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ECE408 - Week 12 - State Space

The document describes the state space model representation of linear time-invariant (LTI) systems. The state space model consists of state equations and output equations relating the state vector X, input vector U, output vector Y, and system matrices A, B, C, and D. The state vector X contains the state variables that summarize the system's history. The state space model provides an alternative to transfer function representation of LTI systems. Controllability and observability tests involve checking the rank of controllability and observability matrices to determine if a system is controllable or observable.

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Nishikata Manipol
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55 views54 pages

ECE408 - Week 12 - State Space

The document describes the state space model representation of linear time-invariant (LTI) systems. The state space model consists of state equations and output equations relating the state vector X, input vector U, output vector Y, and system matrices A, B, C, and D. The state vector X contains the state variables that summarize the system's history. The state space model provides an alternative to transfer function representation of LTI systems. Controllability and observability tests involve checking the rank of controllability and observability matrices to determine if a system is controllable or observable.

Uploaded by

Nishikata Manipol
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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State Space Analysis

ECE408
The state space model of Linear Time-Invariant (LTI)
system can be represented as,

X˙=AX+BU

Y=CX+DU

The first and the second equations are known as state equation and output equation respectively.
Where,
X and X˙ are the state vector and the differential state vector respectively.
U and Y are input vector and output vector respectively.
A is the system matrix.
B and C are the input and the output matrices.
D is the feed-forward matrix.
State Space Model
The following basic terminology involved in this chapter.
State
It is a group of variables, which summarizes the history of the system in order to predict the
future values (outputs).

State Variable
The number of the state variables required is equal to the number of the storage elements
present in the system.
Examples − current flowing through inductor, voltage across capacitor

State Vector
It is a vector, which contains the state variables as elements.
STATE SPACE REPRESENTATION OF NTH ORDER LTI
Example: Direct Derivation of State Space Model (Mechanical Translating)
Example: Direct Derivation of State Space Model (Electrical)
State Space to Transfer Function
Example: State
Space to Transfer
Function
Zero State Response
Problem 1
Find state space equation and model for given block diagram
Transfer function to State space
Contd.
Example
T.F to Block Diagram
𝑌(𝑠) 1
=
𝑅(𝑠) 𝑠 3 + 2𝑠 2 + 3𝑠 + 4

𝑆 3 𝑌 𝑠 + 2𝑠 2 𝑌 𝑠 + 3𝑠𝑌 𝑠 + 4𝑌 𝑠 = 𝑅(𝑠)

𝑆 3 𝑌 𝑠 = 𝑅 𝑠 − 2𝑠 2 𝑌 𝑠 − 3𝑠𝑌 𝑠 − 4𝑌 𝑠
Example 𝑌(𝑠) 2𝑠 2 + 3𝑠 + 1 𝑌(𝑠) 2𝑠 2 3𝑠 1
= = + +
𝑅(𝑠) 𝑠 3 + 2𝑠 2 + 4𝑠 + 2 𝑅(𝑠) 𝐷(𝑠) 𝐷(𝑠) 𝐷(𝑠)

Where, 𝑠 3 + 2𝑠 2 + 4𝑠 + +2 = 𝐷(𝑠)
Example 𝑌(𝑠) 1 1
= 2 + 2
𝑅(𝑠) 𝑠 + 3𝑠 + 1 𝑠 + 2𝑠 + 3
Example 𝑌(𝑠)
=
1
𝑠 2 𝑌 𝑠 + 3𝑠𝑌 𝑠 + 4𝑌 𝑠 = 𝑅(𝑠)
𝑅(𝑠) 𝑠 2 + 3𝑠 + 2
2𝑠 2 𝑌 𝑠 = 𝑅 𝑠 − 3𝑠𝑌 𝑠 − 4𝑌 𝑠
T.F to State Space Analysis
State space equations to Transfer function
𝑥ሶ = 𝐴𝑥 + 𝐵𝑟
Y=Cx+Dr

Taking laplace of eqn 1


sX(s)+AX(s)+BR(s)
(sI-A)X(s)=BR(s)

X(s)= 𝑠𝐼 − 𝐴 −1 𝐵𝑅 𝑠
=φ(s)B+R(s)
Laplace transform of eqn2
Y(s)=CX(s)+DR(s)
𝑌(𝑠)
= 𝐶φ(s)B+D
𝑅(𝑠)
State transmission matrix
φ(s)=(𝑠𝐼 − 𝐴)−1
𝐴𝑑𝑗[𝑠𝐼 − 𝐴]
∅ 𝑠 =
𝑠𝐼 − 𝐴
State space equations to Transfer function
State space equations to Transfer function: Example
Example
Contd.
T.F—StateSpace—T.F
Controllability and Observability
Controllability and observability represent two major concepts of modern control system
theory. These concepts were introduced by R. Kalman in 1960.
They can be roughly defined as follows.
Controllability: In order to be able to do whatever we want with the given dynamic
system under control input, the system must be controllable.
Observability: In order to see what is going on inside the system under observation, the
system must be observable.
It is well known that a solvable system of linear algebraic equations has a solution if and
only if the rank of the system matrix is full .
Observability and controllability tests will be connected to the rank tests of certain
matrices: the controllability and observability matrices.
Controllability and Observability: Kalman Test

• If the system is described state equations

• A system is said to controllable if the Matrix of controllability test is non singular (or non zero
determinant value) with rank n for n linearly independent row or column vectors

A system is said to controllable if the Matrix of observability test is non singular (or non zero
determinant value) with rank n for n linearly independent row or column vectors
Example 1

Here the determinant value of N =0 which is zero,


so it is unobservable

Here the determinant value of M =2 which is non


zero, so it is controllable
Example 2
Example 3

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