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Module 5
Introduction to State variable analysis
Introduction

This concept considers a total internal state of the system

considering all initial conditions. The technique which uses the
concept of state is called State Variable Analysis or State Space
Analysis.
State: The state of a dynamic system is defined as a minimal set
of variables such that the knowledge of these variables at 𝑡 = 𝑡0
together with the knowledge of the inputs for 𝑡 ≥ 𝑡0 completely
determines the behaviour of the system for, 𝑡 > 𝑡0 .

State Variables: The variables involved in determining the state

of a dynamic system, 𝑥(𝑡), are called the state variables.

State Vector: A vector whose elements are the state variables.

State Space: The space whose co-ordinate axes are nothing but
the ‘𝑛' state variables.

Derivation of state model for SISO system

A SISO – LTI system is represented by the nth order differential
M

equation as
G

𝑑 𝑛 𝑦 (𝑡) 𝑑 𝑛 −1 𝑦 (𝑡) 𝑑 𝑛 −2 𝑦(𝑡)

+ 𝑎1 + 𝑎2 + ⋯ + 𝑎𝑛 𝑦 𝑡 = 𝑢(𝑡) (1)
𝑑𝑡𝑛 𝑑 𝑡 𝑛 −1 𝑑𝑡 𝑛 −2

Where 𝑦(𝑡) is the output and 𝑢(𝑡) is the input to the system. Let
us define
𝑦 𝑡 = 𝑥1 (𝑡)

Dr. RAJASHEKHAR B SOMASAGAR 1 Dept. of ECE, GMIT, Davanagere

 𝑑𝑦 𝑡
𝑦 𝑡 = = 𝑥2 (𝑡)
𝑑𝑡
𝑑2 𝑦 𝑡
𝑦 𝑡 = = 𝑥3 (𝑡)
𝑑𝑡 2
𝑑3 𝑦 𝑡
𝑦 𝑡 = = 𝑥4 (𝑡)
𝑑𝑡 3
:
𝑑 𝑛−1 𝑦 𝑡
= 𝑥𝑛 (𝑡)
𝑑𝑡 𝑛−1
Using the above relations,
𝑦 𝑡 = 𝑥1 (𝑡) thus 𝑦 𝑡 = 𝑥1 𝑡
∴ 𝒙𝟐 𝒕 = 𝒙𝟏 𝒕
𝑦 𝑡 = 𝑥2 (𝑡) thus 𝑦 𝑡 = 𝑥2 (𝑡)
∴ 𝒙𝟑 𝒕 = 𝒙𝟐 𝒕
:
𝒙𝒏 𝒕 = 𝒙𝒏−𝟏 𝒕
Finally the differentiation of 𝒙𝒏 𝒕 is
𝒙𝒏 𝒕 = −𝑎𝑛 𝑥1 𝑡 − 𝑎𝑛 −1 𝑥2 𝑡 − 𝑎𝑛 −2 𝑥3 𝑡 … . −𝑎1 𝑥𝑛 𝑡 + 𝑢(𝑡) (2)

𝑦 𝑡 = 𝑥1 (𝑡) (3)
Writing equations (2) and (3) in matrix form
𝑥1 𝑡 0 1 0 ⋯ 0 𝑥1 𝑡 0
𝑥2 𝑡 = 0 0 1 ⋯ 0 𝑥2 𝑡
+
0
M

u(t)
: : : : : : : :
−𝑎𝑛 −𝑎𝑛 −1 −𝑎𝑛 −2 ⋯ −𝑎1 𝑥𝑛 𝑡 1
G

𝑥𝑛 𝑡
𝑥1 𝑡
𝑥 𝑡
𝑦 𝑡 = 1 0 ⋯ 0 2 + 0 𝑢(𝑡)
:
𝑥𝑛 𝑡
In general state model of SISO is

Dr. RAJASHEKHAR B SOMASAGAR 2 Dept. of ECE, GMIT, Davanagere

 𝑿 𝒕 =𝑨𝑿 𝒕 +𝑩𝒖 𝒕

𝒀 𝒕 = 𝑪𝑿 𝒕 +𝑫𝒖 𝒕

A = Evolution matrix (𝑛 𝑥 𝑛)
B = Control matrix (𝑛 𝑥 1)
C = Observation matrix (1 𝑥 𝑛)
D = Transmission matrix (𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)

1. Construct the state model for the given differential equation.

𝑑3 𝑦 𝑡 𝑑2 𝑦 𝑡 𝑑𝑦 𝑡
+ 3 + 6 + 7𝑦 𝑡 = 2𝑢(𝑡)
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡
In general state model is
𝑿 𝒕 =𝑨𝑿 𝒕 +𝑩𝒖 𝒕
𝒀 𝒕 = 𝑪𝑿 𝒕 +𝑫𝒖 𝒕

As the order of the differential equation is 3, only three state

variables are allowed.
𝑥1 𝑡 , 𝑥2 𝑡 & 𝑥3 𝑡 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑒 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑠
Let, 𝒚 𝒕 = 𝑿𝟏 𝒕
M

𝒚 𝒕 = 𝑿𝟐 𝒕
G

𝒚(𝒕) = 𝑿𝟑 𝒕

∴ 𝑿𝟐 𝒕 = 𝑿𝟏 𝒕 & 𝑿𝟑 𝒕 = 𝑿𝟐 𝒕

𝑑3 𝑦 𝑡 𝑑2 𝑦 𝑡 𝑑𝑦 𝑡
+ 3 + 6 + 7𝑦 𝑡 = 2𝑢(𝑡)
𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡

Dr. RAJASHEKHAR B SOMASAGAR 3 Dept. of ECE, GMIT, Davanagere

 𝑦(𝑡) + 3𝑦(𝑡) + 6 𝑦(𝑡) + 7 𝑦 𝑡 = 2𝑢(𝑡)

𝑦(𝑡) = −7 𝑦 𝑡 − 6 𝑦(𝑡) − 3𝑦(𝑡) + 2𝑢(𝑡)

𝑿𝟑 (𝒕) = −𝟕𝑿𝟏 𝒕 − 𝟔𝑿𝟐 𝒕 − 𝟑𝑿𝟑 𝒕 + 𝟐𝒖(𝒕)

𝑿𝟏 𝒕 0 1 0 𝑋1 𝑡 0
𝑿𝟐 𝒕 = 0 0 1 𝑋2 𝑡 + 0 𝑢(𝑡)
𝑿𝟑 𝒕 −7 −6 −3 𝑋3 𝑡 2

𝑋1 𝑡
𝑌 𝑡 = 1 0 0 𝑋2 𝑡 + 0 𝑢(𝑡)
𝑋3 𝑡

𝟎 𝟏 𝟎 𝟎
𝑨= 𝟎 𝟎 𝟏 ;𝑩 = 𝟎 ;𝑪 = 𝟏 𝟎 𝟎 𝟏𝒙𝟑 &𝐷 =𝟎
−𝟕 −𝟔 −𝟑 𝟑𝒙𝟑 𝟐 𝟑𝒙𝟏

2. Construct the state model for the given differential equation.

𝑑4 𝑦 𝑡 𝑑3 𝑦 𝑡 𝑑2 𝑦 𝑡 𝑑𝑦 𝑡
+ 6 + 3 − 9 + 7𝑦 𝑡 = 𝑢(𝑡)
𝑑𝑡 4 𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡
In general state model is
𝑿 𝒕 =𝑨𝑿 𝒕 +𝑩𝒖 𝒕
𝒀 𝒕 = 𝑪𝑿 𝒕 +𝑫𝒖 𝒕

As the order of the differential equation is 4, only four state

variables are allowed.
M

𝑥1 𝑡 , 𝑥2 𝑡 , 𝑥3 𝑡 & 𝑥4 𝑡 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑒 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑠

Let, 𝒚 𝒕 = 𝑿𝟏 𝒕
G

𝒚 𝒕 = 𝑿𝟐 𝒕

𝒚(𝒕) = 𝑿𝟑 𝒕

𝒚(𝒕) = 𝑿𝟒 𝒕

Dr. RAJASHEKHAR B SOMASAGAR 4 Dept. of ECE, GMIT, Davanagere

 ∴ 𝑿 𝟐 𝒕 = 𝑿𝟏 𝒕 , 𝑿𝟑 𝒕 = 𝑿𝟐 𝒕 & 𝑿𝟒 𝒕 = 𝑿𝟑 𝒕

𝑑4 𝑦 𝑡 𝑑3 𝑦 𝑡 𝑑2 𝑦 𝑡 𝑑𝑦 𝑡
+ 6 + 3 − 9 + 7𝑦 𝑡 = 𝑢(𝑡)
𝑑𝑡 4 𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡
y(t)′′′′ + 6 y(t)′′′ + 3y(t)′′ − 9y(t)′ + 7 𝑦 𝑡 = 𝑢 𝑡

y(t)′′′′ = −7 𝑦 𝑡 + 9 y(t)′ − 3y(t)′′ − 6 y(t)′′′ + u(t)

𝑿𝟒 (𝒕) = −𝟕𝑿𝟏 𝒕 + 𝟗𝑿𝟐 𝒕 − 𝟑𝑿𝟑 𝒕 − 𝟔𝑿𝟒 𝒕 + 𝒖(𝒕)

𝑿𝟏 𝒕 0 1 0 0 𝑋1 𝑡 0
𝑿𝟐 𝒕 0 0 1 0 𝑋2 𝑡 0
= + 𝑢(𝑡)
𝑿𝟑 𝒕 0 0 0 1 𝑋3 𝑡 0
𝑿𝟒 𝒕 −7 9 −3 −6 𝑋4 𝑡 1

𝑋1 𝑡
𝑋2 𝑡
𝑌 𝑡 = 1 0 0 0 + 0 𝑢(𝑡)
𝑋3 𝑡
𝑋4 𝑡

0 1 0 0 0
0 0 1 0 0
𝐴= ; 𝐵= ;𝐶 = 1 0 0 0 1𝑥4 &𝐷 =0
0 0 0 1 0
−7 9 −3 −6 4𝑥4 1 4𝑥1

3. Obtain the state model for the given electrical network.

M
G

There are two energy storing elements L and C. So the two state
variables are current through inductor 𝒊(𝒕) and voltage across
capacitor ie, 𝒗𝟎 (𝒕).

