State Variable Models

The idea of a dynamical system

What is a dynamical system?
A dynamical system is all about the evolution of something over time. To create a
dynamical system we simply need to decide,
 (1)what is the “something” that will evolve over time and
 (2) what is the rule that specifies how that something evolves with time. In this
way, a dynamical system is simply a model describing the temporal evolution
of a system.
The first step in creating a dynamical system is to pin down what is the special
“something” that we want to evolve with time. To do this, we need to come up
with a set of variables that give a complete description of the system at any
particular time.
The variables that completely describe the state of the dynamical system are
called the state variables. The set of all the possible values of the state
variables is the state space.
The second step in creating a dynamical system is to specify the rule for the time evolution
of the dynamical system. This rule must be defined to make the state variables be a
complete description the state of the system in the following sense: the value of the
state variables at a particular time must completely determine the evolution to all future
states
 State Space Models

In control engineering, a state space representation is a

mathematical model of a physical system as a set of input,
output and state variables related by first-order differential
equations. To abstract from the number of inputs, outputs
and states, the variables are expressed as vectors and the
differential and algebraic equations are written in matrix
form (the last one can be done when the dynamical system
is linear and time invariant). The state space representation
(also known as the "time-domain approach") provides a
convenient and compact way to model and analyze
systems with multiple inputs and outputs
 Definition of System State
 The concept of the state of a dynamic system refers to a
minimum set of variables, known as state variables, that
fully describe the system and its response to any given
set of inputs.
 A mathematical description of the system in terms of a
minimum set of variables
 xi(t), i = 1, . . . , n, together with knowledge of those
variables at an initial time t0 and the system inputs for
time t ≥ t0, are sufficient to predict the future system
state and outputs for all time t > t0.
 State variables
 The internal state variables are the smallest
possible subset of system variables that
can represent the entire state of the system
at any given time.
 The state variables are an internal
description of the system which completely
characterize the system state at any time t,
and from which any output variables yi(t)
may be computed.
System inputs and outputs.
 State Space is not Unique
 There is no unique set of state variables
that describe any given system; many
different sets of variables may be selected
to yield a complete system description.
However, for a given system the order n is
unique, and is independent of the
particular set of state variables chosen.
State Space Models
 Vector block diagram for a linear system
described by state-space system dynamics
 State Space Matrix

which may be summarized as:

x˙ = Ax + Bu
Output State Space equation

The output equations,are commonly written

in the compact form:
y = Cx + Du
where y is a column vector of the output
variables yi(t), C is an m×n matrix of the
constant coefficients cij
 State Equation Based
Modeling Procedure
 The overall modeling procedure developed in this
chapter is based on the following steps:
 1. Determination of the system order n and selection of a
set of state variables from the linear graph system
representation.
 2. Generation of a set of state equations and the system
A and B matrices using a well defined methodology.
This step is also based on the linear graph system
description.
 3. Determination of a suitable set of output equations
and derivation of the appropriate C and D matrices.
 Block Diagram Representation of Linear
Systems
Described by State Equations
 In state-determined systems, the state variables may
always be taken as the outputs of integrator blocks. A
system of order n has n integrators in its block diagram.
 The derivatives of the state variables are the inputs to
the integrator blocks, and each state equation expresses
a derivative as a sum of weighted state variables and
inputs.
 A detailed block diagram representing a system of order
n may be constructed directly from the state and output
equations as follows:
1. Step 1: Draw n integrator (S−1) blocks, and assign a
state variable to the output of each block.
2. Step 2: At the input to each block (which represents
the derivative of its state variable)draw a summing
element.
3. Step 3: Use the state equations to connect the state
variables and inputs to the summing elements
through scaling operator blocks.
4. Step 4: Expand the output equations and sum the
state variables and inputs through a set of scaling
operators to form the components of the output.
 Types of State Space obtained
from Transfer Function
 Control Canonical form
 Control Observable
 Series
 Parallel
 Diagonal
Control Canonical form
Find out the Observer State
Space form
 Parallel form
 Obtain the state space form of
 Transfer function:
 1
 ------------------
 s^2 - 1.7 s + 0.72
 Practice Problems
 Find out the state space representations (as much forms as
applicable) of the following transfer functions.
 Transfer function:
A. 1/s(s+1)^2
s^2 + 2 s + 1
B. ---------------------
s^3 + 2 s^2 + s + 0.5
1
C. ------------------------
s^3 + 10 s^2 + 27 s + 18
s+3
D .-----------------------
s^3 + 9 s^2 + 24 s + 20
STATE SPACE FROM THE
SYSTEM DIFFERENTIAL
EQUATIONS
Let’s consider a simple system
given below:

a. Mass, spring, and damper system; b. block diagram

X (s) 1
G(s)   2
F ( s ) Ms  f v s  K
But, how to actually find G(s) ?????
Problem 1
Example(From Benjamin C Kuo chap:10)
Modeling of Electrical System
 In Continuous Time Domain
In general:

Resistor VR  Ri (t )
di (t )
Inductor VL  L
dt
t
1
VC   i ( )d
Capacitor C0
dVc (t )
KVL KCL iC  C
dt
Laplace Transform (S-domain)
In general:

Resistor VR ( s )  RI ( s )

Inductor VL ( s )  LsI ( s )

1  I ( s) 
VC ( s)  
Capacitor C  s 
I C ( s )  CsVc ( s )
Problem