State Space Representation 2.1 State Variable Representation using Physical Variables The state variables are minimum number of variables which are associated with all the initial conditions of the system. As their sequence is not important, the state model of the system is not unique. But for all the state models it is necessary that the number of state variables is equat and minimal. This number ‘n’ indicates the order of the system. For second order system minimum two state variables are necessary and so on. To obtain the state model for a given system, it is necessary to sclect the slate variables. Many a times, the various physical quantities of system ilself are selected as the state variables. For the electrical systems, the currents through various inductors and the voltage across the various capacitors are selected to be the state variables. Then by any method of network analysis, the cquations must be written fhterms of the selected state variables, their derivatives and the inputs. The equations must be rearranged in the standard form so as to obtain the required state model. Key Point: It is important that the equation for differentiation of one state variable should not involve the differentiation of any other state variable. In the mechanical systems the displacements and velocities of energy storing elements such as spring and friction are selected as the state variables. In general, the physical variables associated with energy storing elements, which are responsible for initial conditions, are selected as the stale variables of the given system, mim Example 2.4: Obtain the slate model of the giver: electrical system. R pi v(t) Fig. 24 (VTU : JulyfAug.-2006) @-%Modern Control Theory 2-2 State Space Representation Solution : There are two energy storing elements L and C. So the two state variables are current through inductor i(t) and voltage across capacitor i.c. v,(t). Xi) = i) and X(t) = v(t) And U(t) = v(t) = Input variable Applying KVL to the loop, vy) = (Rel aw + v(t) Arrange it for di(t)/dt, = LYE HO Evo but ao Xo) ic. XW) = - EX O-PO+E u(t) a (l) While voll) = Voltage across capacitor = Z{ it) dt wold = but Hal S00 ie Ko = L xo ‘The equations (1) and (2) give required state equation. * R Xv] - ft OL [i] z ic. XW) = AX) + BUY) While the output variable Y(t) = volt) = Xx(®) hm} en ‘x x + eH s Y() = (0 1] [x] U(t) ie, ¥() = CX) and D= [0] This is the required state model. As n = 2, it is second order system. Note : The order of the state variables is not important. X(t) can be v(t) and X(t) can be i(t) due to which state model matrices get changed. Hence state model is not the unique property of the system.Modern Control Theory 2-3 State Space Representation ‘mp Example 2.2: Obtain the state model of the given electrical network in the standard form Fig. 2.2 ‘Solution : U(t) = input = e,(t) Y(Q) = output = 6, (0) State variables : X,(t) = i,(), Xp(t) = i200, X50 = vl) Writing the equations : ej) = di) at Xi) = (1) ‘Then, ve) = aint dt R, | vol) - Teh 1 Ry Ty Xa ~ pe at =» Q) x2) L " dvctt) at dvctt) dt and c 0 i,()=i,(t) = Current through capacitor Ei-BiRw " Ka) = EX)- EX Q)Modern Control Theory 2-4 State Space Representation ‘ oo -- 1 x tf Trl px] |t ke} = fo -72 1 | Ix, J+] 0 |uw@ ‘ 1 Q 4 hx} fo x 1 it 3 3 c 0 ie. X(t) = AX() + BUC and eglt) = ig() Ry YW = X(t) Ry x Y(t) = [0 R, 0] |X, X3 ie. Y) = CX(t) + DUW) where D = 0. This is the required state model. 2.1.1 Advantages The advantages of using available physical variables as the state variables are, 1. The physical variables which are selected as the state variables are the physical quantities and can. be measured. 2. As state variables can be physically measured, the feedback may consists the information about state variables in addition to the output variables. Thus design with state feedback is possible. 3. Once the state equations are solved and solution is obtained, directly the behaviour of various physical variables with time is available. But the important limitation of this method is that obtaining solution of such state ‘equation with state variables as physical variables is very difficult and time consuming. 