Lecture 8

State Space Representation of Dynamical Systems

Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
A Practical Control System
Ref.: K. Ogata,
(bias noise) Modern Control Engineering
3rd Ed., Prentice Hall, 1999.

Window opening/closing
(random noise)

Temperature control system in a car

ADVANCED CONTROL SYSTEM DESIGN 2

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Another Practical Control System
Ref.: K. Ogata,
Modern Control Engineering
3rd Ed., Prentice Hall, 1999.

noise
Water level control in an overhead tank
ADVANCED CONTROL SYSTEM DESIGN 3
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
State Space Representation
noise
z Input variable: Y Y*
control
Manipulative (control) System
Non-manipulative (noise) Z
Controller
z Output variable:
Variables of interest that can be either be
measured or calculated
z State variable:
Minimum set of parameters which completely
summarize the systems status.
ADVANCED CONTROL SYSTEM DESIGN 4
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Definitions
State : The state of a dynamic system is the smallest
number of variables (called state variables)
such that the knowledge of these variables at t = t0 ,
together with the knowledge of the input for t = t0 ,
completely determine the behaviour of the system
for any time t t0 .

Note : State variables need not be physically measurable

or observable quantities. This gives extra flexibility.
ADVANCED CONTROL SYSTEM DESIGN 5
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Definitions
State Vector : A n - dimensional vector whos components
are n state variables that describe the system
completely.
State Space : The n - dimensional space whose co-ordinate
axes consist of the x1 axis, x2 axis, ", xn axis
is called a state space.

Note : For any dynamical system, the state space remains

unique, but the state variables are not unique.

ADVANCED CONTROL SYSTEM DESIGN 6

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Critical Considerations while
Selecting State Variables
z Minimum number of variables
Minimum number of first-order differential equations
needed to describe the system dynamics completely
Lesser number of variables: wont be possible to
describe the system dynamics
Larger number of variables:
Computational complexity
Loss of either controllability, or observability or both.
z Linear independence. If not, it may result in:
Bad: May not be possible to solve for all other system
variables
Worst: May not be possible to write the complete state
equations
ADVANCED CONTROL SYSTEM DESIGN 7
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
State Variable Selection
z Typically, the number of state variables (i.e.
the order of the system) is equal to the
number of independent energy storage
elements. However, there are exceptions!

z Is there a restriction on the selection of the

state variables ?
YES! All state variables should be linearly
independent and they must collectively
describe the system completely.
ADVANCED CONTROL SYSTEM DESIGN 8
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Advantages of State Space
Representation
z Systematic analysis and synthesis of higher order
systems without truncation of system dynamics
z Convenient tool for MIMO systems
z Uniform platform for representing time-invariant
systems, time-varying systems, linear systems as
well as nonlinear systems
z Can describe the dynamics in almost all systems
(mechanical systems, electrical systems, biological
systems, economic systems, social systems etc.)
z Note: Transfer function representations are valid for
only for linear time invariant (LTI) systems
ADVANCED CONTROL SYSTEM DESIGN 9
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Generic State Space
Representation
X  [ x1 " xn ] R , U  [u1 " um ] R m
T n T

x1 f1 ( t , x1 " xn , u1 " um )

# #

= , t R+
# #

Nxn f n ( t , x1 " xn , u1 " um )

  

X f ( t , X ,U )

ADVANCED CONTROL SYSTEM DESIGN 10

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Generic State Space
Representation
T
Y  y1 " y p R p
y1 h1 ( t , x1 " xn , u1 " um )

# = # , t R+
# #

y p h p ( t , x1 " xn , u1 " um )
N
 

Y h ( t , X ,U )

Summary: X = f ( t , X , U ) : A set of differential equations

Y = h ( t , X , U ) : A set of algebraic equations
ADVANCED CONTROL SYSTEM DESIGN 11
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
State Space Representation
(noise free systems)
z Nonlinear System
X = f ( X , U ) X R ,U R n m

Y = h( X , U ) Y Rp
z Linear System
A - System matrix- n x n
X = AX + BU B - Input matrix- n x m

Y = CX + DU C - Output matrix- p x n
D - Feed forward matrix p x m

ADVANCED CONTROL SYSTEM DESIGN 12

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Block diagram representation of
linear systems

Ref.: K. Ogata,
Modern Control Engineering
3rd Ed., Prentice Hall, 1999.

