Linear Control Systems (EE-3052)

Lecture-17
Modeling in Time Domain (State Space Modeling)
Dr. Imtiaz Hussain
Associate Professor (Control Systems),
Department of Electrical Engineering
DHA Suffa University, Karachi, Pakistan
email: imtiaz.hussain@dsu.edu.pk

5th Semester (BE-EE-5A)

Fall 2020

Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogata, Norman S Nise and various other internet sources. 1
 Introduction
• The state variable approach of modern control theory provides a
uniform and powerful methods of representing systems of arbitrary
order, linear or nonlinear, with time-varying or constant coefficients.

• Conventional control theory is based on the input–output

relationship, or transfer function approach.
 State Space Representation

• Suitable for both linear and non-linear systems.

• Software/hardware implementation is easy.

• A time domain approach.

• Suitable for systems with non-zero initial conditions.

• Transformation From Time domain to Frequency

domain and Vice Versa is possible.

3
 Definitions
• Let x1 and x2 are two state variables that define the state of
the system completely .

dx
x2 dt
Velocity State (t=t1)
State (t=t1)

State
Vector
x1 Position
x

Two Dimensional State space State space of a Vehicle

4
 Example-1
• An electrical network is given in following figure, find a
state-space representation if the output is the current
through the resistor.

• Since the network is of second order, two simultaneous,

first-order differential equations are needed to solve for
two state variables.
 Example-1
• Step 1: Label all of the branch currents in the network.
These include iL, iR, and iC, as shown below.
 Example-1
• Step 2: Select the state variables by writing the derivative
equation for all energy storing elements, that is, the
inductor and the capacitor.

  𝑑 𝑣 𝑐 (𝑡 )
𝐶 =𝑖 𝑐
𝑑𝑡

  𝑑 𝑖 𝐿 (𝑡 )
𝐿 =𝑣 𝐿
𝑑𝑡

v c 
• State Vector  
iL 
 Example-1
• Step 3: Apply network theory, such as Kirchhoff’s voltage
and current laws, to obtain iC and vL in terms of the state
variables, vC and iL.

Applying KCL at Node-1

i L  i R  iC
  𝑑 𝑣 𝑐 (𝑡 )
iC  i R  iL 𝐶
𝑑𝑡
=𝑖 𝑐

  𝑑 𝑖 𝐿 (𝑡 )
𝐿 =𝑣 𝐿
dvC vC 𝑑𝑡
C   iL (1)
dt R
 Example-1
• Step 3: Apply network theory, such as Kirchhoff’s voltage
and current laws, to obtain iC and vL in terms of the state
variables, vC and iL.

Applying KVL at input loop

diL
v(t )  L  vR 𝑑 𝑣 𝑐 (𝑡 )
dt 𝐶
 
=𝑖 𝑐
𝑑𝑡
  𝑑 𝑖 𝐿 (𝑡 )
diL 𝐿 =𝑣 𝐿
𝑑𝑡
L  vC  v(t ) (2)
dt
 Example-1
dvC vC diL
C   iL (1) L  vC  v(t ) (2)
dt R dt
Write equation (1) & (2) in standard form.

dvC 1 1
 vC  i L
dt RC C
State Equations

diL 1 1
  vC  v(t )
dt L L
 Example-1
dvC 1 1 diL 1 1
 vC  i L   vC  v(t )
dt RC C dt L L

 1 1
d vc   RC   v  0
C c   1  v(t )
  1  
dt  i L   i
0 L   L 
 
 L 

 1 1
v c   RC   v  0
C c   1  v(t )
    1  
 i L   i
0 L   L 
 
 L 
 Example-1
Step-4: The output is current through the resistor therefore, the
output equation is
1
iR  vC
R

1  v c 
iR   0  
R  iL 
 Example-1
 1 1
v c   RC   v  0
C c   1  v(t )
    1  
iL   0   i L   L 
 L  Where,
x(t) --------------- State Vector
x (t )  Ax(t )  Bu(t ) A (nxn) ---------------- System Matrix
B (nxp) ----------------- Input Matrix
u(t) --------------- Input Vector