Dr. RAJASHEKHAR B SOMASAGAR 5 Dept. of ECE, GMIT, Davanagere

 𝑋1 𝑡 = 𝒊 𝒕 𝑎𝑛𝑑 𝑋2 𝑡 = 𝒗𝟎 (𝒕)

𝑢 𝑡 = 𝒗𝒊 𝒕 = 𝑖𝑛𝑝𝑢𝑡 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒

Applying the KVL

𝑑𝑖(𝑡)
𝑣𝑖 𝑡 = 𝑅. 𝑖 𝑡 + 𝐿 + 𝑣0 (𝑡)
𝑑𝑡

𝑑𝑋1 𝑡
𝑢 𝑡 = 𝑅𝑋1 𝑡 + 𝐿 + 𝑋2 𝑡
𝑑𝑡

𝑑𝑋1 𝑡
𝐿 = −𝑅𝑋1 𝑡 − 𝑋2 𝑡 + 𝑢 𝑡
𝑑𝑡
𝑅 1 1
𝑋1 𝑡 = − . 𝑋1 𝑡 − . 𝑋2 𝑡 + . 𝑢 𝑡 (1)
𝐿 𝐿 𝐿

𝑡
1
𝑋2 𝑡 = 𝑖(𝜏) 𝑑𝜏
𝐶 0

𝑡
1
𝑋2 𝑡 = 𝑋1 𝜏 𝑑𝜏
𝐶 0

1
𝑋2 𝑡 = 𝑋1 𝑡 (2)
𝐶

The equations (1) and (2) gives the statenequation

𝑅 1
− − 1
𝑋1 𝑡 𝐿 𝐿 𝑋1 𝑡
= + 𝐿 𝑢(𝑡)
𝑋2 𝑡 1 𝑋2 𝑡
0
M

0
𝐶
G

𝑋1 𝑡
𝑌 𝑡 = 0 1 + 0 𝑢(𝑡)
𝑋2 𝑡

𝑹 𝟏
− − 𝟏
𝑨= 𝑳 𝑳 ;𝑩 = 𝑳 ;𝑪 = 𝟎 𝟏 &𝐷 =0
𝟏 𝟏𝒙𝟐
𝟎 𝟎 𝟐𝒙𝟏
𝑪 𝟐𝒙𝟐

Dr. RAJASHEKHAR B SOMASAGAR 6 Dept. of ECE, GMIT, Davanagere

 4. Obtain the state model for the given electrical network.

There are three energy storing elements 𝑳𝟏 , 𝑳𝟐 and C. So the

three state variables are current through inductor 𝑳𝟏 is 𝒊𝟏 𝒕 ,
current through inductor 𝑳𝟐 is 𝒊𝟐 𝒕 and voltage across capacitor
ie, 𝒗𝒄 (𝒕).

𝑋1 𝑡 = 𝒊𝟏 𝒕

𝑋2 𝑡 = 𝒊𝟐 𝒕

𝑋3 𝑡 = 𝒗𝒄 (𝒕)

𝑢 𝑡 = 𝐸1 = 𝑖𝑛𝑝𝑢𝑡 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒

Applying the KVL to loop1

𝑑𝑖1 (𝑡)
𝐸1 = 𝐿1 + 𝒗𝒄 𝒕
𝑑𝑡

𝑢 𝑡 = 𝐿1 𝑋1 𝑡 + 𝑋3 𝑡
M

𝟏 𝟏
𝑿𝟏 𝒕 = − 𝑿𝟑 𝒕 + 𝒖(𝒕) (1)
𝑳𝟏 𝑳𝟏
G

Applying the KVL to loop2

𝑑𝑖2 (𝑡)
0 = 𝐿2 + 𝑅1 𝒊𝟐 𝒕 − 𝒗𝒄 𝒕
𝑑𝑡

0 = 𝐿2 𝑋2 𝑡 + 𝑅1 𝒊𝟐 𝒕 − 𝒗𝒄 𝒕

Dr. RAJASHEKHAR B SOMASAGAR 7 Dept. of ECE, GMIT, Davanagere

 𝐿2 𝑋2 𝑡 = −𝑅1 𝑋2 𝑡 + 𝑋3 𝑡

−𝑹𝟏 𝟏
𝑿𝟐 𝒕 = 𝑿𝟐 𝒕 + 𝑿𝟑 𝒕 (2)
𝑳𝟐 𝑳𝟐

𝑡
1
𝑣𝑐 𝑡 = 𝑖1 − 𝑖2 𝑑𝜏
𝑐 0

1
𝑣𝑐 𝑡 = 𝑖 𝑡 − 𝑖2 (𝑡)
𝑐 1
𝟏 𝟏 𝟏
𝑿𝟑 𝒕 = 𝑿𝟏 𝒕 − 𝑿𝟐 𝒕 = 𝑿𝟏 𝒕 − 𝑿𝟐 𝒕 (3)
𝒄 𝒄 𝒄

𝑜𝑢𝑡𝑝𝑢𝑡 = 𝑌 𝑡 = 𝑅1 𝑖2 (𝑡)

𝒀 𝒕 = 𝑹𝟏 𝒊𝟐 𝒕 = 𝑹𝟏 𝑿𝟐 𝒕 (4)

𝟏
0 0 −
𝑿𝟏 𝒕 𝑳𝟏 𝟏
𝑋1 𝑡
−𝑹𝟏 𝟏
𝑿𝟐 𝒕 = 0 𝑋2 𝑡 + 𝑳𝟏 𝑢(𝑡)
𝑳𝟐 𝑳𝟐 𝑋3 𝑡 0
𝑿𝟑 𝒕 𝟏 𝟏 0
− 0
𝒄 𝒄

𝑋1 𝑡
𝑌 𝑡 = 0 𝑹𝟏 0 𝑋2 𝑡 + 0 𝑢(𝑡)
𝑋3 𝑡

𝟏
0 0 −
𝑳𝟏 𝟏
−𝑹𝟏 𝟏
; 𝐵 = 𝑳𝟏
M

𝐴= 0 ; 𝐶 = 0 𝑹𝟏 0 1𝑥3 &𝐷 =0
𝑳𝟐 𝑳𝟐 0
G

𝟏 𝟏 0 3𝑥1
− 0
𝒄 𝒄 3𝑥3

Dr. RAJASHEKHAR B SOMASAGAR 8 Dept. of ECE, GMIT, Davanagere

 5. Obtain the state model for the given transfer function.
24
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 =
𝑠 3 + 9𝑠 2 + 26𝑠 + 24

𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 [𝑦 𝑡 ]
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 =
𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 [𝑢 𝑡 ]
𝑌(𝑠) 24
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = = 3
𝑈(𝑠) 𝑠 + 9𝑠 2 + 26𝑠 + 24
𝑠 3 𝑌 𝑠 + 9𝑠 2 𝑌 𝑠 + 26𝑠𝑌 𝑠 + 24𝑌 𝑠 = 24 𝑈(𝑠)
𝑦(𝑡) + 9𝑦(𝑡) + 26 𝑦(𝑡) + 24 𝑦 𝑡 = 24 𝑢(𝑡)

As the order of the equation is 3, only three state variables

are allowed.
𝑥1 𝑡 , 𝑥2 𝑡 & 𝑥3 𝑡 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑒 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑠
Let, 𝒚 𝒕 = 𝑿𝟏 𝒕

𝒚 𝒕 = 𝑿𝟐 𝒕

𝒚(𝒕) = 𝑿𝟑 𝒕

∴ 𝑿𝟐 𝒕 = 𝑿𝟏 𝒕 & 𝑿𝟑 𝒕 = 𝑿𝟐 𝒕

𝑦(𝑡) = −24 𝑦 𝑡 − 26 𝑦(𝑡) − 9𝑦(𝑡) + 24𝑢(𝑡)

𝑿𝟑 (𝒕) = −𝟐𝟒𝑿𝟏 𝒕 − 𝟐𝟔𝑿𝟐 𝒕 − 𝟗𝑿𝟑 𝒕 + 𝟐𝟒𝒖(𝒕)

