Linear Control Systems (EE-871)

Lecture-5
State Space Modelling & Analysis

Dr. Imtiaz Hussain

Assistant Professor (Control Systems),
Department of Electronic and Power Engineering
PNEC-NUST, Karachi, Pakistan
email: imtiaz.hussain@pnec.nust.edu.pk

Fall 2022

1
 Lecture Outline
• Introduction to state space
– Basic Definitions
– State Equations
– State Diagram
– State Controllability
– State Observability
– Output Controllability
 Definitions
• State of a system: We define the state of a system at time as the
amount of information that must be provided at time , which, together
with the input signal for , uniquely determine the output of the system
for all .

• State Variable: The state variables of a dynamic system are the smallest
set of variables that determine the state of the dynamic system.

• State Vector: If variables are needed to completely describe the

behaviour of the dynamic system then variables can be considered as
components of a vector , such a vector is called state vector.

• State Space: The state space is defined as the -dimensional space in

which the components of the state vector represents its coordinate
axes.
 Definitions
• Let and are two states variables that define the state of
the system completely .

Velocity State (t=t1)

State (t=t1)

State
Vector

Position

Two Dimensional State space State space of a Vehicle

4
 State Space Equations
• In state-space analysis we are concerned with three types of
variables that are involved in the modeling of dynamic systems:
input variables, output variables, and state variables.

• The dynamic system must involve elements that memorize the

values of the input for .

• Since integrators in a continuous-time control system serve as

memory devices, the outputs of such integrators can be
considered as the variables that define the internal state of the
dynamic system.

• Thus the outputs of integrators serve as state variables.

• The number of state variables to completely define the dynamics

of the system is equal to the number of integrators involved in the
system.
 State Space Equations
• Assume that a multiple-input, multiple-output system involves
integrators.
• Assume also that there are inputs and outputs .
• Define outputs of the integrators as state variables: .
• Then the system may be described by

𝑥˙ 1 ( 𝑡 )= 𝑓 1 (𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ , 𝑢𝑟 ; 𝑡 )

˙ 2 ( 𝑡 ) = 𝑓 2 ( 𝑥1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )
𝑥

˙ 𝑛 ( 𝑡 )= 𝑓 𝑛 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )
𝑥
 State Space Equations
• The outputs of the system may be given as.
𝑦 1 ( 𝑡 ) =𝑔1 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )

𝑦 2 ( 𝑡 ) =𝑔 2 (𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ , 𝑢𝑟 ; 𝑡 )

𝑦 𝑚 ( 𝑡 )=𝑔 𝑚 ( 𝑥1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ;𝑡 )
• If we define

[] [ ]
𝑥1 𝑓 1 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢2 , ⋯ ,𝑢 𝑟 ; 𝑡 )  

𝒙 ( 𝑡 )= 𝑥 2 𝒇 ( 𝒙 ,𝒖 , 𝑡 )= 𝑓 2 ( 𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ ,𝑢 𝑟 ; 𝑡 )  
⋮

[]
⋮
𝑥𝑛 𝑓 𝑛 ( 𝑥1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢 1 , 𝑢2 , ⋯ , 𝑢𝑟 ;𝑡 )   𝑢1
𝑢
𝒖 ( 𝑡 )= 2
⋮
𝑢𝑟

[] [ ]
𝑦1 𝑔 1 (𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 ,𝑢 2 , ⋯ , 𝑢𝑟 ; 𝑡 )  
𝑦2 𝑔 2 ( 𝑥1 , 𝑥 2 , ⋯ , 𝑥𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )
𝒚 ( 𝑡 )= 𝒈 ( 𝒙 , 𝒖, 𝑡)=
⋮ ⋮
𝑦𝑚 𝑔𝑚 (𝑥 1 , 𝑥 2 , ⋯ , 𝑥 𝑛 ; 𝑢1 , 𝑢2 , ⋯ , 𝑢𝑟 ; 𝑡 )  
 State Space Modeling

• State space equations can then be written as

𝒙˙ ( 𝑡 )= 𝒇 (𝒙 ,𝒖 ,𝑡 ) State Equation

𝒚 ( 𝑡 )=𝒈 (𝒙 , 𝒖, 𝑡) Output Equation

• If vector functions f and/or g involve time t explicitly, then

the system is called a time varying system.
 State Space Modeling
• If above equations are linearised about the operating
state, then we have the following linearised state
equation and output equation:
 State Space Modeling
• If vector functions f and g do not involve time t explicitly then
the system is called a time-invariant system.
• In this case, state and output equations can be simplified to
 Example-1
• Consider the mechanical system shown in figure. We assume that the
system is linear. The external force is the input to the system, and the
displacement of the mass is the output. The displacement is measured from
the equilibrium position in the absence of the external force. This system is
a single-input, single-output system.