2.2 State Space Representation using Phase Variables Let us study how to obtain state space model using phase variables. The phase variables are those state variables which are obtained by assuming one of the system variable as a state variable and other state variables are the derivatives of the selected system variable. Most of the time, the system variable used is the output variable which is used to select the state variable. Such set of phase variables is easily obtained if the differential equation of the system is known or the system transfer function is available.Modern Control Theory 2-5 State Space Representation 2.2.1 State Model from Differential Equation Consider a linear continuous time system represented by n'" order differential equation as, Yea Yea YO * we (1) : m= m a, Yeagv(o byU+b, Ut.tb,, {UE +b _U dy? ve In the equation, Y(t) = = nt derivative of Y(t). For time invariant systern, the coefficients aj _y, any, --- ag by by. by are constants. For the system, Y() = Output variable UC) = Input variable Y(0), %(0), ... ¥(0)""! represent the initial conditions of the system. Consider the simple case of the system in which derivatives of the control force U(t) are absent. Thus ty = Wwe... =u %™=0 HY" 4 ayy YB oe ay Y 4 ag ¥(H) = BLU) w+ Q) Choice of state variable is generally output variable Y(t) itself. And other state| variables are derivatives of the selected state variable Y(). x) = YOO xx) = Ye) = Xo Ya = X00, So x30) Thus the various state equations are, Xt) = X200) X= X30 Kail) = Xa Kw =?Modern Control Theory 2-6 State Space Representation Note that only n variables are to be defined to keep their number minimum, Thus X - (1) gives n"™ state variable X,(1). But to complete state model X,(t) is necessary. Important : X,(t) is to be obtained by substituting the selected state variables in the original differential equation (2). We have Y(t) = Xy, Y(t) = Xp V(t) = Xp = yrlsy qt), YC) = X(t) XU + Og 1 XA + yg Xq ag) + oe tay Koh + ay XC) = by Ul) 2 KD = = ag Ky = a Xp oo Aya Mya 7 Ma Xa # By Ul) Q) Hence all the equations now can be expressed in vector matrix form as, . x o 10 0 X,] fo me} .]2 orn o ue “Ay ay ee Aya, X = AX(t) + BU®) Such set of state variables is called set of phase variables. The matrix A is called matrix in phase variable form and it has following features, 1) Upper off diagonal ie. upper parallel row to the main principle diagonal contains all elements as 1. 2) All other clements except last row are zeros. 3) Last row consists of the negatives of the coefficients contained by the original differential equation. Such a form of matrix A is also called Bush form or Companion form. Hence the method is also called companion form realization. The output equation is, yw = Xo x0) X(t) Ww = [1 0..0]] + X(t) ie. YW) = CX() where D = 0Modern Control Theory 2-7 State Space Representation ‘This model in the Bush form can be shown in the state diagram as in the Fig. 23. ‘Output of each integrator is a state variable. “3,0 wn Fig. 2.3 State diagram for phase variable form Observe that the transfer function of the blocks in the various feedback paths are the coefficients existing in the original differential equation. If the differential equation consists of the derivatives of the input control force U(t) then this method is not useful. In such a case, the state model is to be obtained from the transfer function. imp Example 2.3 : Construct the state model using phase variables if the system is described by the differential equation, ari), dit) AY) = qe tga tay t YU = Sue Draw the state diagram. Solution : Choose output Y(\) as the state variable X,(t) and successive derivatives of it give us remaining state variables. As order of the equation is 3, only 3 state variables are allowed. x) = Yo x00 = Kw = ho - Oe so Qe and wy = Gt) = Yi = of Thus Rw) = x0) w= (1)Modern Control Theory 2-8 State Space Representation Xa) = X00 a) To obtain i, substitute state variables obtained in the differential equation, OY) dt dks Sa Y= GlMOl= GP = 60 oe X(t) + AXG(t) +7 X90) + 2Xyt) = SUD) Kylt) = = 2Xy(t) — 7 Xplt) = 4XY(H) + 3 UO) o @) The equations (1), (2) and (3) give us required state equation. XW) = AX() + BUC) o 100 0 where A=]0 0 1] and B=l0 2-7 +4 5 The output is, Y(t) = X,(0) ¥() = CX() + DUG) where Cc = 100),D=0 