Lecture Two

State Space Analysis 2021

Concept of State, State Variable, State Vector and State

Space - State Space Analysis

In this lecture we will study the definitions of state, state variables state space and
state vector.
Basic Terminology:
1- State: the state of a dynamic system is a minimal set of variables and the
knowledge of these variables. At t = to together with input for t ≥ to
completely determines the behavior of the system for any time t. A compact
and concise representation of the previous history of the system can be
termed as the state of the system.
2- State Variables: The state variables of a dynamic system are the minimal set
of variables which determine the dynamics of a linear system.
X1 (t), X2 (t), X3 (t) ….. Xn (t)
X1 (to), X2 (to), X3 (to) ….. Xn (to) initial state of the system.
Inputs for t ≥ to

3- State Vector: the ‘n’ set of state variables used for describing the dynamic
equations of a linear system can be considered the n-components of the state
vector x(t).
Vector → n-components → state variables .
State vector x (t) =[X1 (t), X2 (t), X3 (t) ….. Xn (t)]
State variables X1 (t), X2 (t), X3 (t) ….. Xn (t)
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4- State space : the state space is the n dimensional space whose coordinate
axis consists of x1-axis , x2-axis …. Xn-axis.
Any state can be represented by a point in state space.

State Space Analysis

State space representation of the control system is a mathematical model of a
physical system as a set of input, output and state variables related by first–order
differential equations.
 State space analysis id a useful technique to analyze and design of system.
 It can be applied to linear, non-linear, time-variant and time –invariant,
SISO and MIMO systems.
 In state space analysis, a system is represented by a mathematical model
consisting of a set of input, output and state variables related by first order
differential equations.
Difference:
Conventional approach Modern Approach
1- Frequency Domain approach 1- Time domain approach
2- Based on transfer function 2- Based on Input, Output and state
variables.
3- Can be applied only on Linear 3- Can be applied on any type of
Time Invariant SISO systems. systems.
4- Laplace Transform 4-Z-Transform.

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State Space Analysis 2021

Advantages:
1- Time domain approach.
2- Applied to any type of system (linear or non-linear…)
3- Can be used where Laplace transform is difficult to obtain.
4- nth order differential equations can be expressed as n equation of first order
whose solutions are easier.
5- Suitable for digital computation.

State Space Representation of Transfer Function

Now we will learn how to find out the state space representation of a
system.
Ex.1
For the system shown in figure, choose state variables as v1(t) and v2(t) and
write down the state equations.

Soln.
Using KVL,

……(1)

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State Space Analysis 2021

And,

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Transfer Function Derivation from the state Model

For a general state model

Tacking Laplace transform of both the equations assuming zero initial conditions,
we get,

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State Space Analysis 2021

s x(s) = A x(s) + B u(s) ……..(1)

y(s) = C x(s) + D u(s) …….(2)
s x(s) –A x(s) = B u(s)
[sI –A] x(s) = B u(s)
Where A, B, C, D are Matrices
I is Identity Matrix …

X(s) = [sI-A]-1 B u(s)

y(s) =c [[sI-A]-1 B u(s)] + D u(s)

y(s) =[c [sI-A] -1 B + D] u(s)

So the transfer function is

The initial condition is zero.

T(s) = transfer function or transfer Matrix

By calculating the transfer function above so we are given the state model

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State Space Analysis 2021

Example: Obtain the transfer function if state model is given by:

Soln.

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State Space Analysis 2021

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………….

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