Advanced Control Systems (ACS)

Lecture-6
State Space Modeling & Analysis

Dr. Imtiaz Hussain

email: imtiaz.hussain@faculty.muet.edu.pk
URL :http://imtiazhussainkalwar.weebly.com/
 Lecture Outline
– Basic Definitions
– State Equations
– State Diagram
– State Controllability
– State Observability
– Output Controllability
– Transfer Matrix
– Solution of State Equation
 Definitions
• State of a system: We define the state of a system at time t0 as the
amount of information that must be provided at time t0, which, together
with the input signal u(t) for t  t0, uniquely determine the output of the
system for all t  t0.

• State Variable: The state variables of a dynamic system are the smallest
set of variables that determine the state of the dynamic system.

• State Vector: If n variables are needed to completely describe the

behaviour of the dynamic system then n variables can be considered as n
components of a vector x, such a vector is called state vector.

• State Space: The state space is defined as the n-dimensional space in

which the components of the state vector represents its coordinate
axes.
 Definitions
• Let x1 and x2 are two states 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
 State Space Equations
• In state-space analysis we are concerned with three types of
variables that are involved in the modeling of dynamic systems:
input variables, output variables, and state variables.

• The dynamic system must involve elements that memorize the

values of the input for t> t1 .

• Since integrators in a continuous-time control system serve as

memory devices, the outputs of such integrators can be
considered as the variables that define the internal state of the
dynamic system.

• Thus the outputs of integrators serve as state variables.

• The number of state variables to completely define the dynamics

of the system is equal to the number of integrators involved in the
system.
 State Space Equations
• Assume that a multiple-input, multiple-output system involves
integrators.
• Assume also that there are inputs and outputs .
• Define outputs of the integrators as state variables: .
• Then the system may be described by

𝑥˙ 1 ( 𝑡 )= 𝑓 1 (𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ , 𝑢𝑟 ; 𝑡 )

˙ 2 ( 𝑡 ) = 𝑓 2 ( 𝑥1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )
𝑥

˙ 𝑛 ( 𝑡 )= 𝑓 𝑛 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )
𝑥
 State Space Equations
• The outputs of the system may be given as.
𝑦 1 ( 𝑡 ) =𝑔1 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )

𝑦 2 ( 𝑡 ) =𝑔 2 (𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ , 𝑢𝑟 ; 𝑡 )

𝑦 𝑚 ( 𝑡 )=𝑔 𝑚 ( 𝑥1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ;𝑡 )
• If we define

[] [ ]
𝑥1 𝑓 1 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢2 , ⋯ ,𝑢 𝑟 ; 𝑡 )  

𝒙 ( 𝑡 )= 𝑥 2 𝒇 ( 𝒙 ,𝒖 , 𝑡 )= 𝑓 2 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )  
⋮

[]
⋮
𝑥𝑛 𝑓 𝑛 ( 𝑥1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢 1 , 𝑢2 , ⋯ , 𝑢𝑟 ;𝑡 )   𝑢1
𝑢
𝒖 ( 𝑡 )= 2
⋮
𝑢𝑟

[] [ ]
𝑦1 𝑔 1 (𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ , 𝑢𝑟 ; 𝑡 )  
𝑦2 𝑔 2 ( 𝑥1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )
𝒚 ( 𝑡 )= 𝒈 ( 𝒙 , 𝒖, 𝑡)=
⋮ ⋮
𝑦𝑚 𝑔𝑚 (𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )  
 State Space Modeling

• State space equations can then be written as

𝒙˙ ( 𝑡 )= 𝒇 (𝒙 ,𝒖 ,𝑡 ) State Equation

𝒚 ( 𝑡 )=𝒈 (𝒙 , 𝒖, 𝑡) Output Equation

• If vector functions f and/or g involve time t explicitly, then

the system is called a time varying system.
 State Space Modeling
• If above equations are linearised about the operating
state, then we have the following linearised state
equation and output equation:

x (t )  A(t ) x(t )  B(t )u (t ) y (t )  C (t ) x(t )  D(t )u (t )

 State Space Modeling
• If vector functions f and g do not involve time t explicitly then
the system is called a time-invariant system.
• In this case, state and output equations can be simplified to
x (t )  Ax(t )  Bu (t ) y (t )  Cx(t )  Du(t )

B C

A
 Example-1
• Consider the mechanical system shown in figure. We assume that the
system is linear. The external force u(t) is the input to the system, and the
displacement y(t) of the mass is the output. The displacement y(t) is
measured from the equilibrium position in the absence of the external force.
This system is a single-input, single-output system.

• From the diagram, the system equation is

𝑚 𝑦¨ (𝑡 )+𝑏 𝑦˙ (𝑡 )+𝑘𝑦 (𝑡 )=𝑢(𝑡 )

• This system is of second order. This means that the

system involves two integrators. Let us define state
variables and as
 Example-1
𝑚 𝑦¨ (𝑡 )+𝑏 𝑦˙ (𝑡 )+𝑘𝑦 (𝑡 )=𝑢(𝑡 )

• Then we obtain

𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑦˙ ( 𝑡 ) − 𝑦 ( 𝑡 ) + 𝑢(𝑡 )
𝑚 𝑚 𝑚
• Or

𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢 (𝑡 )
𝑚 𝑚 𝑚
• The output equation is
𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )
 Example-1
𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢 (𝑡 ) 𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )
𝑚 𝑚 𝑚

• In a vector-matrix form,

 x 1 (t )   0 1   x (t )   0 
 x (t )   k b   1    1 u (t )
   x2 (t )  
 2   m m m

 x1 (t ) 
y (t )  1 0 
x
 2 (t ) 
 Example-1
• State diagram of the system is

𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢 (𝑡 )
𝑚 𝑚 𝑚

𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )

-k/m

-b/m
1/m 𝑥˙ 2 𝑥1
𝑢(𝑡) 1/s 𝑥 = 𝑥˙ 1/s 𝑦 (𝑡)
2 1
 Example-1
• State diagram in signal flow and block diagram format

-k/m

-b/m
1/m 𝑥˙ 2 𝑥1
𝑢(𝑡) 1/s 𝑥 = 𝑥˙ 1/s 𝑦 (𝑡)
2 1
 Example-2
• State space representation of armature Controlled D.C Motor.
Ra La
B 
ia
ea eb T J

t
stan
= con
Vf
• ea is armature voltage (i.e. input) and  is output.

dia
ea  Ra ia  La  eb
dt
T  J  B
 Example-2
T  K t ia eb  K b

J  B-K t ia  0
dia
La  Ra ia  K b  ea
dt
• Choosing as state variables

[ ] [][ ]
0 1 0

[]
𝐾𝑡 0
𝜃 𝐵 𝜃
𝑑 0 −
𝜃˙ = 𝐽 𝐽 𝜃˙ + 0 𝑒𝑎
𝑑𝑡 1
𝑖𝑎 𝐾𝑏 𝑅𝑎 𝑖𝑎
0 − − 𝐿𝑎
𝐿𝑎 𝐿𝑎
• Since is output of the system therefore output equation is given as

[]
𝜃
𝑦 ( 𝑡 ) =[ 1 0 0] 𝜃˙
𝑖𝑎
 State Controllability
• A system is completely controllable if there exists an
unconstrained control u(t) that can transfer any initial
state x(to) to any other desired location x(t) in a finite
time, to ≤ t ≤ T.

uncontrollable

controllable
 State Controllability
• Controllability Matrix CM

CM  B AB A2 B  An 1 B 
• System is said to be state controllable if

rank (CM )  n
 State Controllability (Example)
• Consider the system given below

 1 0  1
x    x   u
 0  3  0
y  1 2x
• State diagram of the system is
U (s ) 1 s -1 x1
1
Y (s )
1
2
 3 x2
s -1
 State Controllability (Example)
• Controllability matrix CM is obtained as
CM  B AB
1   1
B  AB   
0  0
• Thus

1  1
CM   
0 0 
• Since therefore system is not completely state
controllable.
 State Observability
• A system is completely observable if and only if there exists a finite
time T such that the initial state x(0) can be determined from the
observation history y(t) given the control u(t), 0≤ t ≤ T.

observable
unobservable
 State Observability
• Observable Matrix (OM)
 C 
 CA 
 
Observability Matrix OM   CA 
2

 
  
CAn 1 

• The system is said to be completely state observable if

rank (OM )  n
 State Observability (Example)
• Consider the system given below
0 1  0 
x    x   u
0  2 1
y  0 4x

• OM is obtained as
C 
OM   
CA

• Where C  0 4

0 1 
CA  0 4   0  12
0  2 
 State Observability (Example)
• Therefore OM is given as
0 4 
OM   
0  12
• Since therefore system is not completely state observable.