1  v c 
iR   0  
R  iL  Where,
y(t) -------------- Output Vector
C (qxn) ---------------- Output Matrix
y(t )  Cx(t )  Du (t ) D ----------------- Feed forward Matrix
 Example-2
• Consider RLC Circuit shown below. Represent the system in Sate
Space and find (if L=1H, R=3Ω and C=0.5 F):
– State Vector
iL
– System Matrix
+ +
– Input Matrix & Input Vector Vc Vo
– Output Matrix & Output Vector - -

dvc diL
C  u( t )  iL L   RiL  vc Vo  RiL
dt dt
• Choosing vc and iL as state variables

dvc 1 1 diL 1 R
  iL  u(t )  vc  iL
dt C C dt L L
 Example-2
dvc 1 1 diL 1 R
  iL  u(t )  vc  iL
dt C C dt L L

 1
v c   0   v   1 
C c
  C u(t )
 i    1   
R  iL    State Equation
 L    0
L L

Vo  RiL

v c 
Vo   0 R  Output Equation
iL 
 Example-3
• Find the state-space representation of the electrical network
shown in following Figure. The output is vo(t).
 Example-3
• Solution
𝒗  𝑳 𝒗  𝒐

  𝑑 𝑣 𝑐 1 (𝑡 )   𝑑 𝑖 𝐿 (𝑡 )   𝑑 𝑣 0 (𝑡 )
𝐶1 =𝑖 𝑐1 𝐿 =𝑣 𝐿 𝐶2 =𝑖 𝑐 2
𝑑𝑡 𝑑𝑡 𝑑𝑡

  𝑣𝑐1
State Vector 𝒙= 𝑖 𝐿
𝑣𝑜 [ ]
   𝑑 𝑣 𝑐 1 (𝑡 ) Example-3
𝐶1 =𝑖 𝑐1
𝑑𝑡 𝒗𝑳 𝒗𝒐
   
  𝑑 𝑖 𝐿 (𝑡 )
𝐿 =𝑣 𝐿
𝑑𝑡
  𝑑 𝑣 0 (𝑡 )
𝐶2 =𝑖 𝑐 2
𝑑𝑡
  • Now obtain , and in terms of state variables

𝑖 𝑐 1=𝑖 𝐿 +𝑖 𝑅
 
𝑣  𝐿 =(𝑣 ¿ ¿ 𝑖− 𝑣 𝑐 1)¿
  𝑣𝐿 − 𝑣𝑜
𝑖 𝑐 1=𝑖 𝐿 + 𝑣𝐿 − 𝑣𝑜
𝑅  
𝑖 𝑐 2=𝑖 𝑅 =
  (𝑣 ¿ ¿ 𝑖 − 𝑣 𝑐1 )− 𝑣 𝑜 𝑅
𝑖 𝑐 1=𝑖 𝐿 + ¿   (𝑣 ¿ ¿𝑖 − 𝑣 𝑐1 )− 𝑣 𝑜
𝑅 𝑖 𝑐 2=
𝑅
¿

  𝑣𝑖 𝑣𝑐 1 𝑣𝑜   𝑣𝑖 𝑣𝑐1 𝑣𝑜
𝑖 𝑐 1=𝑖 𝐿 + − − 𝑖 𝑐 2= − −
𝑅 𝑅 𝑅 𝑅 𝑅 𝑅
 Example-3
• Solution
𝒗  𝑳 𝒗  𝒐

  𝑣𝑐1

[ ]
𝒙= 𝑖 𝐿
𝑣𝑜
 Example-4
• State Space Representation of Series RLC circuit

• Writing the loop equation yields

  𝑑𝑖(𝑡) 1
𝑣 ( 𝑡 )=𝑖 ( 𝑡 ) 𝑅+𝐿 + ∫ 𝑖(𝑡)𝑑𝑡
𝑑𝑡 𝐶
 Converting to charge, using, , we get

  𝑑𝑞 (𝑡 ) 𝑑 2 𝑞(𝑡 ) 1
𝑣 ( 𝑡 )= 𝑅+𝐿 2
+ 𝑞(𝑡 )
𝑑𝑡 𝑑𝑡 𝐶
 Example-4
  𝑑𝑞 (𝑡 ) 𝑑 2 𝑞(𝑡 ) 1
𝑣 ( 𝑡 )= 𝑅+ 𝐿 2
+ 𝑞(𝑡 )
𝑑𝑡 𝑑𝑡 𝐶
• We can convert above equation into two simultaneous, first-
order differential equations in terms of i(t) and q(t).