• From the diagram, the system equation is

𝑚 𝑦¨ (𝑡 )+𝑏 𝑦˙ (𝑡 )+𝑘𝑦 (𝑡 )=𝑢(𝑡 )

• This system is of second order. This means that the

system involves two integrators. Let us define state
variables and as
 Example-1
𝑚 𝑦¨ (𝑡 )+𝑏 𝑦˙ (𝑡 )+𝑘𝑦 (𝑡 )=𝑢(𝑡 )

• Then we obtain

𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑦˙ ( 𝑡 ) − 𝑦 ( 𝑡 ) + 𝑢(𝑡 )
𝑚 𝑚 𝑚
• Or

𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢 (𝑡 )
𝑚 𝑚 𝑚
• The output equation is
𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )
 Example-1
𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢 (𝑡 ) 𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )
𝑚 𝑚 𝑚

• In a vector-matrix form,
 Example-1
• State diagram of the system is

𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢 (𝑡 )
𝑚 𝑚 𝑚

𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )

-k/m

-b/m
1/m 𝑥˙ 2 𝑥1
𝑢(𝑡) 1/s 𝑥 = 𝑥˙ 1/s 𝑦 (𝑡)
2 1
 Example-1
• State diagram in signal flow and block diagram format

-k/m

-b/m
1/m 𝑥˙ 2 𝑥1
𝑢(𝑡) 1/s 𝑥 = 𝑥˙ 1/s 𝑦 (𝑡)
2 1
 Example-2
• State space representation of armature Controlled D.C Motor.
Ra La
B 
ia
ea eb T J

t
stan
= con
Vf
• ea is armature voltage (i.e. input) and  is output.
 Example-2

• Choosing as state variables

[ ] [][ ]
0 1 0

[]
𝐾𝑡 0
𝜃 𝐵 𝜃
𝑑 0 −
𝜃˙ = 𝐽 𝐽 𝜃˙ + 0 𝑒𝑎
𝑑𝑡 1
𝑖𝑎 𝐾𝑏 𝑅𝑎 𝑖𝑎
0 − − 𝐿𝑎
𝐿𝑎 𝐿𝑎
• Since is output of the system therefore output equation is given as

[]
𝜃
𝑦 ( 𝑡 ) =[ 1 0 0] 𝜃˙
𝑖𝑎
 State Controllability
• A system is completely controllable if there exists an
unconstrained control that can transfer any initial state to
any other desired location in a finite time, .

uncontrollable

controllable
 State Controllability
• Controllability Matrix CM

• System is said to be state controllable if

 State Controllability (Example)
• Consider the system given below

• State diagram of the system is

 State Controllability (Example)
• Controllability matrix CM is obtained as

• Thus

• Since therefore system is not completely state

controllable.
 State Observability
• A system is completely observable if and only if there exists a finite
time T such that the initial state x(0) can be determined from the
observation history y(t) given the control u(t), 0≤ t ≤ T.

observable
unobservable
 State Observability
• Observable Matrix (OM)

• The system is said to be completely state observable if

 State Observability (Example)
• Consider the system given below

• OM is obtained as

• Where
 State Observability (Example)
• Therefore OM is given as

• Since therefore system is not completely state observable.

 Output Controllability
• Output controllability describes the ability of an external
input to move the output from any initial condition to any
final condition in a finite time interval.

• Output controllability matrix (OCM) is given as

 Home Work
• Check the state controllability, state observability
and output controllability of the following system
 Transfer Matrix (State Space to T.F)
• Now Let us convert a space model to a transfer function model.
(1)

(2)

• Taking Laplace transform of equation (1) and (2) considering initial

conditions to zero.
(3)

(4)
• From equation (3)

(5)
 Transfer Matrix (State Space to T.F)
• Substituting equation (5) into equation (4) yields
 Example#3
• Convert the following State Space Model to
Transfer Function Model if K=3, B=1 and
M=10;
 Example#3
• Substitute the given values and obtain A, B, C
and D matrices.
Example#3
Example#3
Example#3
Example#3
Example#3
 Home Work
• Obtain the transfer function T(s) from
following state space representation.

Answer
 Forced and Unforced Response
• Forced Response, with u(t) as forcing function

• Unforced Response (response due to initial conditions)

 Solution of State Equations
• Consider the state equation given below
(1)
• Taking Laplace transform of the equation (1)
 Solution of State Equations

• Taking inverse Laplace

State Transition Matrix

 State Transition
• Any point P in state space represents the state of the system
at a specific time t.

P(x1, x2)

• State transitions provide complete picture of the system

t0
t1
t6 t2

t3
t5 t4
 Example-4
• Consider RLC Circuit obtain the state transition matrix ɸ(t).

iL Vo
+ +
Vc
- -
 Example-4 (cont...)

• State transition matrix can be obtained as

• Which is further simplified as

 Example-4 (cont...)

• Taking the inverse Laplace transform of each element

 Home Work
• Compute the state transition matrix if

Solution
 State Space Trajectories
• The unforced response of a system released from any initial
point x(to) traces a curve or trajectory in state space, with time
t as an implicit function along the trajectory.

• Unforced system’s response depend upon initial conditions.

• Response due to initial conditions can be obtained as

 Example-5
• For the RLC circuit of example-4 draw the state space trajectory
with following initial conditions.

• Solution
 Example-5 (cont...)
• Following trajectory is obtained
State Space Trajectory of RLC Circuit
2

1.5

t-------->inf
1

0.5
iL

-0.5

-1
-1 -0.5 0 0.5 1 1.5 2
Vc
 Example-5 (cont...)
State Space Trajectories of RLC Circuit
2

1.5

0.5

0
iL

-0.5

-1

-1.5

-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Vc
 Equilibrium Point
• The equilibrium or stationary state of the system
is when

State Space Trajectories of RLC Circuit

2

1.5

0.5

0
iL

-0.5

-1

-1.5

-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Vc
 Solution of State Equations
• Consider the state equation with as forcing function
(1)
• Taking Laplace transform of the equation (1)
 Solution of State Equations

• Taking the inverse Laplace transform of above equation.

Natural Response
Forced Response
 Example#6
• Obtain the time response of the following system:

• Where is unit step function occurring at . consider .

Solution

• Calculate the state transition matrix

 Example#6
• Obtain the state transition equation of the system
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END OF LECTURE-5