U (s ) 1 s -1 x2 s -1 x1 Y (s )

2
 Output Controllability
• Output controllability describes the ability of an external
input to move the output from any initial condition to any
final condition in a finite time interval.

• Output controllability matrix (OCM) is given as


OCM  CB CAB CA 2 B  CA n 1 B 
 Home Work
• Check the state controllability, state observability
and output controllability of the following system

0 1  0
A  , B   , C  0 1
1 0 1 
 Transfer Matrix (State Space to T.F)
• Now Let us convert a space model to a transfer function model.
x (t )  Ax(t )  Bu (t ) (1)

y(t )  Cx(t )  Du (t ) (2)

• Taking Laplace transform of equation (1) and (2) considering initial

conditions to zero.
sX ( s )  AX ( s )  BU ( s ) (3)

Y ( s )  CX ( s )  DU ( s ) (4)
• From equation (3)

( sI  A) X ( s )  BU ( s )

X ( s )  ( sI  A) 1 BU ( s ) (5)
 Transfer Matrix (State Space to T.F)
• Substituting equation (5) into equation (4) yields

1
Y ( s)  C ( sI  A) BU ( s )  DU ( s)

Y ( s )  C ( sI  A) 1

B  D U ( s)
 Example#3
• Convert the following State Space Model to
Transfer Function Model if K=3, B=1 and
M=10;

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

 x
y (t )  0 1 
v 
 Example#3
• Substitute the given values and obtain A, B, C
and D matrices.

x
   0 1   x  0 

 v   3 1      1  f (t )
   10   v   
10  10 

 x
y (t )  0 1 
v 
 Example#3
 0 1  0
A 3 1 B1

 10   10 
10 
D0
C  0 1

Y (s)
 C ( sI  A) 1 B  D
U ( s)
 Example#3
 0 1  0
A 3 1 B1

 10   10 
10 
D0
C  0 1

1
Y ( s)   s 0  0 1  0
 0 1    3 1   1
U ( s)  0 s     10 
  10 10  
 Example#3
1
Y ( s)   s 0  0 1  0
 0 1     3 1   1
U (s)  0 s      10 
   10 10  
1
Y (s)  s 1   0
 0 1  3 1  1
U ( s)  s   10 
 10 10  

 1 
Y ( s) 1  s  10 1  0 
 0 1   1
U (s) 1 3 3
s( s  )    s  10 
10 10  10 
 Example#3
 1 
Y ( s) 1  s  10 1  0 
 0 1   1
U ( s) 1 3 3
s( s  )    s  10 
10 10  10 

Y (s) 1  3  1
 0
  10 s  
U ( s) s(s  1 )  3  10 
10 10

Y (s) 1 s

U ( s ) s ( s  1 )  3 10
10 10
 Example#3
Y ( s) 1 s

U ( s ) s ( s  1 )  3 10
10 10

Y (s) s

U ( s ) s (10s  1)  3
 Home Work
• Obtain the transfer function T(s) from
following state space representation.

Answer
 Forced and Unforced Response
• Forced Response, with u(t) as forcing function

 x 1   a11 a12   x1   b1 
 x   a      u(t )
 2   21 a22   x2  b2 
• Unforced Response (response due to initial conditions)

 x 1   a11 a12   x1 ( 0)

 x   a   
 2   21 a22   x2 ( 0)
 Solution of State Equations
• Consider the state equation given below
x (t )  Ax(t ) (1)
• Taking Laplace transform of the equation (1)

sX ( s )  x(0)  AX ( s )
sX ( s )  AX ( s )  x(0)

sI  AX ( s)  x(0)

X ( s )  sI  A x(0)
1

1
X (s)  x ( 0)
sI  A
 Solution of State Equations
1
X (s)  x ( 0)
sI  A
• Taking inverse Laplace
At
x(t )  e x(0)

 (t )  e At State Transition Matrix

 Example-4
• Consider RLC Circuit obtain the state transition matrix ɸ(t).

 1 iL Vo
v c   0   v   1  + +
C c
  C u(t )
 i    1 R    Vc
 L     iL   0  - -
L L

R  3, L  1 and C  0.5

v c  0  2 vc  2

 i   1      u(t )
 3   iL   0 
 L 
 Example-4 (cont...)
v c  0  2 vc  2
 i      i    u(t )
 L  1  3  L  0 
• State transition matrix can be obtained as
  S 0  0  2  
1

 (t )  1[( SI  A)1 ]  1       

  0 S  1  3  

• Which is further simplified as

 S  3 2 
 
1 ( S  1)( S  2 )
 (t )    ( S  1)( S  2) 
1 S 
 
 ( S  1)( S  2 ) ( S  1)( S  2 ) 
 Example-4 (cont...)
 S  3 
2 

1 ( S  1)( S  2 ) ( S  1)( S  2 ) 
 (t )    
1 S
 
 ( S  1)( S  2 ) ( S  1)( S  2 ) 
• Taking the inverse Laplace transform of each element

( 2e  e ) ( 2e  2e )
t 2 t t 2 t
 ( t )   t  2t t  2t 
 ( e  e ) (  e  2e ) 
 Home Work
• Compute the state transition matrix if

 1 0 0

A  0 2 0  
 0 0  3
Solution

1 1
 (t )   [( SI  A) ]
 State Space Trajectories
• The unforced response of a system released from any initial
point x(to) traces a curve or trajectory in state space, with time
t as an implicit function along the trajectory.

• Unforced system’s response depend upon initial conditions.

x (t )  Ax(t )
• Response due to initial conditions can be obtained as

x(t )   (t ) x( 0)
 State Transition
• Any point P in state space represents the state of the system
at a specific time t.
x2
P(x1, x2)

x1

• State transitions provide complete picture of the system

x2
t0
t1
t6 t2

t3
x1
t5 t4
 Example-5
• For the RLC circuit of example-4 draw the state space trajectory
with following initial conditions.
vc ( 0) 1
  
• Solution  iL ( 0 )   2
x(t )   (t ) x( 0)
vc  (2e t  e 2t ) (2e t  2e 2t ) 1
 i    t  2 t  2t   
 L   (e  e ) (e  2e )  2
t

vc   3e  3e 
t 2 t vc  3e t  3e 2t
 i    t  2t 
iL  e t  3e 2t
 L    e  3e 
 Example-5 (cont...)
• Following trajectory is obtained
State Space Trajectory of RLC Circuit
2

1.5

t-------->inf
1

0.5
iL

-0.5

-1
-1 -0.5 0 0.5 1 1.5 2
Vc
 Example-5 (cont...)
State Space Trajectories of RLC Circuit
2

1.5
0 
1 
1  

0.5

1
0  1 0 
iL

0  
 
-0.5

0
-1 1
 

-1.5

-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Vc
 Equilibrium Point
• The equilibrium or stationary state of the system
is when
x (t )  0
State Space Trajectories of RLC Circuit
2

1.5

0.5

0
iL

-0.5

-1

-1.5

-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Vc
 Solution of State Equations
• Consider the state equation with u(t) as forcing function
x (t )  Ax(t )  Bu (t ) (1)
• Taking Laplace transform of the equation (1)

sX ( s )  x(0)  AX ( s )  BU ( s )
sX ( s )  AX ( s )  x(0)  BU ( s )

sI  AX ( s)  x(0)  BU ( s)

x(0)  BU ( s )
X (s) 
sI  A
 Solution of State Equations
x(0)  BU ( s)
X (s) 
sI  A
x(0) BU ( s )
X (s)  
sI  A sI  A
• Taking the inverse Laplace transform of above equation.
t
x(t )   (t ) x(0)    (t   )u ( )dt
0

Natural Response
Forced Response
 Example#6
• Obtain the time response of the following system:
 x 1   0 1   x1  0
 x    2      u (t )
 3  x2  1
 2 
• Where u(t) is unit step function occurring at t=0.
consider x(0)=0.
Solution

• Calculate the state transition matrix

1 1
 (t )   [( SI  A) ]
 Example#6
• Obtain the state transition equation of the system
t
x(t )   (t ) x(0)    (t   )u ( )dt
0
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END OF LECTURE-6