• The first equation can be

  𝑑𝑞(𝑡 )
=𝑖 (𝑡 )
𝑑𝑡
• The second equation can be formed as

 𝑑𝑖 (𝑡 )
𝑅 1 1
=− 𝑖 ( 𝑡 ) − 𝑞 ( 𝑡 )+ 𝑣 ( 𝑡 )
𝑑𝑡 𝐿 𝐿𝐶 𝐿
 Example-4
  𝑑𝑞(𝑡 )  𝑑𝑖 (𝑡 ) 𝑅 1 1
=𝑖 (𝑡 ) =− 𝑖(𝑡 )− 𝑞 (𝑡 ) + 𝑣 ( 𝑡 )
𝑑𝑡 𝑑𝑡 𝐿 𝐿𝐶 𝐿

q   0 1  q   0 
 i    1 R      1  v(t )
  i   
   LC L L
  • If capacitor Voltage is the output then
 
1 1
𝑣 𝑐 ( 𝑡 ) = ∫ 𝑖(𝑡 )𝑑𝑡= 𝑞 (𝑡)
𝐶 𝐶
1  q 
vc   0  
C  i 
 Example-5: Home Work
• Find the state-space representation of the electrical
network shown in following Figure. The output is vo(t).
 Example-5: Home Work
• Solution
 Example-5: Home Work
• Solution
 Example-5: Home Work
• Solution
 Example-6
• Represent the electrical network shown in following
figure in state space, where iR(t) is the output.
Example-6
 Example-6

 𝑑𝑣1 1  𝑑 𝑖 1 3
= 𝑖2 = 𝑣𝐿
𝑑𝑡 3 𝑑𝑡 2

• Therefore the state vector is

𝑣1
 
𝒙=
[ ]
𝑖3
 Example-6
 𝑑 𝑖 3 1  𝑑 𝑣 1
1  𝒙 = 𝑣 1
𝑑𝑡
=
2
𝑣𝐿
𝑑𝑡
= 𝑖2
3 [ ]
𝑖3

  • Now obtain and in terms of state variables

  𝑣 𝐿 =𝑣 1 − 𝑣2
 
)
𝑣 𝐿 =−11 𝑣 1 −3 𝑖 3
 

• State equation can now be written as

 𝑑 𝑖 3 1
= (−11 𝑣 1 −3 𝑖 3 )
𝑑𝑡 2
 𝑑 𝑖 3 11 3
=− 𝑣 − 𝑖
𝑑𝑡 2 1 2 3
 Example-6
 𝑑 𝑖 3 1  𝑑 𝑣 1
1  𝒙 = 𝑣 1
𝑑𝑡
=
2
𝑣𝐿
𝑑𝑡
= 𝑖2
3 [ ]
𝑖3

  • Now obtain and in terms of state variables

𝑖 2=𝑖 1 −𝑖 3
 

  1
𝑖 2= ( 𝑣 𝑖 − 𝑣 1 ) − 𝑖 3
3

• State equation can now be written as

 𝑑𝑣1 1 1
= [ ( 𝑣 𝑖 − 𝑣1 ) −𝑖 3 ]
𝑑𝑡 3 3

 𝑑 𝑣 1 1 1 1
=− 𝑣 1 − 𝑖3 + 𝑣 𝑖
𝑑𝑡 9 3 9
 Example-6
 𝑑𝑣1 1 1 1  𝑑 𝑖 3 11 3
=− 𝑣 1 − 𝑖 3 + 𝑣 𝑖 =− 𝑣 − 𝑖
𝑑𝑡 9 3 9 𝑑𝑡 2 1 2 3
• Writing state equations in vector matrix form

  1 1

[ ] 𝑣˙1
𝑖˙3
=
−
9
11
2
[ − −

−
3
3
2
] 𝑣1
[ ]
𝑖3
1

[]
+ 9 𝑣𝑖
0

• The output equation is

𝑖 𝑅 =4 𝑣1 +𝑖 3
 

𝑣1
 
𝑖𝑅 = [ 4 1]
[ ] 𝑖3
 Example-7
• Consider the following system
K
x(t)
M
f(t)
B
Differential equation of the system is:

d 2 x(t ) dx(t )
M B  Kx(t )  f (t )
dt 2 dt

33
 Example-7
• As we know
dx d 2x dv
v 
dt dt 2 dt
• Choosing x and v as state variables
d 2 x(t ) dx(t )
dx M B  Kx(t )  f (t )
v dt 2 dt
dt
dv B K 1
  v x f (t )
dt M M M

 x   0 1   x  0 
     K B      1  f (t )
  v   
 v   M M M 
 Example-7

 x   0 1   x  0 
     K B      1  f (t )
  v   
 v   M M M 
• If velocity v is the out of the system then output equation is given as

 x
y (t )   0 1  
v 
 Example-8
• Find the state equations of following mechanical translational
system.

• System equations are:

d 2 x1 dx1 d 2 x2
M1 2
D  Kx1  Kx2  0 f (t )  M 2 2
 Kx2  Kx1
dt dt dt
 Example-8
• Now dx1 d 2 x1 dv1
 v1 
dt dt 2 dt
dx2 d 2 x2 dv2
 v2 
dt dt 2 dt
• Choosing x1, v1, x2, v2 as state variables
dx1
 v1
dt
dv1
M1  Dv1  Kx1  Kx2  0
dt
dx2
 v2
dt
dv2
f (t )  M 2  Kx2  Kx1
dt
 Example-8
• In Standard form
dx1
 v1
dt
dv1 D K K
 v1  x1  x2
dt M1 M1 M1
dx2
 v2
dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
 Example-8
dx1 dv1 D K K dx2
 v1  v1  x1  x2  v2
dt dt M1 M1 M1 dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
• In Vector-Matrix form

 0 1 0 0  0 
 x 1   K D K  1 x 
     0    0 
 v1    M 1 M1 M1  v1   
   0  f (t )
 x 2   0 0 0 1  x2 
   K K    1 
 v 2   M 0  0  v 2   
 2 M2  M2 
 Example-8
 0 1 0 0  0 
 x 1   K D K  1 x 
     0    0 
 v1    M 1 M1 M1  v1   
   0  f (t )
 x 2   0 0 0 1  x2 
   K K    1 
 v 2   M 0  0  v 2   
 2 M2  M2 

• If x1 and v2 are the outputs of the system then

 x1 
1 0 0 0  v
 1

y (t )  
0 0 0 1
  x2 
 
 v2 
 Example-9 (Home Work)
• Represent the translational mechanical system shown in
following figure in state space, where x3(t) is the output.
 Example-10
• Represent the translational mechanical system shown in
following figure in state space, where x3(t) is the output.
Example-11 (State Space Model of DC Motor)
dia Ra La
u  Ra ia  La  eb Eq. 1
dt B
d ia
TJ  Bω Eq. 2 u eb T J
dt 
T  K t ia Eq. 3
t
stan
con
eb  K b ω Eq. 4
=
Vf

• Substituting the value of eb in Eq.(1)

dia
u  Ra ia  La  Kbω Eq. 5
dt
• Substituting the value of T in Eq.(2)

d
K t ia  J  B Eq. 6
dt
Example-11 (State Space Model of DC Motor)
dia
u  Ra ia  La  K b ω Eq. 5
dt 𝑖𝑎

K t ia  J
d
 B
 
𝒙=
[ ]
𝜔
Eq. 6
dt
• Re-arranging equation (5) and (6)
dia Ra Kb 1
 ia  ω u
dt La La La
d B Kt
  ia
dt J J
Example-11 (State Space Model of DC Motor)
dia

Ra
ia 
Kb
ω
1 d B Kt
u   ia
dt La La La dt J J
• In vector Matrix Form

  𝑅𝑎 𝐾𝑏

[]
˙𝑖
𝜔˙
𝑎

[
=
−

𝐾𝑡
𝐽
𝐿𝑎
−

−
𝐿𝑎
𝐵
𝐽
] 𝑖𝑎
[ ]
𝜔
1

[ ]
+ 𝐿𝑎 𝑢 (𝑡 )
𝜔

• Output equation
𝑖𝑎
  𝑦 =[ 0 1]
[ 𝜔 ]
 Example-11 (State Space Model of DC Motor)
  • Choosing as state variables

  0 1 0

[ ]
0

[ ][ ]
𝜃 𝐵 𝐾𝑡 𝜃
𝑑
𝑑𝑡
𝜃
[]
˙ =
𝑖𝑎
0

0
−
𝐽
𝐾
− 𝑏
𝐿𝑎
𝐽
𝑅
− 𝑎
𝐿𝑎
𝜃˙ +
𝑖𝑎
0
1
𝐿𝑎
𝑒𝑎

• if is output of the system output equation is given as

  𝜃
𝑦 ( 𝑡 )= [ 1 0
[]
0 ] 𝜃˙
𝑖𝑎
To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURE-17