ADVANCED CONTROL SYSTEM DESIGN 13

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Writing Differential Equations in
First Companion Form
(Phase variable form/Controllable canonical form)

dn y d n 1 y
n
+ an 1 n 1 + " + a0 y = u
dt dt
Choose output y(t ) and its (n 1) derivatives as state variables
dy
x1 = y x =
1 dt
dy
x2 = x = d y
2

dt 2 dt 2
differentiating
#
#
d y
n 1
n
x
n = n 1
d y
dt 
x =
dt
n n

ADVANCED CONTROL SYSTEM DESIGN 14

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
First Companion Form
(Controllable Canonical Form)
x1 0 1 0 0 0 " 0 0 x1 0
x 0 0 1 0 0 " 0 0 x2 0
2
x3 0 0 0 1 0 " 0 0 x3 0
= + u
# # # # # # # # # # 0
xn 1 0 0 0 0 0 0 0 1 xn 1 0

xn a0 a1 a2 " " " " an 1 xn 1
x1
x
2
x3
y = [1 0 0 " " 0 ] + [0] u
#
xn 1

xn
ADVANCED CONTROL SYSTEM DESIGN 15
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 1
z Dynamical system x + 3 x + 2 x = u
y=x

z State variables: x1  x, x2  x
x1 = x2 , x2 = 2x1 3x2 + u
Hence x1 0 1 x1 0
x = 2 3 x + 1 u
2 
N  
N 2 N
X A X B

x1
y = [1 0 ] + [ 0 ] u
N x2 N
C D

ADVANCED CONTROL SYSTEM DESIGN 16

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 2
(spring-mass-damper system)
z System dynamics
my + cy + ky = bu

z State variables
x1  y, x2  y
z State dynamics
y x2

x1 =1
=
x 1 b b
2 ( ky cy ) + u ( kx1 cx2 ) + u
m m m m
ADVANCED CONTROL SYSTEM DESIGN 17
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 2
(spring-mass-damper system)
z State dynamics

0 1 0
x1 x1
x = k c + b u
2 x2
m m m
z Output equation
y  x1
y = [1 " 0] X + [ 0] u
ADVANCED CONTROL SYSTEM DESIGN 18
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Example 3:
Translational Mechanical System

d 2 x1 dx1
M1 2 + D + K ( x1 x2 ) = 0 Ref: N. S. Nise:
dt dt Control Systems Engineering,
4th Ed., Wiley, 2004
d 2 x2
M 2 2 + K ( x2 x1 ) = f ( t )
dt
ADVANCED CONTROL SYSTEM DESIGN 19
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 3:
Translational Mechanical System
dx1 dx2
z Define v1  , v2 
dt dt
dv1 K D K
z System equations = x1 v1 + x2
dt M1 M1 M1
dv2 K K 1
= x1 x2 + f (t )
dt M 2 M2 M2
0 1 0 0
x1 K x 0
z State space D K
0 1 0
v M
M1 M1 v1
equations in 1 = 1
+ 0 f (t )
x2 0 0 0 1 x2
standard form 1
v2 K K v2
0 0 M 2
M2 M2
ADVANCED CONTROL SYSTEM DESIGN 20
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 4:
Nonlinear spring in Example 3
d 2 x1 dx
M 1 2 + D 1 + K ( x1 x2 ) = 0
3
z Dynamic equations
dt dt
d 2 x2
M 2 2 + K ( x2 x1 ) = f ( t )
3

dt

z State space equation

x1 = v1
K D
v1 = ( x1 x2 ) v1
3

M1 M1
x2 = v2
K 1
v2 = ( x2 x1 ) + f (t )
3

M2 M2
ADVANCED CONTROL SYSTEM DESIGN 21
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 5
The Ball and Beam System
The beam can rotate by applying a torque at the
centre of rotation, and ball can move freely along
the beam

Moment of Inertia of beam: J

Mass, moment of inertia and radius of ball: m, J b , R

ADVANCED CONTROL SYSTEM DESIGN 22

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 5
The Ball and Beam System
State Space Model x1 = r , x2 = r, x3 = , x4 = 
x1 = x2
mg sin x3 + m x1 x42
x2 =
Jb
m+ 2
R
x3 = x4
mg x1 cos x3 2m x1 x2 x4
x4 =
m x + J + Jb
2
1

