response: step
 Type of Systems

• First-order Systems

• Second-order Systems emphasize

• Higher-order Systems
1st order review
a
T (s) 
( s  a)

• Time constant = 1/a

• Settling Time (Ts) = 4 as of time constant