This is the required state model using phase variables. The state diagram is shown in the Fig. 2.4. Fig. 24 2.2.2 State Model from Transfer Function Consider a system characterized by the differential equation containing derivatives of the input variable U() as, YP tag p87 P+ ce tay ¥ + ay Y(t) = DgU + by U +e + Dg U™ + By UM 1)Modem Control Theory 2-9 State Space Representation In such a case, it is advantageous to obtain the transfer function, assuming zero initial conditions, Taking Laplace transform of both sidcs of equation (1) and neglecting, initial conditions we get, Y() Is" +a, S87 +. + ay 8 + ag] = [by + 5b, +... +b 8™* +b, S™] UlS) Ys) bg tby tenth yy ys" +b,.8™ aay = T(s)= Ue) © 8 ayaa + (2) Practically in most of the control systems m Example 2.5: Obtain state model by direct decomposition method of a system whose transfer function is Ys) 5s? +65 +8 Os) so 43s? 47549 Solution : Decompose denominator as below, s3+3s?7 +7549 = {(fs+ 3]s+7)5+9} Its simulation starts from (s + 3) in denominator Fig, 2.14 To simulate numerator, shift take-off point once for 6s and shift twice for 5s?. Therefore complete state diagram can be obtained as follows. Uw ~ YW Fig. 2.12 Assign output of each integrator as the state variable. =X,Modern Control Theory 2-18 ‘State Space Representation x. UW) = 9X, (8) = 7Xq(0) = 3X5 (0, While output, Y(t) = 8X, (l) + 6X4 (t) + 5X4 (0) *. State model is, Xi = AX() + BUY and Y(t) = CXt) + DUT) 010 0 where A= 0 0 1], Bej\0 -9-7 3 i C= 18 6 5, D=0 The matrix 'A' obtained is in the Bush form or Phase Variable form. 2.2.3 Advantages ‘The various advantages of phase variables i.e, direct programming method are, 1. Easy to implement. 2. The phase variables need not be physical variables hence mathematically powerful to obtain state model. 3. It is easy to establish the link between the transfer function design and time domain design using phase variables, 4. In many simple ca: obtained. just by inspection, the matrices A, B, C and D can be 2.2.4 Limitations ‘The various limitations of phase variables are, 1, The phase variables are nat the physical variables hence they loose the practical significance. They have mathematical importance. 2. The phase variables are mathematical variables hence not available for the measurement point of view. 3. Also these variables are not available from control point of view. 4. The phase variables are the output and ils derivatives, if derivatives of input are absent. But it is difficult to obtain second and higher derivatives of output, 5. The phase variable form, though special, does not offer any advantage from the mathematical analysis point of vi Due to alll these disadvantages, canonical variables are very popularly used to obtain the state model.Modern Control Theory 2-19 State Space Representation 2.3 State Space Representation using Canonical Variables This method of obtaining the state model using the canonical variables is also called parallel programming method and matrix A obtained using this method is said to have canonical form, normal form or Foster's form. The matrix A in such a case is a diagonal matrix and plays an important role in the state space analysis. The method is basically based on Partial Fraction Expansion of the given transfer function T(s). Consider the transfer function T(s) as, Ts) = Case 1: If the degree ‘m' is less than 'n’ (m win p uo) s,uepiOr 40) wesBeIp ag 11-2 “Bid (10100) payeodoy)Modern Control Theory 2-25 State Space Representation For series integrators, the state equations are, Xp = aX +X Xp = -ayXp + Xs = -aX, y+ X = =X, + Ul) While for parallel integrators, the state equations are, Xa = Xe + UH Xn While yw =a, X, + Ut) e4Xy Xp te + Xe Cee Xe tae te Xq Key Point: Y(t) has additional cg U(t) term if m= n. Hence the state model has matrices in the form, ayforrtines Sy Element “ " 1 for 1 times a 100 oO ° On 0 0 \ One o 0 9 oo 8 0 0 ° 0 0 Jordan block only diagonal elements, Fig, 2.18Modem Control Theory 2-26 State Space Representation 0 O} r-1 : | times: B= |) Cal geen Gl 1 1 1 The matrix D is zero if m < n and is ‘cy’ if m =n. The matrix A in such a case has a Jordan block for the repeated factor and many times A is denoted as J. Xi) = IX(p + BU) .