ADVANCED CONTROL SYSTEM DESIGN 23

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 6: Van-der Pols Oscillator
(Limit cycle behaviour)

z Equation x + 2c ( x 2 1) x + k x = 0
M  {c, k > 0}

z State variables x1  x, x2  x

z State Space Equation

 x2
1
x
x = 2c 2 k : Homogeneous nonlinear system
N 2 ( x1 1) x2 x1
m  
 m

X
F(X )

ADVANCED CONTROL SYSTEM DESIGN 24

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example 7: Spinning Body Dynamics
(Satellite dynamics)
I 2 I3 1
Dynamics: 1 = 23 + 1
I1 I1
I 3 I1 1
 2 = 31 + 2
I2 I2
I1 I 2 1
 3 = 12 + 3
I3 I3
I1 , I 2 , I 3 : MI about principal axes
1 , 2 , 3 : Angular velocities about principal axes
1 , 2 , 3 : Torques about principal axes
ADVANCED CONTROL SYSTEM DESIGN 25
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Example 8: Airplane Dynamics,
Six Degree-of-Freedom Nonlinear Model
Ref: Roskam J., Airplane Flight Dynamics and Automatic Controls, 1995

(
U = VR WQ g sin + FAX + FTX / m )
( )
V = WP UR + g sin cos + FAY + FTY / m

W = UQ VP + g cos cos + ( F + F ) / m
AZ TZ

P = c1QR + c2 PQ+c3 ( L A + LT ) +c 4 ( N A + NT )
Q = c5 PR c6 ( P 2 R 2 ) + c7 ( M A + M T )
R = c8 PQ c2QR + c4 ( LA + LT ) + c9 ( N A + NT )
 = P + Q sin tan + R cos tan

 = Q cos R sin

 = ( Q sin + R cos ) sec

X cos sin 0 cos 0 sin 1 0 0 U


Y = sin cos 0 0 1 0 0 cos sin V
Note: h = Z
Z 0 0 1 sin 0 cos 0 sin cos W

ADVANCED CONTROL SYSTEM DESIGN 26

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Example 8: Airplane Dynamics,
Six Degree-of-Freedom Nonlinear Model
Ref: Roskam J., Airplane Flight Dynamics and Automatic Controls, 1995

( ) ( )
N N N
FTx = Ti cos Ti cos Ti LT = Ti cos Ti sin Ti zTi Ti sin Ti yTi
i =1 i =1 i =1
cos sin
( ) ( ) T ( ) 
N N N
FTy = Ti cos Ti sin Ti M T = Ti cos Ti cos Ti zTi + Ti sin Ti xTi
i =1 i =1 i =1 sin cos

( ) ( )
N N N
FTz = Ti sin Ti NT = Ti cos Ti cos Ti yTi + Ti cos Ti sin Ti xTi
i =1 i =1 i =1

C CDi 1 CD
FAX FAX s DO CD
= T ( ) = T ( )( qS ) + E
h E

FAZ FAZs CLO CL CLi CL

h
ih E

LA LAS Cl Cl A Cl
N = T ( )
= T ( )
qSb +
R

A

Cn R
A AS n n A
N C C
R

FAY = qS CY = qS CY + CY CY A
A R
R

M A = qSc Cm = qSc Cmo Cmi [1 ih ] + Cm E

T
Cm
h E

ADVANCED CONTROL SYSTEM DESIGN 27

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Advantages of State Space
Representation
z Systematic analysis and synthesis of higher order
systems without truncation of system dynamics
z Convenient tool for MIMO systems
z Uniform platform for representing time-invariant
systems, time-varying systems, linear systems as
well as nonlinear systems
z Can describe the dynamics in almost all systems
(mechanical systems, electrical systems, biological
systems, economic systems, social systems etc.)
z Note: Transfer function representations are valid for
only for linear time invariant (LTI) systems
ADVANCED CONTROL SYSTEM DESIGN 28
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
ADVANCED CONTROL SYSTEM DESIGN 29
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
ADVANCED CONTROL SYSTEM DESIGN 30
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore