EE-379

LINEAR CONTROL SYSTEMS

Lecture No 07

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 3 (nn 6th Ed)
Time Domain Analysis
3.3 The General State-Space Representation
3.4 Applying the State-Space Representation

Instructor: Dr. Latif Anjum

Class: BEE
Electrical Engineering Department

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State Equation The state and output equations can be
written in vector-matrix form,

Output Equations The output equation, can be written as

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Graphic representation of state
space and a state vector

 vR (t ) 
x(t )   
v
 C (t )

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The General State-Space Representation
x = state vector
x = time derivative of the state vector
u = input or control vector

A = system matrix D
B = input matrix
u x x y
B  C

y = output vector
A

C = output matrix
D = feed-forward matrix
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The General State-Space Representation

 x1   a11 a12   x1   b1 

 x   a       v(t )
 2   21 a22   x2  b2 

 x1 
y   c1 c2     d1v(t )
 x2 

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 Applying the State-Space Representation
Select the state vector, which must be chosen according to the
following considerations:
1. A minimum number of state variables must be selected as
components of the state vector. This minimum number of state
variables is sufficient to completely describe the state of the
system.

2. The components of the state vector must be linearly

independent.

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 Linear Independence
• If x3 can be expressed in terms of x1 and x2 as:
x3 = 5x1 + 4x2
then x3 is not linearly independent of x1 and x2
• Variables and their successive derivatives are linearly
independent.
For example, the voltage across an inductor, vL, is linearly
independent of the current through the inductor, iL.
diL
vL is linearly dependent on diL/dt vL  L
dt
vL cannot be evaluated as a linear combination of the current, iL
diL diL
iL , vL , i L vL ,
dt dt
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Example 3.1 Representing an Electrical Network
PROBLEM: Given the electrical network shown in the Figure, find a
state-space representation if the output is the current through the resistor.

SOLUTION:
• Label all of the branch
currents
• Write the derivative equation for all
energy storage elements
choose the state variables as the quantities
that are differentiated.

The right-hand sides of these Eqs.

should be linear combinations of the
state variables and the input 8
• Apply network theory to
obtain ic and vL in terms of the
state variables, vc and iL and
the input v(t).
At Node 1

Writing loop eq
for outer loop

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Example 3.3 Representing a Translational Mechanical System
PROBLEM: Find the state equations for the translational mechanical
system shown in the Figure.
SOLUTION:

dx1 d 2 x1 dv1
 v1 
dt dt 2
dt
dx1
 v1
dt dx2 d 2 x2 dv2
 v2 
dt dt 2
dt

dx2
 v2
dt x1, v1, x2, v2 are the state
variables
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dx1
 v1
dt

dx2
 v2
dt

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Obtaining State equations from an
nth order differential equation

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 Dynamic Equations

Choose the output, y(t), and its successive derivatives

up to (n-1)th derivatives as the state variables
Differentiating d n y dy d n 1 y
both sides n
 a0 y  a1   an 1 n 1  b0u
dt dt dt
= x2

= x3

= x4

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  x1 
x 
 2  State vector
x 
x 3 
 
 xn 1 
  phase-variable form of
 xn 
the state equations

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