𝑿𝟏 𝒕 0 1 0 𝑋1 𝑡 0
M

𝑿𝟐 𝒕 = 0 0 1 𝑋2 𝑡 + 0 𝑢(𝑡)
−24 −26 −9 𝑋3 𝑡 24
G

𝑿𝟑 𝒕

𝑋1 𝑡
𝑌 𝑡 = 1 0 0 𝑋2 𝑡 + 0 𝑢(𝑡)
𝑋3 𝑡

Dr. RAJASHEKHAR B SOMASAGAR 9 Dept. of ECE, GMIT, Davanagere

 0 1 0 𝟎
𝑨= 0 0 1 ;𝑩 = 𝟎 ;𝑪 = 𝟏 𝟎 𝟎 𝟏𝒙𝟑 &𝐷 =𝟎
−24 −26 −9 𝟑𝒙𝟑 𝟐𝟒 𝟑𝒙𝟏

6. Obtain the state model for the given transfer function.

𝑠 2 + 7𝑠 + 2
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = 3
𝑠 + 9𝑠 2 + 26𝑠 + 24

𝑌(𝑠) 𝑠 2 + 7𝑠 + 2
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = =
𝑈(𝑠) 𝑠 3 + 9𝑠 2 + 26𝑠 + 24

1 𝐶(𝑠) 𝑠 2 + 7𝑠 + 2
𝑠 3 + 9𝑠 2 + 26𝑠 + 24
𝑈(𝑠) 𝑌(𝑠)

1
𝐶 𝑠 = 3 2
. 𝑈 𝑠 & 𝑌 𝑠 = 𝐶 𝑠 (𝑠 2 + 7𝑠 + 2)
𝑠 + 9𝑠 + 26𝑠 + 24
1
𝐶 𝑠 = .𝑈 𝑠
𝑠 3 + 9𝑠 2 + 26𝑠 + 24
𝑈 𝑠 = 𝑠 3 𝐶 𝑠 + 9𝑠 2 𝐶 𝑠 + 26𝑠𝐶 𝑠 + 24𝐶 𝑠

𝑢 𝑡 = 𝑐(𝑡) + 9𝑐(𝑡) + 26 𝑐(𝑡) + 24 𝑐 𝑡

𝑐(𝑡) = −24 𝑐 𝑡 − 26 𝑐(𝑡) − 9𝑐(𝑡) + 𝑢 𝑡

As the order of the equation is 3, only three state variables

M

are allowed.
G

𝑥1 𝑡 , 𝑥2 𝑡 & 𝑥3 𝑡 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑒 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑠

Let, 𝑐 𝑡 = 𝑋1 𝑡

𝑐 𝑡 = 𝑋2 𝑡

𝑐(𝑡) = 𝑋3 𝑡

Dr. RAJASHEKHAR B SOMASAGAR 10 Dept. of ECE, GMIT, Davanagere

 ∴ 𝑋2 𝑡 = 𝑋1 𝑡 & 𝑋3 𝑡 = 𝑋2 𝑡

𝑐(𝑡) = −24 𝑐 𝑡 − 26 𝑐(𝑡) − 9𝑐(𝑡) + 𝑢 𝑡

𝑿𝟑 (𝒕) = −𝟐𝟒 𝑿𝟏 𝒕 − 𝟐𝟔 𝑿𝟐 𝒕 − 𝟗 𝑿𝟑 𝒕 + 𝒖 𝒕

𝑿𝟏 𝒕 0 1 0 𝑋1 𝑡 0
𝑿𝟐 𝒕 = 0 0 1 𝑋2 𝑡 + 0 𝑢(𝑡)
𝑿𝟑 𝒕 −24 −26 −9 𝑋3 𝑡 1

𝑌 𝑠 = 𝐶 𝑠 (𝑠 2 + 7𝑠 + 2)

𝑌 𝑠 = 𝑠 2 𝐶 𝑠 + 7𝑠𝐶 𝑠 + 2𝐶 𝑠

𝑦 𝑡 = 𝑐(𝑡) + 7 𝑐(𝑡) + 2 𝑐 𝑡

𝑦 𝑡 = 𝑋3 𝑡 + 7𝑋2 𝑡 + 2𝑋1 𝑡

𝑦 𝑡 = 2𝑋1 𝑡 + 7𝑋2 𝑡 + 𝑋3 𝑡

𝑋1 𝑡
𝑌 𝑡 = 2 7 1 𝑋2 𝑡 + 0 𝑢(𝑡)
𝑋3 𝑡

0 1 0 𝟎
𝑨= 0 0 1 ;𝑩 = 𝟎 ;𝑪 = 𝟐 𝟕 𝟏 𝟏𝒙𝟑 &𝐷 =𝟎
−24 −26 −9 𝟑𝒙𝟑 𝟏 𝟑𝒙𝟏
M
G

Dr. RAJASHEKHAR B SOMASAGAR 11 Dept. of ECE, GMIT, Davanagere

 Derivation of Transfer function from state model

In general state model is

𝑿 𝒕 =𝑨𝑿 𝒕 +𝑩𝒖 𝒕
𝒀 𝒕 = 𝑪𝑿 𝒕 +𝑫𝒖 𝒕
Applying the Laplace transform

𝑠𝑋 𝑠 =𝐴𝑋 𝑠 +𝐵𝑈 𝑠

𝑌 𝑠 = 𝐶 𝑋 𝑠 + 𝐷 𝑈(𝑠)

Since, ‘s’ is an operator, ‘A’ is a 𝑛𝑥𝑛 matrix. Hence to match the

orders, multiply 𝑠 by identity matrix of order 𝑛𝑥𝑛.

𝑠𝑋 𝑠 =𝐴𝑋 𝑠 +𝐵𝑈 𝑠

𝑠𝑋 𝑠 −𝐴𝑋 𝑠 =𝐵𝑈 𝑠

𝑋 𝑠 [𝑠𝐼 − 𝐴] = 𝐵 𝑈 𝑠
𝑩𝑼 𝒔
𝑿 𝒔 = (1)
[𝒔𝑰−𝑨]

Substituting eqn. (1) in 𝑌(𝑠)

𝐵𝑈 𝑠
𝑌 𝑠 =𝐶 + 𝐷 𝑈(𝑠)
[𝑠𝐼 − 𝐴]
𝐵
𝑌 𝑠 = 𝐶 +𝐷 𝑈 𝑠
[𝑠𝐼 − 𝐴]
𝑌(𝑠) 𝐶. 𝐵
= +𝐷
(𝑠𝐼 − 𝐴)
M

𝑈(𝑠)
G

𝑌(𝑠) −1
= 𝐶 (𝑠𝐼 − 𝐴) 𝐵 + 𝐷
𝑈(𝑠)

𝐴𝑑𝑗. 𝐴
𝐴−1 =
𝐴
𝒀(𝒔) 𝑪 𝑨𝒅𝒋 (𝒔𝑰 − 𝑨) 𝑩
= +𝑫
𝑼(𝒔) |𝒔𝑰 − 𝑨|

Dr. RAJASHEKHAR B SOMASAGAR 12 Dept. of ECE, GMIT, Davanagere

 7. Consider the state model and obtain its transfer function.
𝑿𝟏 𝒕 −2 −3 𝑿𝟏 𝒕 3
= + 𝑢(𝑡)
𝑿𝟐 𝒕 4 2 𝑿𝟐 𝒕 5
𝑿 𝒕
𝒀 𝒕 = 𝟏 𝟏 𝟏
𝑿𝟐 𝒕

−2 −3 3
𝐴= ;𝐵 = ;𝐶 = 𝟏 𝟏 & 𝐷 = 0
4 2 5

𝑪 𝑨𝒅𝒋 (𝒔𝑰 − 𝑨) 𝑩
𝑻𝑭 = +𝑫
|𝒔𝑰 − 𝑨|

1 0 −2 −3 𝑠 0 −2 −3
𝑠𝐼 − 𝐴 = 𝑠 − = −
0 1 4 2 0 𝑠 4 2

𝑠+2 3
𝑠𝐼 − 𝐴 =
−4 𝑠−2

𝑠𝐼 − 𝐴 = 𝑠 + 2 𝑠 − 2 + 12 = 𝑠 2 − 4 + 12 = 𝑠 2 + 8

𝑠−2 −3
𝐴𝑑𝑗 𝑠𝐼 − 𝐴 =
4 𝑠+2

𝑠 − 2 −3 3
𝐶 𝐴𝑑𝑗 (𝑠𝐼 − 𝐴) 𝐵 1 1
𝑇𝐹 = +𝐷 = 4 𝑠+2 5 +0
|𝑠𝐼 − 𝐴| 2
𝑠 +8

3 3
𝑠 − 2 + 4 −3 + 𝑠 + 2 𝑠+2 𝑠−1
𝑇𝐹 = 5 = 5
𝑠2 + 8 2
𝑠 +8
M

3𝑠 + 6 + 5𝑠 − 5 8𝑠 + 1
𝑇𝐹 = = 2
G

𝑠2 + 8 𝑠 +8

𝟖𝒔 + 𝟏
𝑻𝑭 =
𝒔𝟐 + 𝟖

Dr. RAJASHEKHAR B SOMASAGAR 13 Dept. of ECE, GMIT, Davanagere

 8. Consider the state model and obtain its transfer function.
𝑋1 𝑡 0 3 𝑋1 𝑡 1 1 𝑢1 (𝑡)
= +
𝑋2 𝑡 −2 −5 𝑋2 𝑡 1 1 𝑢2 (𝑡)
𝑌1 (𝑡) 2 1 𝑋1 𝑡
=
𝑌2 (𝑡) 1 0 𝑋2 𝑡

0 3 1 1 2 1
𝐴= ;𝐵 = ;𝐶 = &𝐷 =0
−2 −5 1 1 1 0

𝑪 𝑨𝒅𝒋 (𝒔𝑰 − 𝑨) 𝑩
𝑻𝑭 = +𝑫
|𝒔𝑰 − 𝑨|

1 0 0 3 𝑠 0 0 3
𝑠𝐼 − 𝐴 = 𝑠 − = −
0 1 −2 −5 0 𝑠 −2 −5

𝑠 −3
𝑠𝐼 − 𝐴 =
2 𝑠+5

𝑠𝐼 − 𝐴 = 𝑠 𝑠 + 5 + 6 = 𝑠 2 + 5𝑠 + 6

𝑠+5 3
𝐴𝑑𝑗 𝑠𝐼 − 𝐴 =
−2 𝑠

2 1 𝑠+5 3 1 1
𝐶 𝐴𝑑𝑗 (𝑠𝐼 − 𝐴) 𝐵
𝑇𝐹 = +𝐷 = 1 0
2
−2 𝑠 1 1 + 0
|𝑠𝐼 − 𝐴| 𝑠 + 5𝑠 + 6

2𝑠 + 10 − 2 6 + 𝑠 1 1 2𝑠 + 8 𝑠 + 6 1 1
𝑇𝐹 = 𝑠+5 3 1 1 = 𝑠+5 3 1 1
2
𝑠 + 5𝑠 + 6 2
𝑠 + 5𝑠 + 6
M

2𝑠 + 8 + 𝑠 + 6 2𝑠 + 8 + 𝑠 + 6 3𝑠 + 14 3𝑠 + 14
𝑠+5+3 𝑠+5+3 = 𝑠+8 𝑠+8
G

𝑇𝐹 = 2
𝑠 + 5𝑠 + 6 𝑠 + 3 (𝑠 + 2)

𝟑𝒔 + 𝟏𝟒 𝟑𝒔 + 𝟏𝟒
𝒔 + 𝟑 (𝒔 + 𝟐) 𝒔 + 𝟑 (𝒔 + 𝟐)
𝑻𝑭 =
𝒔+𝟖 𝒔+𝟖
𝒔 + 𝟑 (𝒔 + 𝟐) 𝒔 + 𝟑 (𝒔 + 𝟐)

Dr. RAJASHEKHAR B SOMASAGAR 14 Dept. of ECE, GMIT, Davanagere

 Properties of State transition matrix

It is represented as 𝝓 𝒕 = 𝒆𝑨𝒕

1. 𝝓 𝟎 = 𝒆𝑨𝟎 = 𝑰 (𝑰𝒅𝒆𝒏𝒕𝒊𝒕𝒚 𝒎𝒂𝒕𝒓𝒊𝒙)

−𝟏
2. 𝝓 𝒕 = 𝒆𝑨𝒕 = 𝒆−𝑨𝒕 −𝟏 = 𝒆𝑨(−𝒕) = 𝝓(−𝒕) −𝟏
3. 𝝓(𝒕) −𝟏 = 𝝓 −𝒕

4. 𝝓 𝒕𝟏 + 𝒕𝟐 = 𝒆𝑨(𝒕𝟏 +𝒕𝟐 ) = 𝒆𝑨𝒕𝟏 . 𝒆𝑨𝒕𝟐 = 𝝓 𝒕𝟏 . 𝝓 𝒕𝟐

5. 𝝓(𝒕) 𝒏 = 𝒆𝑨𝒕 𝒏 = 𝒆𝑨(𝒏𝒕) = 𝝓 𝒏𝒕

6. 𝝓 𝒕𝟐 − 𝒕𝟏 𝝓 𝒕𝟏 − 𝒕𝟎 = 𝝓 𝒕𝟐 − 𝒕𝟎

Proof: 𝝓 𝒕𝟐 − 𝒕𝟏 𝝓 𝒕𝟏 − 𝒕𝟎 = 𝒆𝑨 𝒕𝟐 −𝒕𝟏 . 𝒆𝑨 𝒕𝟏 −𝒕𝟎

𝝓 𝒕𝟐 − 𝒕𝟏 𝝓 𝒕𝟏 − 𝒕𝟎 = 𝒆𝑨𝒕𝟐 . 𝒆−𝑨𝒕𝟏 . 𝒆𝑨𝒕𝟏 . 𝒆−𝑨𝒕𝟎 = 𝒆𝑨𝒕𝟐 . 𝒆−𝑨𝒕𝟎

𝝓 𝒕𝟐 − 𝒕𝟏 𝝓 𝒕𝟏 − 𝒕𝟎 = 𝝓 𝒕𝟐 − 𝒕𝟎

𝐹𝑜𝑟𝑚𝑢𝑙𝑎:

𝒂𝒅𝒋 𝒔𝑰 − 𝑨
𝝓 𝒕 = 𝒆𝑨𝒕 = 𝓛−𝟏
𝒔𝑰 − 𝑨
M
G

Dr. RAJASHEKHAR B SOMASAGAR 15 Dept. of ECE, GMIT, Davanagere

 9. Obtain the state transition matrix for

0 −1
𝐴=
2 −3
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = 𝑒 𝐴𝑡 = ℒ −1
𝑠𝐼 − 𝐴
1 0 0 −1 𝑠 0 0 −1 𝑠 1
𝑠𝐼 − 𝐴 = 𝑠 − = − =
0 1 2 −3 0 𝑠 2 −3 −2 𝑠+3

𝑠𝐼 − 𝐴 = 𝑠 𝑠 + 3 + 2 = 𝑠2 + 3𝑠 + 2 = 𝑠 + 1 (𝑠 + 2)
𝑠+3 −1
𝑎𝑑𝑗 𝑠𝐼 − 𝐴 =
2 𝑠
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = ℒ −1
𝑠𝐼 − 𝐴
𝑠 + 3 −1
2 𝑠
𝜙 𝑡 = ℒ −1
𝑠 + 1 (𝑠 + 2)

𝑠+3 −1
𝑠 + 1 (𝑠 + 2) 𝑠 + 1 (𝑠 + 2)
𝜙 𝑡 = ℒ −1
2 𝑠
𝑠 + 1 (𝑠 + 2) 𝑠 + 1 (𝑠 + 2)

𝒔+𝟑 𝑨 𝑩 −𝟏 𝑨 𝑩
= + = +
𝒔 + 𝟏 (𝒔 + 𝟐) (𝒔 + 𝟏) (𝒔 + 𝟐) 𝒔 + 𝟏 (𝒔 + 𝟐) (𝒔 + 𝟏) (𝒔 + 𝟐)
𝝓 𝒕 = 𝓛−𝟏
𝟐 𝑨 𝑩 𝒔 𝑨 𝑩
= + = +
𝒔 + 𝟏 (𝒔 + 𝟐) (𝒔 + 𝟏) (𝒔 + 𝟐) 𝒔 + 𝟏 (𝒔 + 𝟐) (𝒔 + 𝟏) (𝒔 + 𝟐)
M

𝑠+3 𝐴 𝐵 −1 𝐴 𝐵
G

= +
𝑠 + 1 (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
𝑠 + 3 = 𝐴 𝑠 + 2 + 𝐵(𝑠 + 1)
𝑠 = −2; 1 = 𝐵 −1 ; ∴ 𝐵 = −1
𝑠 = −1; 2 = 𝐴 1 ; ∴ 𝐴 = 2
= +
𝑠 + 1 (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
−1 = 𝐴 𝑠 + 2 + 𝐵(𝑠 + 1)
𝑠 = −2; −1 = 𝐵 −1 ; ∴ 𝐵 = 1
𝑠 = −1; −1 = 𝐴 1 ; ∴ 𝐴 = −1

Dr. RAJASHEKHAR B SOMASAGAR 16 Dept. of ECE, GMIT, Davanagere

 2 𝐴 𝐵 𝑠 𝐴 𝐵
= + = +
𝑠 + 1 (𝑠 + 2) (𝑠 + 1) (𝑠 + 2) 𝑠 + 1 (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
2 = 𝐴 𝑠 + 2 + 𝐵(𝑠 + 1) 𝑠 = 𝐴 𝑠 + 2 + 𝐵(𝑠 + 1)
𝑠 = −2; 2 = 𝐵 −1 ; ∴ 𝐵 = −2 𝑠 = −2; −2 = 𝐵 −1 ; ∴ 𝐵 = 2
𝑠 = −1; 2 = 𝐴 1 ; ∴ 𝐴 = 2 𝑠 = −1; −1 = 𝐴 1 ; ∴ 𝐴 = −1

2 −1 −1 1
+ +
(𝑠 + 1) (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
𝜙 𝑡 = ℒ −1 2 −2 −1 2
+ +
(𝑠 + 1) (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)