-. For repeated roots The matrix A =J has the following features, 1. The principle diagonal consists of all the poles of transfer function with repeated pole 'r' times and other nonrepeated poles. 2. Upper off diagonal consists of (r - 1) times unity clement, as indicated in the Jordan black. 3. All the remaining elements are zero. Note that the matrix B has ‘r - 1 zeros and all other elements as unity. The matrix C has all partial fraction coefficients cj, C2.» Gy 2.3.2 Advantages of Canonical Variables ‘The main advantages of canonical variables are 1. The matrix A is diagonal 2. The diagonal clement is very important in the mathematical analysis. 3. Due to diagonal feature, the decoupling between the state variable is possible. This means all ‘n’ differential equations are independent of each other. Thus X; depends on X; alone,X, depends on Xz alone and so on. Such decoupling is important in system design from controlling point of view. 2.3.3 Disadvantages of Canonical Variables The main disadvantages of canonical variables is similar to the phase variables. These are not the physical variables hence practically difficult to measure and control. Hence such variables are not practically advantageous, though mathematically are very important.Modern Control Theory 2-27 State Space Representation ym} Example 2. 1 (s+ 2)? (s+) Obtain the state model in Jordan's canonical form of a system whose TF. is Solution : Finding partial fraction expansion, A B c Te) = wep Ba" Take LCM on right hand side and equate numerator with numerator of T(s), Als + 1) + Bis + 2) (s #1) + Gis+2)? =1 Equate coefficients of all powers of s on both sides, ” B+C = 0, ... from power of s* A+3B+4C = 0, ... from power of s A+2B+4C = 1... from constant term Solving we get, A=~1, B==1, C=1 -1 1 1 T= Toe 5 wD Simulate first term by series integrators while other nonrepeated terms by parallel integrators. vw Fig. 2.49 Total simulation is, Xi = -2X,4X, Xz =U)-2X, Xa = U-X,0) YW) = =X y0-X29+X, 0)Modern Control Theory 2-28 State Space Representation + State model is ,X = AX + BU and Y= CX+ DU -2 1 0 0 A=|0 -2 of, 1 {oo -1 1 c [-1 -i 1], Deo The matrix A consists of Jordan block. Important Note : If some of the poles of T(s) are complex in nature, then a mixed approach can be used. The quadratic or higher order polynomial having complex roots can be simulated by direct decomposition while real distinct roots can be simulated by the parallel programming using canonical variable, the example 28 below explains this procedure im Example 2.8 : Combination of Direct Decomposition and Foster's Form, Obtaitt the state model for the given T-F. 2 s+ 3)(s? +2642) Ts) = Solution : Obtain partial fractions as, 2 A Bs+C (94 3)(s? +2842) S43 5s? 42542 1s) = Find LCM on right hand side and equate numerators of both sides, A(s? +28 +2) +(Bs +) (9 +3) =2 As? + 2A8+ 2A + Bs? +Cs + 3Bs + 3C = 2 Equating coefficients of all powers of s, A+B =0 2A+C+3B=0 2A+3C=2 2A+C-3A = 0 4% 2A43A=2 C-A=0 CHA Solving, as, 2 2 1) = 2 5 —5 BHD * eos. St3* Ger derQh The quadratic s? + 25 + 2 having complex roots is decomposed directly.Modern Control Theory 2-28 State Space Representation <-Complete state diagram is as shown in the Fig. 2.20 vn D 25 Fig. 2.20 Xy = UW) =3x, 4 a X= U(t)-2Xy-2X, and yy = 2xi0+2x,0- 2x50 «State model is, X = AX +BU and Y = CX 1 -3 0 0 where A ‘Note that in such a case matrix A does not have any specific form, 2.4 State Madel by Cascade Programming This is also called Pole-Zero Form or Gullemin's Form. This can be effectively used when both numerator and denominator can be factorised. In such form, group a pole and zero together and arrange given transfer function as the product of all such groups. Then simulate cach group separately and connect all such simulations in cascade to get complete simulation. Then assigning output of each integrator as a state variable obtain a state model in standard formModern Control Theory 2-30 State Space Representation Simulation of group : Consider Saat DB First simulate denominator as in the Fig. 2.21 (a) and then as discussed earlier simulate the numerator (5 + a) as shown in the Fig. 2.21 (b). Soros sta o Fig. 2.21 Simulation of a group of pote-zero o¥b wm Example 2.9: Obtain the state model of a system by cascade programming whose transfer function is _ 6) _ (5+ Dist 4) 7) = Ti) * SED GS) Solution : Arrange the given T.F. as below Yo) | 642 GH) Ue) = DCH 5 4 £ 4 = Group1 Group2 Group3 Now simulate each group as discussed and connect all of them in series to obtain T(s). ‘The complete simulation is shown in the Fig. 2.22, NowModern Control Theory 2031 State Space Representation and X, = UW-X, Substituting X; into X, equation, = 3X, +2X, + UI - Substituting X into X, equation, X, = UW) 3X, +X 44X, = Ul) #XZ#XG Model becomes, . 0 1 tux] fi Xp} = [0 -3 1))/X2) + [1] Ua) . 0 O-1}|x, Xs and YW = XO x; ie, Y@ = [1 0 O)/X, Xs 01 1 1 So A=|0-3 1/Baj1 ool ob C= [100] D=0 Feature of A: Feature of Matrix A is its principle diagonal contains gains of all feedback paths associated with all integrators i.e. 0, -3, -1 in above problem. All terms below principle diagonal are zero. Thus the features of A having all poles of T(s) in its| principle diagonal still continues in this method of programming. This method is also known as Iterative programming. Examples with Solutions mm Example 2.10: Obiain the state model of the given network in the standard form. Assume Ry=10 9 C,=1F 22 ©.Modern Control Theory 2-32 State Space Representation +o Wit t : i k Input Ut) : R, ;—. | ° c ‘ Ee Cutout Fig. 2.23 Solution : Sclecting state variables as voltages across capacitors Cy andy ive. ¢; and ep, e = Xy cy = X(t) Applying Kirchhoff's laws, UM) =i, Rye, Ry = Ut) = i, Ry +e, +R, (i, - i.) (1) for second loop, ey iy Rye) “(ig -i PR = 0 ey = igRy +ey + (iy - iy) Ry Q Solving simultancously equations (1) and (2) ut) 1 (Ry +R,)-i, Ry +e, e, = -i, Ry +i, (RZ+R,)+ey Substituting the values UW) = i) 1+ 2)-2i, +e, ie. ui) mC) e, = -2i,+5i, +e, » 4) Multiply equation (3) by 2. and equation (4) by 3 2u0) 6i, ~ di + 20, 3e, = -6i) ¥15iy + 3c, and adding 3 Ul) + 3e) = Mi, + Sey +20;Modern Control Theory 2-33 State Space Representation 3 1 3 =F UO - Fe «@ Now from equation (3) U() = 3i)-2i, +e, Substituting i, from equation (5) . 6 2 Bi, = Ud+ GUM Tee - 5 wy = 3i,-fum-Fe+ here, 17 9 6 UW sye1- aye - 6) Now .-Capacitor current is C [dvc/dt} as Cy de, 3 1 3 Fe 2a UO- Fete dey at ~@ and -. Capacitor current is C [dv¢/dt] as dey _ 3 1 3 ae 7 WH UOt Te -Tee 3 1 3 gp Ut aX qX2 oe (8) and YW = . State model is,X = A) Boa) fs where A= , 3) coal D= [0] 3Modern Control Theory 2-34 State Space Representation mm Example 2.11: Consider the mechanical system shown in figure. For shown displacements and velocities obtain tie state model in standard form. Assume velocity of Mz as output. few Cet TT «3 ds, Fig. 224 Solution : Select the state variables as energy storing elements ie. displacements and velocities related to spring and friction. X(t) = YX; = V0 Xz (0 = Yo(t Xy = V2(0) Ud = FW YW =V2() Draw the equivalent mechanical system. Due to F,(t), M, will displace by Y;- Due to spring K; and friction B, which are between the two masses, the displacement change from Y, to Y2. While mass M,, spring K, and friction B, are under the influence of Y, alone as Ky and B, are with reference to fixed support and not between two moving points, Represent each displacement by separate node, Connect the elements in parallel Fig. 2.25Modern Gontro! Theory 2-35 State Space Representation which are under the influence of same displacement, thus’K,, B, parallel between Y and Yo, My, Ky and B, parallel between Y, and reference ie. fixed support and so on. The spring force is proportional to net displacement in spring while frictional force is proportional to the velocities. At node Yy, ay, F, = M, Le Ky (Vy -Yo)+ ~ 1 art ki M4 -¥) 4) At node Yp, 2 _ Yy dy, B O = My s+ Kaa +B, GE HK 2 “YD ~ Q Substituting all values in terms of state variables we get, dy, dy, + =X, ae = XT = Vy = Xe Wes dys * Yy = Xqy wget X2= V2 Xp =X +. Substituting in equation (1) and equation (2) Ut) = My Xa + Ky Xy Xp] By IX3 —Xy] -@) O = M, X4 +KX, +B,Xq +K, [Xp —Xy]+ By IX, - X53] (4) From equation (3) and equation (4) we can write [Ut ~ KO) -X2)= Bis -X4)] ~® ¥ 1 . K and Me [-K, X_ - By Xy, -K, (X,-X,)-B, X,-X3)] © and Xi = Xy, X2 = Xy, YO = VEX) +. State model can be constructed in the standard form: XK = AX+BU Y = CX+DUModern Control