Control Systems

ECE-4217

Fariya Tabassum
Assistant Professor, Dept. of Electrical & Computer Engineering
Rajshahi University of Engineering & Technology, Rajshahi-6204 1
“So which of the favors of your
lord would you deny”.
[Sura Ar-Rahman]

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State-space approach

The state-space approach (also referred to as the modern, or time-domain, approach) is a

unified method for modeling, analyzing, and designing a wide range of systems.

For example, the state-space approach can be used to represent nonlinear systems that
have backlash, saturation, and dead zone. Also, it can handle, conveniently, systems with
nonzero initial conditions. Time-varying systems, (for example, missiles with varying
fuel levels or lift in an aircraft flying through a wide range of altitudes) can be
represented in state space. Many systems do not have just a single input and a single
output.

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State-space approach

Multiple-input, multiple-output systems (such as a vehicle with input direction and input
velocity yielding an output direction and an output velocity) can be compactly represented
in state space with a model similar in form and complexity to that used for single-input,
single-output systems. The time-domain approach can be used to represent systems with a
digital computer in the loop or to model systems for digital simulation. With a simulated
system, system response can be obtained for changes in system parameters—an
important design tool. The state-space approach is also attractive because of the availability
of numerous state-space software packages for the personal computer

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State-space approach

Advantages
• This approach can be applied to linear or nonlinear, time variant or time invariant
systems.
• It is easier to apply where the Laplace transform cannot be applied.
• nth order differential equations can be expressed as “n” equation of first order whose
solutions are easier.
• It is a time domain approach
• This method is suitable for digital computer computation because this is a time domain
approach
• The system can be designed for optimal conditions.

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State-space approach

Definitions:
State, state variables, state vector, state space

For preparing the answer you have to go through the

article 8.3 of the book written by “S. Hasan”

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State-space approach

Goal:
State-space representation of the system.
Solution:
• Since the network is of second order, two simultaneous, first-order
differential equations are needed to solve for two state variables
• Let us select loop current, i(t) and q(t), the charge on the capacitor, as the
two state variables.
• The loop equation becomes

After using Equation 1

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State-space approach

• Equation (1) can be converted into two simultaneous, first-order differential equations in terms of i(t) and q(t)

[as i(t) and q(t) is our state variables]

• Let us select loop current, i(t) and q(t), the charge on the capacitor, as the two state variables.
• The loop equation becomes

Equation 2

• These equations are the state equations and can be solved simultaneously for the state variables, q(t) and i(t)

• From these two state variables, we can solve for all other network variables. For example, the voltage
across the inductor can be written in terms of the solved state variables and the input as

Equation 3

Equation (3) is an output equation; we say that vL(t) is a linear combination of the state variables, q(t) and
i(t), and the input, v(t)
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State-space approach

Equation 2

Equation 3

The combined state equations (2) and the output equation (3) form a viable representation of the
network, which we call a state-space representation

minimum
Is there a restriction on the choice of state variables? Yes! Typically, the
number of state variables required to describe a system equals the order of the
differential equation. Thus, a second-order system requires a minimum of two
state variables to describe it

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State-space approach

Notes:

Is there a restriction on the choice of state variables? Yes! Typically, the minimum number of state
variables required to describe a system equals the order of the differential equation. Thus, a
second-order system requires a minimum of two state variables to describe it

State variables must be linearly independent; that is, no state variable can be written as a linear
combination of the other state variables, or else we would not have enough information to solve for all
other system variables, and we could even have trouble writing the simultaneous equations themselves.

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State-space approach

Equation 2, state equation

Equation 3, output equation

The state and output equations can be written in vector-matrix form if the system is linear. Thus, Eq. (2), the
state equations, can be written as

Equation 4

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State-space approach

The Equation (3), the output equation, can be written as

Equation 5

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State-space approach

Equation 4

Equation 5

combination of Equations. (2) and (3) are state-space representation of

the network

A state-space representation, therefore, consists of

(1) the simultaneous, first-order differential equations from which the
state variables can be solved and
(2) the algebraic output equation from which all other system variables
can be found. A state-space representation is not unique, since a
different choice of state variables leads to a different representation of
the same system.

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State-space approach

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State-space approach

State-space representation in canonical form

Controllable Canonical Form

Observable Canonical Form

Diagonal Canonical Form

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State-space approach

State-space representation in canonical form

Let us consider a system defined by

state-space representations of the system can be presented by using above two Equations in
controllable canonical form, observable canonical form, and diagonal (or Jordan) canonical
form.

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State-space approach
State-space representation in canonical form
Controllable Canonical Form

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State-space approach
Solution:
Step 1 Label all of the branch currents in the network.
These include 𝑖𝐿 , 𝑖𝑅 and 𝑖𝐶

Step 2 Select the state variables by writing the derivative

equation for all energy-storage elements, that is, the
inductor and the capacitor. Thus

From the above equations have to choose the state variables as

the quantities that are differentiated, namely vC and 𝑖𝐿

Now, state-space representation is complete if the right-

hand sides of the above Eqs. can be written as linear
combinations of the state variables and the input.

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State-space approach
Solution:
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 .

which yields 𝑖𝐶 in terms of the state variables, 𝑣𝐶 and 𝑖𝐿 .

which yields 𝑣𝐿 in terms of the state variable, 𝑣𝐶 and the source, 𝑣(𝑡)

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State-space approach
Solution:
Now,

Have to Find the output equation. Since the output is 𝑖𝑅 (𝑡)

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State-space approach
Solution:
The final result for the state-space representation is

𝑖𝑅 (𝑡)

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State-space approach

State-space representation of differential equation:

𝑑3𝑦 𝑑2𝑦 𝑑𝑦
+ 6 + 11 + 10𝑦 = 8u(t)
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡

Here, y is the output and u is the input to the system. Obtain the state-
space representation of the system.
Solution:
Let us consider the state-variables as

𝑥1 = 𝑦 𝑥1ሶ = 𝑥2
𝑥2 = 𝑦ሶ 𝑥2ሶ = 𝑥3
𝑥3 = 𝑦ሷ 𝑥3ሶ = 8u t − 10𝑥1 -11 𝑥2 − 6𝑥3
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State-space approach

𝑥1ሶ = 𝑥2
𝑥2ሶ = 𝑥3
𝑥3ሶ = 8u t − 10𝑥1 -11 𝑥2 − 6𝑥3

𝑥1ሶ 0 1 0 𝑥1 0
𝑥2ሶ = 0 0 1 𝑥2 + 0 𝑢(𝑡)
𝑥3ሶ −10 −11 −6 𝑥3 8

So, 𝑥1
0 1 0 0
𝐴= 0 0 1 , B= 0 , x(t)= 𝑥2
−10 −11 −6 8 𝑥3

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State-space approach

State-space representation of differential equation:

𝑑3𝑥 𝑑2𝑥 𝑑𝑥
+ 3 + 4 + 4𝑥 = 𝑢1 t + 3𝑢2 𝑡 + 4𝑢3 (𝑡)
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡
And the outputs are
𝑑𝑥
𝑦1 = 4 + 3𝑢1
𝑑𝑡
𝑑2𝑥
𝑦2 = 2 + 4𝑢2 + 𝑢3
𝑑𝑡
Let us consider the state-variables as
𝑥1 = 𝑥
𝑥1ሶ = 𝑥ሶ = 𝑥2
𝑥2ሶ = 𝑥3
𝑥3ሶ = 𝑢1 t + 3𝑢2 𝑡 + 4𝑢3 (𝑡)-3 𝑥3 -4 𝑥2 − 4𝑥1
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State-space approach

State-space representation of differential equation:

𝑥1 = 𝑥
𝑥1ሶ = 𝑥ሶ = 𝑥2
𝑥2ሶ = 𝑥3
𝑥3ሶ = 𝑢1 t + 3𝑢2 𝑡 + 4𝑢3 (𝑡)-3 𝑥3 -4 𝑥2 − 4𝑥1

𝑥1ሶ 0 1 0 𝑥1 0 0 0 𝑢1
𝑥2ሶ = 0 0 1 𝑥2 + 0 0 0 𝑢2
𝑥3ሶ −4 −4 −3 𝑥3 1 3 4 𝑢3

0 1 0 0 0 0
𝐴= 0 0 1 , B= 0 0 0
−4 −4 −3 1 3 4
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State-space approach

State-space representation of differential equation:

outputs are
𝑑𝑥
𝑦1 = 4 + 3𝑢1
𝑑𝑡
𝑑2𝑥
𝑦2 = 2 + 4𝑢2 + 𝑢3
𝑑𝑡
𝑥1 𝑢1
𝑦1 0 4 0 𝑥 3 0 0 𝑢
𝑦2 = 0 0 1 2 + 0 4 1 2
𝑥3 𝑢3

0 4 0 3 0 0
𝐶= , D=
0 0 1 0 4 1
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