𝟐𝒆−𝒕 − 𝒆−𝟐𝒕 −𝒆−𝒕 + 𝒆−𝟐𝒕

𝝓 𝒕 =
𝟐𝒆−𝒕 − 𝟐𝒆−𝟐𝒕 −𝒆−𝒕 + 𝟐𝒆−𝟐𝒕

10. Obtain the state transition matrix 𝜙 𝑡 and its inverse

for
0 1
𝐴=
−2 −3
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = 𝑒 𝐴𝑡 = ℒ −1
𝑠𝐼 − 𝐴
1 0 0 1 𝑠 0 0 1 𝑠 −1
𝑠𝐼 − 𝐴 = 𝑠 − = − =
0 1 −2 −3 0 𝑠 −2 −3 2 𝑠+3

𝑠𝐼 − 𝐴 = 𝑠 𝑠 + 3 + 2 = 𝑠2 + 3𝑠 + 2 = 𝑠 + 1 (𝑠 + 2)
M

𝑠+3 1
𝑎𝑑𝑗 𝑠𝐼 − 𝐴 =
G

−2 𝑠
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = ℒ −1
𝑠𝐼 − 𝐴
𝑠+3 1
−2 𝑠
𝜙 𝑡 = ℒ −1
𝑠 + 1 (𝑠 + 2)

Dr. RAJASHEKHAR B SOMASAGAR 17 Dept. of ECE, GMIT, Davanagere

 𝑠+3 1
𝑠 + 1 (𝑠 + 2) 𝑠 + 1 (𝑠 + 2)
𝜙 𝑡 = ℒ −1
−2 𝑠
𝑠 + 1 (𝑠 + 2) 𝑠 + 1 (𝑠 + 2)

𝒔+𝟑 𝑨 𝑩 𝟏 𝑨 𝑩
= + = +
𝒔 + 𝟏 (𝒔 + 𝟐) (𝒔 + 𝟏) (𝒔 + 𝟐) 𝒔 + 𝟏 (𝒔 + 𝟐) (𝒔 + 𝟏) (𝒔 + 𝟐)
𝝓 𝒕 = 𝓛−𝟏
−𝟐 𝑨 𝑩 𝒔 𝑨 𝑩
= + = +
𝒔 + 𝟏 (𝒔 + 𝟐) (𝒔 + 𝟏) (𝒔 + 𝟐) 𝒔 + 𝟏 (𝒔 + 𝟐) (𝒔 + 𝟏) (𝒔 + 𝟐)

𝑠+3 𝐴 𝐵 1 𝐴 𝐵
= + = +
𝑠 + 1 (𝑠 + 2) (𝑠 + 1) (𝑠 + 2) 𝑠 + 1 (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
𝑠 + 3 = 𝐴 𝑠 + 2 + 𝐵(𝑠 + 1) 1 = 𝐴 𝑠 + 2 + 𝐵(𝑠 + 1)
𝑠 = −2; 1 = 𝐵 −1 ; ∴ 𝐵 = −1 𝑠 = −2; 1 = 𝐵 −1 ; ∴ 𝐵 = −1
𝑠 = −1; 2 = 𝐴 1 ; ∴ 𝐴 = 2 𝑠 = −1; 1 = 𝐴 1 ; ∴ 𝐴 = 1

−2 𝐴 𝐵 𝑠 𝐴 𝐵
= + = +
𝑠 + 1 (𝑠 + 2) (𝑠 + 1) (𝑠 + 2) 𝑠 + 1 (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
−2 = 𝐴 𝑠 + 2 + 𝐵(𝑠 + 1) 𝑠 = 𝐴 𝑠 + 2 + 𝐵(𝑠 + 1)
𝑠 = −2; −2 = 𝐵 −1 ; ∴ 𝐵 = 2 𝑠 = −2; −2 = 𝐵 −1 ; ∴ 𝐵 = 2
𝑠 = −1; −2 = 𝐴 1 ; ∴ 𝐴 = −2 𝑠 = −1; −1 = 𝐴 1 ; ∴ 𝐴 = −1

2 −1 1 −1
+ +
(𝑠 + 1) (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
𝜙 𝑡 = ℒ −1 −2 2 −1 2
+ +
(𝑠 + 1) (𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
M
G

𝟐𝒆−𝒕 − 𝒆−𝟐𝒕 𝒆−𝒕 − 𝒆−𝟐𝒕

𝝓 𝒕 =
−𝟐𝒆−𝒕 + 𝟐𝒆−𝟐𝒕 −𝒆−𝒕 + 𝟐𝒆−𝟐𝒕
𝑎𝑑𝑗 𝜙 𝑡
𝝓𝒕 −𝟏
=
𝜙𝑡
𝜙 𝑡 = 𝟐𝒆−𝒕 − 𝒆−𝟐𝒕 −𝒆−𝒕 + 𝟐𝒆−𝟐𝒕 − 𝒆−𝒕 − 𝒆−𝟐𝒕 −𝟐𝒆−𝒕 + 𝟐𝒆−𝟐𝒕

Dr. RAJASHEKHAR B SOMASAGAR 18 Dept. of ECE, GMIT, Davanagere

 𝜙 𝑡 = −𝟐𝒆−𝒕 . 𝒆−𝒕 + 𝟐𝒆−𝒕 . 𝟐𝒆−𝟐𝒕 + 𝒆−𝟐𝒕 . 𝒆−𝒕 − 𝒆−𝟐𝒕 . 𝟐𝒆−𝟐𝒕 + 𝒆−𝒕 . 𝟐𝒆−𝒕
− 𝒆−𝒕 . 𝟐𝒆−𝟐𝒕 − 𝒆−𝟐𝒕 . 𝟐𝒆−𝒕 + 𝒆−𝟐𝒕 . 𝟐𝒆−𝟐𝒕

= −𝟐𝒆−𝟐𝒕 + 𝟒𝒆−𝟑𝒕 + 𝒆−𝟑𝒕 − 𝟐𝒆−𝟒𝒕 + 𝟐𝒆−𝟐𝒕 − 𝟐𝒆−𝟑𝒕 − 𝟐𝒆−𝟑𝒕 + 𝟐𝒆−𝟒𝒕

𝜙 𝑡 = 𝒆−𝟑𝒕
−𝑡 −2𝑡
−𝑒−𝑡 + 𝑒−2𝑡
𝑎𝑑𝑗 𝜙 𝑡 = −𝑒−𝑡 + 2𝑒−2𝑡
2𝑒 − 2𝑒 2𝑒−𝑡 − 𝑒−2𝑡
−𝑒 −𝑡 + 2𝑒 −2𝑡 −𝑒 −𝑡 + 𝑒 −2𝑡
𝑎𝑑𝑗 𝜙 𝑡 −𝑡 −2𝑡 −𝑡 −2𝑡
𝝓𝒕 −𝟏
= = 2𝑒 − 2𝑒 −3𝑡 2𝑒 − 𝑒
𝜙𝑡 𝑒

−𝑒 −𝑡 + 2𝑒 −2𝑡 −𝑒 −𝑡 + 𝑒 −2𝑡
𝝓𝒕 −𝟏
= 𝑒 −3𝑡 𝑒 −3𝑡
2𝑒 −𝑡 − 2𝑒 −2𝑡 2𝑒 −𝑡 − 𝑒 −2𝑡
𝑒 −3𝑡 𝑒 −3𝑡
𝟐𝒕 𝒕
𝝓𝒕 −𝟏
= −𝒆𝟐𝒕 + 𝟐𝒆𝒕 −𝒆𝟐𝒕 + 𝒆𝒕
𝟐𝒆 − 𝟐𝒆 𝟐𝒆𝟐𝒕 − 𝒆𝒕

𝟐𝒆−𝒕 − 𝒆−𝟐𝒕 𝒆−𝒕 − 𝒆−𝟐𝒕

𝝓 𝒕 =
−𝟐𝒆−𝒕 + 𝟐𝒆−𝟐𝒕 −𝒆−𝒕 + 𝟐𝒆−𝟐𝒕
𝟐𝒕 𝒕
𝝓𝒕 −𝟏
= −𝒆𝟐𝒕 + 𝟐𝒆𝒕 −𝒆𝟐𝒕 + 𝒆𝒕
𝟐𝒆 − 𝟐𝒆 𝟐𝒆𝟐𝒕 − 𝒆𝒕

11. Obtain the solution of the homogeneous state

M

1 0 1
equation, 𝑋 = 𝐴𝑋, where 𝐴 = &𝑋 0 = .
G

1 1 0
Solution of the homogeneous state equation:

𝑋 𝑡 = 𝑒 𝐴𝑡 . 𝑋 0 = 𝜙 𝑡 . 𝑋 0

Dr. RAJASHEKHAR B SOMASAGAR 19 Dept. of ECE, GMIT, Davanagere

 𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = 𝑒 𝐴𝑡 = ℒ −1
𝑠𝐼 − 𝐴
1 0 1 0 𝑠 0 1 0 𝑠−1 0
𝑠𝐼 − 𝐴 = 𝑠 − = − =
0 1 1 1 0 𝑠 1 1 −1 𝑠−1

𝑠𝐼 − 𝐴 = 𝑠 − 1 𝑠 − 1 = 𝑠 − 1 2

𝑠−1 0
𝑎𝑑𝑗 𝑠𝐼 − 𝐴 =
1 𝑠−1
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = ℒ −1
𝑠𝐼 − 𝐴
𝑠−1 0
1 𝑠−1
𝜙 𝑡 = ℒ −1 2
𝑠−1

𝑠−1 0 1
2 2
0
𝑠−1 𝑠−1 (𝑠 − 1)
𝜙 𝑡 = ℒ −1 1 𝑠−1
= ℒ −1 1 1
2 2 2
𝑠−1 𝑠−1 𝑠−1 (𝑠 − 1)
𝒕
𝝓 𝒕 = 𝒆𝒕 𝟎
𝒕. 𝒆 𝒆𝒕
Solution of the homogeneous state equation:
𝑡 0 1 = 𝑒𝑡
𝑋 𝑡 = 𝑒 𝐴𝑡 . 𝑋 0 = 𝜙 𝑡 . 𝑋 0 = 𝑒 𝑡
𝑡. 𝑒 𝑒𝑡 0 𝑡. 𝑒𝑡

𝑿 𝒕 = 𝒆𝒕
𝒕. 𝒆𝒕
M
G

12. Obtain state transition matrix defined by the state

model.
1 1
𝑋1 𝑡 −1 − 𝑋1 𝑡
= 2 𝑋 𝑡 + 2 𝑢(𝑡)
𝑋2 𝑡 1 0 2
0

Dr. RAJASHEKHAR B SOMASAGAR 20 Dept. of ECE, GMIT, Davanagere

 1
−1 −
Given, 𝐴 = 2
1 0
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = 𝑒 𝐴𝑡 = ℒ −1
𝑠𝐼 − 𝐴
1 1 1
1 0 𝑠 0
𝑠𝐼 − 𝐴 = 𝑠 − −1 −
2 = 0 − −1 −
2 =
𝑠+1
2
0 1 𝑠
1 0 1 0 −1 𝑠
2 2
1 1 1 1 1 1
𝑠𝐼 − 𝐴 = 𝑠 𝑠 + 1 + = 𝑠 + 𝑠 + = 𝑠 + 𝑠 + + = s +
2 2
+
2 2 4 4 2 2
1
𝑎𝑑𝑗 𝑠𝐼 − 𝐴 = 𝑠 2
−
1 𝑠+1

𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = ℒ −1
𝑠𝐼 − 𝐴

1
𝑠 −
2
1 𝑠+1
𝜙 𝑡 = ℒ −1 2 2
1 1
s+ +
2 2

1
𝒔 −
2
𝟐 𝟐 2 2
𝟏 𝟏 1 1
𝐬+ + s+ +
𝜙 𝑡 = ℒ −1 𝟐 𝟐 2 2
𝟏 𝑠+1
𝟐 𝟐 2 2
𝟏 𝟏 1 1
M

𝐬+ + s+ +
𝟐 𝟐 2 2
G

1 1 1 1
𝑠 𝑠+ − 𝑠+
= 2 2 = 2 − 2
2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1
s+ + s+ + s+ + s+ +
2 2 2 2 2 2 2 2

Dr. RAJASHEKHAR B SOMASAGAR 21 Dept. of ECE, GMIT, Davanagere

 1 1
1 2 2
2 2 = 2 2 + 2 2
1 1 1 1 1 1
s+ + s+ + s+ +
2 2 2 2 2 2

1 1 1 1
𝑠+1 𝑠+ + 𝑠+
= 2 2 = 2 + 2
2 2 2 2 2 2 2 2
1 1 1 1 1 1 1 1
s+ + s+ + s+ + s+ +
2 2 2 2 2 2 2 2

1 1 1
𝑠+2 −2
− 2
2 2 2 2 2 2
1 1 1 1 1 1
s+2 + 2 s+2 + 2 s+2 + 2
= ℒ −1
1 1 1 1
2 2 𝑠+2 2
2 2 + 2 2 2 2 + 2 2
1 1 1 1 1 1 1 1
s+2 + 2 s+2 + 2 s+2 + 2 s+2 + 2

1 1 1
𝑒 −1/2𝑡 cos 𝑡 − 𝑒 −1/2𝑡 sin 𝑡 −𝑒 −1/2𝑡 sin 𝑡
= 2 2 2
1 1 1 1
𝑒 −1/2𝑡 sin 𝑡 + 𝑒 −1/2𝑡 sin 𝑡 𝑒 −1/2𝑡 cos 𝑡 + 𝑒 −1/2𝑡 sin 𝑡
2 2 2 2
𝟏 𝟏 𝟏
𝒆−𝟏/𝟐𝒕 𝐜𝐨𝐬 𝒕 − 𝐬𝐢𝐧 𝒕 −𝒆−𝟏/𝟐𝒕 𝐬𝐢𝐧 𝒕
𝟐 𝟐 𝟐
𝝓 𝒕 = 𝟏 𝟏 𝟏
𝟐. 𝒆−𝟏/𝟐𝒕 𝐬𝐢𝐧 𝒕 𝒆−𝟏/𝟐𝒕 𝐜𝐨𝐬 𝒕 + 𝐬𝐢𝐧 𝒕
𝟐 𝟐 𝟐
13. A LTI system is characterized by the homogeneous
𝑋 𝑡 1 −2 𝑋1 𝑡
state equation, 1 = . Assume initial state
𝑋2 𝑡 1 −4 𝑋2 𝑡
1/2
M

vector 𝑋0 = . Obtain the solution.

1
G

Solution of the homogeneous state equation:

𝑋 𝑡 = 𝑒 𝐴𝑡 . 𝑋 0 = 𝜙 𝑡 . 𝑋 0

Dr. RAJASHEKHAR B SOMASAGAR 22 Dept. of ECE, GMIT, Davanagere

 𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = 𝑒 𝐴𝑡 = ℒ −1
𝑠𝐼 − 𝐴
1 0 1 −2 𝑠 0 1 −2 𝑠−1 2
𝑠𝐼 − 𝐴 = 𝑠 − = − =
0 1 1 −4 0 𝑠 1 −4 −1 𝑠+4

𝑠𝐼 − 𝐴 = 𝑠 − 1 𝑠 + 4 + 2 = 𝑠2 + 3s − 2 = s − 0.56 (s + 3.56)
𝑠+4 −2
𝑎𝑑𝑗 𝑠𝐼 − 𝐴 =
1 𝑠−1
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = ℒ −1
𝑠𝐼 − 𝐴
𝑠 + 4 −2
𝜙 𝑡 = ℒ −1 1 𝑠−1
s − 0.56 (s + 3.56)
𝑠+4 −2
s − 0.56 (s + 3.56) s − 0.56 (s + 3.56)
𝜙 𝑡 = ℒ −1
1 𝑠−1
s − 0.56 (s + 3.56) s − 0.56 (s + 3.56)

𝑠+4 𝐴 𝐵 −2 𝐴 𝐵
= + = +
𝑠 − 0.56 (𝑠 + 3.56) (𝑠 − 0.56) (𝑠 + 3.56) 𝑠 − 0.56 (𝑠 + 3.56) (𝑠 − 0.56) (𝑠 + 3.56)
𝑠 + 4 = 𝐴 𝑠 + 3.56 + 𝐵(𝑠 − 0.56) −2 = 𝐴 𝑠 + 3.56 + 𝐵(𝑠 − 0.56)
𝑠 = 0.56; ∴ 𝐴 = 1.106 𝑠 = 0.56; ∴ 𝐴 = −0.48
𝑠 = −3.56; ∴ 𝐵 = −0.106 𝑠 = −3.56; ∴ 𝐵 = 0.48

1 𝐴 𝐵 𝑠−1 𝐴 𝐵
= + = +
𝑠 − 0.56 (𝑠 + 3.56) (𝑠 − 0.56) (𝑠 + 3.56) 𝑠 − 0.56 (𝑠 + 3.56) (𝑠 − 0.56) (𝑠 + 3.56)
1 = 𝐴 𝑠 + 3.56 + 𝐵(𝑠 − 0.56) 𝑠 − 1 = 𝐴 𝑠 + 3.56 + 𝐵(𝑠 − 0.56)
M

𝑠 = 0.56; ∴ 𝐴 = 0.242 𝑠 = 0.56; ∴ 𝐴 = −0.106

G

𝑠 = −3.56; ∴ 𝐵 = −0.242 𝑠 = −3.56; ∴ 𝐵 = 1.106

1.106 −0.106 −0.48 0.48

+ +
(𝑠 − 0.56) (𝑠 + 3.56) (𝑠 − 0.56) (𝑠 + 3.56)
𝜙 𝑡 = ℒ −1 0.242 −0.242 −0.106 1.106
+ +
(𝑠 − 0.56) (𝑠 + 3.56) (𝑠 − 0.56) (𝑠 + 3.56)

Dr. RAJASHEKHAR B SOMASAGAR 23 Dept. of ECE, GMIT, Davanagere

 0.56𝑡 −3.56𝑡
𝜙 𝑡 = 1.106𝑒 0.56𝑡 − 0.106𝑒 −3.56𝑡 −0.48𝑒 0.56𝑡 + 0.48𝑒 −3.56𝑡
0.242𝑒 − 0.242𝑒 −0.106𝑒 0.56𝑡 + 1.106𝑒 −3.56𝑡