Theory 2-36 State Space Representation 0 0 1 0 0 0 0 1 = |X Ky By Where asl tet cM KX ait) BL M, M, o 0 B= |i yp CH 01 0 mmp Example 2.12 : For the given TF. of a system obtain the state model by i) Direct decomposition (5+2)(8+3) s(s+1)(s? +95 +20) ii) Gullemin’s Form iii) Foster's Form Tis) = Solution : i) Direct decomposition st +58+6 s? +5846 Ti) = — 27st e TO ®) s(8° +10s? + 295420) {([5+10]s+29)s+20}s State diagram is as follows us) Fig. 2.26 4 = U-20X, -29X5 -10X,, Y = 6X, +5X, +XModern Control Theory 2-37 State Space Representation «State model is 0 1 0 oO} fo o 0 1 0 0 where As 0 0 0 1]8 Flo 0 -20 -29 -10 1 C= [6510] D=[0] fi) Gullemin's Form +2)(s+ 3) (+2) (+3) 1 1) = Serie+ Hers) Fl) Grd) BFS) “ -@ a vee Fig, 2.27 X= % Xp =-5X, + 3X5 +X Xj = -4X,+2Xy+X_, X= U)-X, Substituting X, back in X5 Sy o ay 22k, HUI) = aN Oy UHH Substituting X, back in Xp Xp = = BX; +3Xg 4X, HX, HUG) = -5X, XQ HX, HUG) and yeX,Modern Control Theory 2-38 State Space Representation « State model becomes: X = AX+#BU and ¥ = CX 0 1 0 oO fo where A o 5 4 | B= C=[1000] 0 0-4 1 1 o 0 0 af 1} ili) For Foster's form = Find out partial fraction expansion of T(s) vey A B cD = Siti ts s -1/6 1/6 3/10 3/0 ~ s#t *3Fa se5 * s uy Fig. 2.28 = UW-X, Y=-1x,+4x,-3x, X, = Ult) -4X, UW) - 5X, X, = woModern Control Theory 2-39 ‘State Space Representation State model is, X = AX+ BU and Yeu 1 000 1 o -4 00 1 where a= 1) os ol Beh 0 0 0 oO} 1 wm) Example 2.13 Derive the stale model in Jordan's canonical form for a system having T.F. 1 tds? 45842 1 A_,_B ,_¢_ GH * GR Tis) = Solution : 77). __} ite, A(s + 2) + Bis +1) (8 +2) + Cis 1)? =1 As + 2A + Bs? + 3B3+ 2B+Cs? +2Cs+C = B+C = 0,A+3B+2C=0, 2As2B+C = 1 Now C=1,B=-1,A=1 1.1, 1 Gen? OF GD Ts) = State diagram is , uw -@* Ip Cy mw s De [2}~ Fig. 2.29Modern Control Theory 2-40 State Space Representation =X,+X, Xp = UW-X, X3 = Ult)- 2X5 Ys) = «State model is, X= AX+BU 0 Y=CX “110 0} where A= o 4 ol, B=, 0 02 1 c=f-14 tm Example 2.14: Obtain the state model of system whose T.F. is 34 352 s343s2 42s Tis) = SAE 75 _ iy Foster's form. vas pass 34362 : Solution : 11) s+ 35° 438 8° +128? +475 +60 As numerator and denominator are of same order we cannot directly find out partial fractions, For partial fraction, numerator degree must be less than denominator. So directly divide N(s) by D(s) and find partial fractions of the remainder. 33 412s? +475+60) s8+3s7+2s (1 8° +12s? + 475+ 60 ~ 9s? ~ 45s - 60 ‘T(s) ¥(s) 95? + 45s + 60 1) 2] 2s s+ UG) 3412s? +4754 60 9s? + 458+ 60 ~|C¥ 6+ HE45) 3°, 24 30 st+3 std st5Modem Contro! Theory 2-41 State Space Representation State diagram : ry) Fig. 2.30 X, = UW—3X,, X= UL) -4Xy, X= Ue) -5x, Yip) = = 3X, + 24X, ~ 30X4 + Ub) :, State model is, X= AX+BU and Y=©) -3 0 0 1 where A=| 0-4 0 B=|1 0 0-5 1 C= [-3 24-30), D=f[l] When N(s) and. D(s) are having same order, or degree of N(s) > D(s) then, there is always direct transmission matrix D present in the model. ww) Example 2.15 : Obtain a state space model of the system with transfer function s3 46s? +115 46 (VTU;JanJFeb.-2007,July/Aug-2007,Dec/Jan-2008)Modern Control Theory 2-42 State Space Representation Solution : XS) The TRis Gey = s3+6s7 +11s+6 Using factorisation of denominator, Me) _ 6 U(s) ~ (s+1) (s+2) (s+3) Taking partial fractions, 38 3) S41 5425435 Ks) Fig, 2.31 Yis) This is Foster's form of representation. From above Fig. 231 we get, X, = UG)-X, X = U(s) - 2X, X= UG) -9X5 and Y(s) = 3X, - 6X, + 3X; Hence the state space model is, X = AX+BUModern Control Theory 2-43 State Space Representation and Y = CX -1 0 0 where A=|0 2 0 00-3 1 Beil a C= [3 -6 3] im Example 2.16 : Obtain the state model for system represented by o ay 1 +10y = au(t) ae dt (VTU: May-99, Dec.2007/Jan.-2008) Solution : System is 3rd order, n = 3 3 integrators and variables are required. Select y=X, and then successive differentiation of y as next variable. x ® y/at - (1) @ Now as 3 variables are defined, X, #X, but Xj must be obtained by substituting all selected variables in original differential equation. : . 3y Xq +6X,+10X,410X, = 30 as X= SS ; ° ae - X, = 3U-10X, ~11X, - 6x, 8) y=X which is output equation. .. State mode] can be written as, x 0 AX + BU cx + DU fo and y Where A ,C=110 0], D= {0} 1Stato diagram : Medem Control Theory 2-44 State Space Representation Fig. 2.32 ima Example 2.17: Obtain the state model of the differential equation tH, 3d ot) det 2eit) = Sit) (TU : Aug-95) Solution :The equation can be written as, A Cw+3e + e+ 2C() = Srlt) The order of the equation is 3. Selecting state variables as, et) =X x) = X10 =e) -o(l) X,0 = X() = co) (2) Xa) (t) Substituting in the original equation, 4X, 4+ 3X; (04 Xp (9+ 2X, = Sx) " 5 X30) = 2 xX o-4 x,(0-3 X3,0+900 8) Hence the state model is, x x 0 1 of [xa Xe}=] 0 0 1] |x,@|+ -2 1 _3) [xo 7a F x(t) x BIS oO 3Modern Control Theory 2-45 State Space Representation While the output equation is, et) = XW xX) [100]/ x, X30) a ie. y®) ‘mip Example 2.18 Obtain the state model of the system whose closed loop transfer function is Cos) _ _2(s+3) Re) ~ (s+1s+2) (VTU : Feb-97, Oct-98) Solution ; Let us use the parallel programming ie. Foster's form, Finding partial fractions of C(s)/R(s). Cis) 4 ~ 2 RG) S¥T s+? Hence the state diagram is as shown in the Fig. 233 —— ‘@— Cis) fy} x * Ris) Fig. 2.33 Hence the state equations from the Fig. 2.33 are X= RG) -% +) X= Rls) - 2X) +2) and fs) = 4X, -2X Hence the state model is, [é]-f STB BleModem Control Theory 2-46 State Space Representation x, and ett) = [4 ae] im Example 2.19: Write a set of state equations for the network shown in the Fig. 234 Choose ij, i, and v @ as state variables. (VTU : April-98,July/Aug.-2007) Fig. 2.34 Solution : Let e(t) = Input Voltage across Ry = ¢y (1) = output 4 = XH) i = X30 volt) = X,(t) Let i,(t) and i,(t) are the loop currents. Applying KVL to the loops. di et) = Ry + Ly GE tVe d 1 s 3 iy Ry -ve +eC0)] . 1 X= Thee X,-X, +e0)] (I) Then, = Q) and + Capacitor currentModern Control Theory 2-47 State Space Representation Xy = EM -%) QB) While ey() = iy Ry =Rz Xp A) Hence the state model is, x ol : iy Xp] = + | 0] U(t) where U(t) = e(t) . o X x and YW) = Xy Xy num Example 2.20 : Considering ve and |, as state variables and 1, as the output variables in the circuit shown below, obtain the state model. iw Fig. 2.35 (VTU : Aug. - 97) Solution : Convert the current source to voltage source as shown. Fig. 2.35 (a)Modem Control Theory 2-48 State Space Representation ‘Two inputs, e(t) and 1, (t) Le. U; = e(t) and Up = I,¢t) One output, Act) ie. Y(O = E(t) Variables, ve = Xt) and 1 = X(t) Let I, (1) and 1, (t) be the loop currents, Applying KVL to the two loops, Loop, -I, Ry - ve Felt) = 0 IL Ry = elt) = ve 1 hos gre gevel «= Output equation .. State equation I = dve 1 oe = ctl Substituting I, from output equation, ‘ 1 Xp = cay Ui a w- by tt) «» State equation ° ot at 9g A _{/ Rc Cc he {CR UL ef toa Ry | [X20 Ry |[Up X To. 0Modem Control Theory 2-49 State Space Representation wm Example 2.21: Derive two state models for the system described by the differential equation D3y +4D7y +5Dy +2y = 2D70+ 6Du+5u where D = d/dt i) One in phase variable form. ii) Other in Jordan-Canonical form. (VTU: March-2001) Solution : Take the Laplace transform of both sides of the equation and neglect the initial conditions to obtain transfer function of the system as, s5Y(s)+457Y(s) +5s¥(s) + 2¥{s) = 2s?U(s) + 6s U(s) +5U(s) Ys) _ _2s? +6545 US) 53 445? +5842 1) Phase variable form Use the direct decomposition. Ys) 2s? +6845 Ue) ~ (+i s+5s +3) The state diagram can be shown. as in the Fig. 236 Y(s) Fig. 2.36 So = & Xp =X = U(s)-2X, -5X, -4X,, and Y(s) = 5X, ~6X, +2X5Representation ry 2-50 State S| Modern Contro! TI So state model is having matrices, o 1 0 0 Az=|/0 01 oll and C =[5 6 2} 2-5 4 oa il) Jordan cangnicat form : Factorise the denominator as, Ys) _ _2s2 +6545 A B c Us) (s +1) (9 +2) Ge? G+ G43) » A(6+2)+B(s+1) (82) +C(s+1)? = 257 +6545 AS+2A + Bs? +3B3+2B+Cs? +2C8+C = 25? +6545 B+C=2, A+3B+2C=6, 2A42B+C#5 YO [Lt yt yt UG) © Gin? GF +2) The state model is shown in the Fig.2.37 (a) io) Fig. 2.37 So X= U@=-X, Xp =XyHXp_—_Xy = Uls)-2X, and Y() = Xy +X, +Xy So state model is having matrices, 100 0 1 A= {1 - 0| Belo] andc=f1y) 0 0 -2 1Modem Control Theory 2. State Space Representation ump Example 2.22 : For the system shown in the Fig. 2.38, obtain the state model choosing 9,(t) and vxft) as the state variables, (VTU: July/Aug.-2005, Jan/Feb.