𝑋 𝑡 = 𝑒 𝐴𝑡 . 𝑋 0 = 𝜙 𝑡 . 𝑋 0
0.56𝑡 −3.56𝑡
𝑋 𝑡 = 1.106𝑒 0.56𝑡 − 0.106𝑒 −3.56𝑡 −0.48𝑒 0.56𝑡 + 0.48𝑒 −3.56𝑡 1/2
0.242𝑒 − 0.242𝑒 −0.106𝑒 0.56𝑡 + 1.106𝑒 −3.56𝑡 1

𝑋 𝑡 = 0.553𝑒 0.56𝑡 − 0.053𝑒 −3.56𝑡 − 0.48𝑒 0.56𝑡 + 0.48𝑒 −3.56𝑡

0.121𝑒 0.56𝑡 − 0.121𝑒 −3.56𝑡 − 0.106𝑒 0.56𝑡 + 1.106𝑒 −3.56𝑡

𝟎.𝟓𝟔𝒕 −𝟑.𝟓𝟔𝒕
𝑿 𝒕 = 𝟎. 𝟎𝟕𝟑𝒆𝟎.𝟓𝟔𝒕 + 𝟎. 𝟒𝟐𝟕𝒆−𝟑.𝟓𝟔𝒕
𝟎. 𝟎𝟏𝟓𝒆 + 𝟎. 𝟗𝟖𝟓𝒆

14. Obtain complete solution or time response of the

𝑋1 𝑡 1 0 𝑋1 𝑡 1
following system = + 𝑢(𝑡) . Where 𝑢(𝑡)
𝑋2 𝑡 1 1 𝑋2 𝑡 1

is the unit step occurring at 𝑡 = 0 & 𝑋 𝑇 0 = 1 0 .

Complete solution or time response= 𝒁𝑰𝑹 + 𝒁𝑺𝑹.

where ZIR: zero input response, ZSR: zero state response.

𝒁𝑰𝑹 = 𝒆𝑨𝒕 . 𝑿 𝟎 = 𝝓 𝒕 . 𝑿 𝟎
M
G

𝒁𝑺𝑹 = 𝓛−𝟏 𝝓 𝒔 . 𝑩. 𝑼(𝒔)

𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = 𝑒 𝐴𝑡 = ℒ −1
𝑠𝐼 − 𝐴
1 0 1 0 𝑠 0 1 0 𝑠−1 0
𝑠𝐼 − 𝐴 = 𝑠 − = − =
0 1 1 1 0 𝑠 1 1 −1 𝑠−1

Dr. RAJASHEKHAR B SOMASAGAR 24 Dept. of ECE, GMIT, Davanagere

𝑠𝐼 − 𝐴 = 𝑠 − 1 𝑠 − 1 = 𝑠 − 1 2

𝑠−1 0
𝑎𝑑𝑗 𝑠𝐼 − 𝐴 =
1 𝑠−1
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = ℒ −1
𝑠𝐼 − 𝐴
𝑠−1 0
1 𝑠−1
𝜙 𝑡 = ℒ −1 2
𝑠−1

𝑠−1 0 1
2 2
0
−1 𝑠−1 𝑠−1 −1 (𝑠 − 1)
𝜙 𝑡 =ℒ 1 𝑠−1
=ℒ 1 1
2 2 2
𝑠−1 𝑠−1 𝑠−1 (𝑠 − 1)
𝒕
𝝓 𝒕 = 𝒆𝒕 𝟎
𝒕. 𝒆 𝒆𝒕
Solution of the homogeneous state equation:
𝑡 0 1 = 𝑒𝑡
𝑋 𝑡 = 𝑒 𝐴𝑡 . 𝑋 0 = 𝜙 𝑡 . 𝑋 0 = 𝑒 𝑡
𝑡. 𝑒 𝑒𝑡 0 𝑡. 𝑒𝑡

𝒁𝑰𝑹 = 𝒆𝒕
𝒕. 𝒆𝒕
𝒁𝑺𝑹 = 𝓛−𝟏 𝝓 𝒔 . 𝑩. 𝑼(𝒔)

1
0
𝑡
𝜙 𝑡 = 𝑒 𝑡 0 ∴ 𝜙 𝑠 = (𝑠 − 1)
M

𝑡. 𝑒 𝑒𝑡 1 1
2
𝑠−1 (𝑠 − 1)
G

1
𝐵= & 𝑈 𝑠 = 1/𝑠
1

Dr. RAJASHEKHAR B SOMASAGAR 25 Dept. of ECE, GMIT, Davanagere

 1
0
−1 (𝑠 − 1) 1
𝑍𝑆𝑅 = ℒ 1 1
. . 1/𝑠
1
𝑠−1 2 (𝑠 − 1)

1
(𝑠 − 1)
𝑍𝑆𝑅 = ℒ −1 1 1
. 1/𝑠
+
𝑠−1 2 (𝑠 − 1)

1 1
𝑠(𝑠 − 1) 𝑠(𝑠 − 1)
𝑍𝑆𝑅 = ℒ −1 1 1
= ℒ −1 1 1
+ +1
𝑠 𝑠−1 2 𝑠(𝑠 − 1) 𝑠(𝑠 − 1) (𝑠 − 1)

1 1
𝑠(𝑠 − 1) 𝑠(𝑠 − 1)
𝑍𝑆𝑅 = ℒ −1 1 1+𝑠−1
= ℒ −1 1 𝑠
𝑠(𝑠 − 1) (𝑠 − 1) 𝑠(𝑠 − 1) (𝑠 − 1)

1 1 𝐴 𝐵
= +
𝑠(𝑠 − 1) 𝑠(𝑠 − 1) 𝑠 (𝑠 − 1)
𝑍𝑆𝑅 = ℒ −1 1
= ℒ −1 1
(𝑠 − 1)2 (𝑠 − 1)2

−1 1
+
𝑠 (𝑠 − 1)
𝑍𝑆𝑅 = ℒ −1 1
M

(𝑠 − 1)2
G

𝑡 𝑡
𝑍𝑆𝑅 = −1 +𝑡𝑒 = 𝑒 −𝑡1
𝑡. 𝑒 𝑡. 𝑒

Complete solution or time response= 𝒁𝑰𝑹 + 𝒁𝑺𝑹.

Dr. RAJASHEKHAR B SOMASAGAR 26 Dept. of ECE, GMIT, Davanagere

 𝑡 𝑡
𝐶𝑜𝑚𝑝𝑙𝑒𝑡𝑒 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 = 𝑒 𝑡 + 𝑒 −𝑡1
𝑡. 𝑒 𝑡. 𝑒

𝑡 𝑡 𝑡
𝐶𝑜𝑚𝑝𝑙𝑒𝑡𝑒 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 = 𝑒 +𝑡 𝑒 − 1𝑡 = 2𝑒 −𝑡1
𝑡. 𝑒 + 𝑡. 𝑒 2𝑡. 𝑒

𝒕
𝑪𝒐𝒎𝒑𝒍𝒆𝒕𝒆 𝒔𝒐𝒍𝒖𝒕𝒊𝒐𝒏 = 𝟐𝒆 −𝒕𝟏
𝟐𝒕. 𝒆

15. A LTI system is characterized by the state equation as

𝑋1 𝑡 0 1 𝑋1 𝑡 0 𝑥 (0) 0
= + 𝑢 𝑡 & 1 = . Where
𝑋2 𝑡 −3 −4 𝑋2 𝑡 1 𝑥2 (0) 1

0; 𝑡 < 0
𝑢 𝑡 = . Compute the solution of homogeneous
𝑒 −𝑡 ; 𝑡 ≥ 0

equation.

𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = 𝑒 𝐴𝑡 = ℒ −1
𝑠𝐼 − 𝐴
1 0 0 1 𝑠 0 0 1 𝑠 −1
𝑠𝐼 − 𝐴 = 𝑠 − = − =
0 1 −3 −4 0 𝑠 −3 −4 3 𝑠+4

𝑠𝐼 − 𝐴 = 𝑠 𝑠 + 4 + 3 = 𝑠2 + 4s + 3 = s + 1 (s + 3)
𝑠+4 1
𝑎𝑑𝑗 𝑠𝐼 − 𝐴 =
−3 𝑠
𝑎𝑑𝑗 𝑠𝐼 − 𝐴
𝜙 𝑡 = ℒ −1
M

𝑠𝐼 − 𝐴
𝑠+4 1
G

−3 𝑠
𝜙 𝑡 = ℒ −1
s + 1 (s + 3)

Dr. RAJASHEKHAR B SOMASAGAR 27 Dept. of ECE, GMIT, Davanagere

 𝑠+4 1
s + 1 (s + 3) s + 1 (s + 3)
𝜙 𝑡 = ℒ −1 −3 𝑠
s + 1 (s + 3) s + 1 (s + 3)
𝑠+4 𝐴 𝐵 1 𝐴 𝐵
= + = +
𝑠 + 1 (𝑠 + 3) (𝑠 + 1) (𝑠 + 3) 𝑠 + 1 (𝑠 + 3) (𝑠 + 1) (𝑠 + 3)
𝑠 + 4 = 𝐴 𝑠 + 3 + 𝐵(𝑠 + 1) 1 = 𝐴 𝑠 + 3 + 𝐵(𝑠 + 1)
𝑠 = −1; ∴ 𝐴 = 3/2 𝑠 = −1; ∴ 𝐴 = 1/2
𝑠 = −3; ∴ 𝐵 = −1/2 𝑠 = −3; ∴ 𝐵 = −1/2

−3 𝐴 𝐵 𝑠 𝐴 𝐵
= + = +
𝑠 + 1 (𝑠 + 3) (𝑠 + 1) (𝑠 + 3) 𝑠 + 1 (𝑠 + 3) (𝑠 + 1) (𝑠 + 3)
−3 = 𝐴 𝑠 + 3 + 𝐵(𝑠 + 1) 𝑠 = 𝐴 𝑠 + 3 + 𝐵(𝑠 + 1)
𝑠 = −1; ∴ 𝐴 = −3/2 𝑠 = −1; ∴ 𝐴 = −1/2
𝑠 = −3; ∴ 𝐵 = 3/2 𝑠 = −3; ∴ 𝐵 = 3/2

3/2 −1/2 1/2 −1/2

+ +
(𝑠 + 1) (𝑠 + 3) (𝑠 + 1) (𝑠 + 3)
𝜙 𝑡 = ℒ −1 −3/2 3/2 −1/2 3/2
+ +
(𝑠 + 1) (𝑠 + 3) (𝑠 + 1) (𝑠 + 3)

3 1 1 1
𝑒−𝑡 − 𝑒−3𝑡 𝑒−𝑡 − 𝑒−3𝑡
2 2 2 2
𝜙 𝑡 = −3 3 −1 3
𝑒−𝑡 + 𝑒−3𝑡 𝑒−𝑡 + 𝑒−3𝑡
2 2 2 2

1 3 1 1
𝑒−𝑡 − 𝑒−3𝑡 𝑒−𝑡 − 𝑒−3𝑡
0
M

2
𝑍𝐼𝑅 = 𝑒 𝐴𝑡 . 𝑋 0 = 𝜙 𝑡 . 𝑋 0 = −3 2 2 2
3 −1 −𝑡 3 −3𝑡 1
𝑒−𝑡 + 𝑒−3𝑡 𝑒 + 𝑒
G

2 2 2 2

1
1
𝑒−𝑡 − 𝑒−3𝑡
2
𝑍𝐼𝑅 = −1 2
3
𝑒−𝑡 + 𝑒−3𝑡
2 2

Dr. RAJASHEKHAR B SOMASAGAR 28 Dept. of ECE, GMIT, Davanagere

 𝒁𝑺𝑹 = 𝓛−𝟏 𝝓 𝒔 . 𝑩. 𝑼(𝒔)

𝑠+4 1
s + 1 (s + 3) s + 1 (s + 3) 0 1
𝜙 𝑠 = −3 𝑠
;𝐵 = & 𝑈 𝑠 =
1 𝑠+1
s + 1 (s + 3) s + 1 (s + 3)

𝑠+4 1
s + 1 (s + 3) s + 1 (s + 3) 0 1
𝑍𝑆𝑅 = ℒ −1 −3 𝑠
. .
1 𝑠+1
s + 1 (s + 3) s + 1 (s + 3)

1
s + 1 (s + 3) 1
𝑍𝑆𝑅 = ℒ −1 𝑠 .
𝑠+1
s + 1 (s + 3)

1 1
s + 1 (s + 1)(s + 3) s + 1 2 (s + 3)
𝑍𝑆𝑅 = ℒ −1 𝑠 = ℒ −1 𝑠
s + 1 (s + 1)(s + 3) s + 1 2 (s + 3)

1 𝐴 𝐵 𝐶 𝑠 𝐴 𝐵 𝐶
2
= + 2
+ 2 (s
= + 2
+
s + 1 (s + 3) (𝑠 + 1) (𝑠 + 1) (𝑠 + 3) s+1 + 3) (𝑠 + 1) (𝑠 + 1) (𝑠 + 3)
2
1 = 𝐴 𝑠 + 1 (𝑠 + 3) + 𝐵 𝑠 + 3 + 𝐶(𝑠 + 1) 𝑠 = 𝐴 𝑠 + 1 (𝑠 + 3) + 𝐵 𝑠 + 3 + 𝐶(𝑠 + 1)2
𝑠 = −1; 𝐵 = 1/2 𝑠 = −1; 𝐵 = −1/2
𝑠 = −3; 𝐶 = 1/4 𝑠 = −3; 𝐶 = −3/4
Comparing the coefficients of 𝑠 2 Comparing the coefficients of 𝑠 2
0 = 𝐴 + 𝐶 ∴ 𝐴 = −1/4 0 = 𝐴 + 𝐶 ∴ 𝐴 = 3/4
M
G

1 −1/4 1/2 1/4

+ 2
+
s + 1 2 (s + 3) (𝑠 + 1) (𝑠 + 1) (𝑠 + 3)
𝑍𝑆𝑅 = ℒ −1 𝑠 =
3/4 −1/2 −3/4
2 + +
s + 1 (s + 3) (𝑠 + 1) (𝑠 + 1) 2 (𝑠 + 3)

Dr. RAJASHEKHAR B SOMASAGAR 29 Dept. of ECE, GMIT, Davanagere

 1 1 1
− 𝑒 −𝑡 + 𝑡𝑒 −𝑡 + 𝑒 −3𝑡
𝑍𝑆𝑅 = 4 2 4
3 −𝑡 1 −𝑡 3 −3𝑡
𝑒 − 𝑡𝑒 − 𝑒
4 2 4

1 −𝑡 1 −3𝑡 1 1 1
𝑒 − 𝑒 − 𝑒 −𝑡 + 𝑡𝑒 −𝑡 + 𝑒 −3𝑡
𝐶𝑜𝑚𝑝𝑙𝑒𝑡𝑒 𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛 = 𝑍𝐼𝑅 + 𝑍𝑆𝑅 = 2 2 + 34 2 4
−1 −𝑡 3 −3𝑡 1 3
𝑒 + 𝑒 𝑒 −𝑡 − 𝑡𝑒 −𝑡 − 𝑒 −3𝑡
2 2 4 2 4

𝟏 −𝒕 𝟏 −𝒕 𝟏 −𝟑𝒕
𝒆 + 𝒕𝒆 − 𝒆
𝑪𝒐𝒎𝒑𝒍𝒆𝒕𝒆 𝑺𝒐𝒍𝒖𝒕𝒊𝒐𝒏 = 𝟒 𝟐 𝟒
𝟏 −𝒕 𝟏 −𝒕 𝟑 −𝟑𝒕
𝒆 − 𝒕𝒆 + 𝒆
𝟒 𝟐 𝟒

1 −3𝑡
16. For a certain system when 𝑋 0 = then 𝑋 𝑡 = 𝑒 −3𝑡
3 3𝑒
1 𝑡
and when 𝑋 0 = then 𝑋 𝑡 = 𝑒 𝑡 . Determine the system
1 𝑒
matrix 𝐴.
𝐴1 𝐴2
The size of the matrix 𝐴 is 𝑁𝑥𝑁 = 2𝑥2. 𝐴 =
𝐴3 𝐴4
In general state model is
𝑿 𝒕 =𝑨𝑿 𝒕 +𝑩𝒖 𝒕
𝑿 𝒕 =𝑨𝑿 𝒕
𝑿 𝟎 =𝑨𝑿 𝟎
−3𝑡 𝑡
𝑋 𝑡 = 𝑒 −3𝑡 𝑋 𝑡 = 𝑒𝑡
3𝑒 𝑒
M

−3𝑡 𝑡
𝑋(𝑡) = −3𝑒−3𝑡 𝑋(𝑡) = 𝑒 𝑡
−9𝑒 𝑒
G

−3 1
𝑋(0) = 𝑋(0) =
−9 1

Dr. RAJASHEKHAR B SOMASAGAR 30 Dept. of ECE, GMIT, Davanagere

 𝐴1 𝐴2 1 𝐴1 𝐴2 1
𝑋 0 = 𝑋 0 =
𝐴3 𝐴4 3 𝐴3 𝐴4 1
−3 𝐴 𝐴2 1 1 𝐴1 𝐴2 1
= 1 =
−9 𝐴3 𝐴4 3 1 𝐴3 𝐴4 1

−𝟑 = 𝐴1 + 3𝐴2

−𝟗 = 𝐴3 + 3𝐴4

𝟏 = 𝐴1 + 𝐴2 ∴ 𝐴1 = 1 − 𝐴2

𝟏 = 𝐴3 + 𝐴4 ∴ 𝐴3 = 1 − 𝐴4

4
−3 = 1 − 𝐴2 + 3𝐴2 = 1 + 2𝐴2 ∴ 𝐴2 = − = −2
2

10
−𝟗 = 𝐴3 + 3𝐴4 = 1 − 𝐴4 + 3𝐴4 ∴ 𝐴4 = − = −5
2

𝐴1 = 1 − 𝐴2 = 1 + 2 = 3

𝐴3 = 1 − 𝐴4 = 1 + 5 = 6

𝐴1 𝐴2 3 −2
𝐴= =
𝐴3 𝐴4 6 −5

𝟑 −𝟐
𝑨=
𝟔 −𝟓
M
G

Dr. RAJASHEKHAR B SOMASAGAR 31 Dept. of ECE, GMIT, Davanagere