-2007) 1MQ vA) 1M2 vt) u) t oF ¢ HF Y() Fig. 2.38 Solution : Select the two currents as shown in the Fig. 238(a). And write the equations using KVL and KCL. uy ima vA) aM vt) t + I a) | wt Fig. 2.38 (a) Uh=va(t) i = va) = Bf) at : ie. ip-iy = cf i Yor¥ ) = 20 08 ly, And vylt) = elie dt dv, (t) ° i) = C= Eliminate i, and i, from above equations and C = 1 x 107° F, +. Q) - B)Modern Control Theory 2-52 State Space Representation Substituting (1) and (3) in (2) we get, cfs [Pose] freon dt 1x10° ax10° . avy uf 0) } vit) 8] dt Chix108 JC 1x10® Clix10® d Se = vi - 2000) + UD ~ @) Using (3) in (4), a sae dt * pao dv “ Si = - nt) + valt) 6 Select Xi) = vy(0) and X(t) = vot) Using selected state variables, Xp = Xp eX and Xy — 2Xq + Ut) and Yu) = vill) = X00) Hence the state model is, Xt) = AX(t) + BU) and Y(t) = CX(t) + DULY) 1 41 0 fr I p-[}e=n Q, D=0 i> Example 2.23 : Derive two state models for the system with transfer function, veo 145 ve) eVias (3 )+3) i) For first model, matrix A must be in companion form. ii) For second model, matrix A must be in diagonal form. where AModern Control Theory 2-53 State Space Representation Solution : Arrange the transfer function as, 1 50x=x(s+5) Te) = * aera ea 8x5x(5+ 235 x(5-450) i) The companion form means phase variable form for which use direct decomposition of denominator, 1000(s+5) 1000s +5000 TI ss ss = a raccioojs ~ WerS3}s 10019 The state diagram is as shown in the Fig, 2.39. From state diagram, Fig. 2.39 X= %y Hex and X = - 100X, ~ 52X; + Utt) While VY) = S000X, + 100%, 0 1 0 0 A=|0 0 1 B=|0 0 -100 -52 1 C = [5000 1000 0}, D=0 ii) For diagonal form use partial fractions, T(s) A A,B Cc aia) = TOS|, 29 = Re = 50Modern Control Theory 2-54 State Space Representation 3) B 1000(3) = Tés)(s+2)|, Cag 7-28 C€ = THs)(s+50)| 5031.25 18.75 3450 Ts) = The state diagram is, Weg 2B hy > ba (ay Y(t) 9 | Fig. 2.39 (a) Thus the state equations are, Ky = (0, X= — 2X + UU, Hy = — 50% + UH and Y(t) = 50X, - 31.25X, ~ 18.75X, 00 oO 1 Thus, 0-2 Of Ball 0 0 -50 1 C = (50 - 31.25 -1875],D=0Modern Control Theory 2-55 ‘State Space Representation Imm Example 2.24: Derive the state model for two input too output system shown in the Fig, 2.40. od ol. + ni or Le] Fig. 2.40 Select output of simple tags as state variables. Solution = As suggested, the output of 2, is X, 1 1, § 1, sa5 8X sop is Xa and Sy is Xe 32 The state diagrams for simple lags are, Fig. 2.40 (a)Modem Control Theory 2-56 State Space Representation el) ~ (2) xy = 1 -05X3 = 3) Fig, 2.40 (a) Xq = 1g -2% oe @) From the given block diagram, ry = Ky IU,-¥) andr =K,(U,-¥,] = @)Modern Control Theory 2-57 State Space Representation and Yy = Xp + 5Xy a) Y_ = OAXs + AX, 26 b) Substituting in (5) we get, ny = - Ky Xy- 5K, X+K, Uy 2) fy =~ OAK, Xs ~ AK, Xy + Ky Up (8) Using (7) and (8) in the equations (1) to (4), % = G1-K,) X)-5K, %+K, U; wl a) Xy = - 5Xp — OAK, X3 - 4K, Xj + Ky Up (9D) X= Ky X1 SK; X - 0.55 + Ky Uy (9 6) Ky = = O.4Ky Xy + (© 4Ky = 2) Xj + Ky Up (9d) The equations (9a) to (9d) and (6a) to (6b) give the required state model as, X = AX+BU and ¥ = CX + DU where (-K) 5K, 0 K, 0 A 0 SS 4K, 4K, | | 0 & “| =K, -5K, 05 Te OTK, 0 0 0 04K, (4K, -2) 0 kK 15 0 0 ce (i 0 04 i} D=l0l ima Example 2.25 : A series RLC circuit with R v= 10 V. Write the state equations in the matrix form, Solution : The circuit is shown in the Fig. 2.41. v= i =10,L=1H and C = 1F is excited by [Bangalore Univ., Dec.-95) =ECy,(t) +l)Modern Control Theory 2-58 State Space Representation Ly, and vl) = Jide) de dc) 1 a = Ei @) Let i() = X, = Current through inductor ¥elt) = Xq = Voltage across capacitor Vv = U®=10V Substituting all the values, 10 = X)+%+% x = X, +10 B) and X= % oO) Hence state equations in matrix form are, x “1-17 FX, ]_ plo E)-E ake ele pomp Example 2.26: Obtain the state space representation in phase variable form for the system represented by, Dy + 20D*y + 45D*y + 18 Dy + 100 y =10D7u+5Du+ 100 u with y as output and w as input. (VTU: JanJFeb.-2005) Solution : Phase varaible form ‘Taking Laplace transform of both sides and neglecting initial conditions, st Y¥(s)+ 20s? Y(s)+ 45s? ¥(s)+ 18s ¥(s)+ 100 ¥(s) = 10s?L(s) + 5s U(s) + 100 Us) He). __itsh see 100 Us) 54+ 20s? +455? + 185+ 100 Using direct decomposition, Ms) _ 10s? + 55+ 100 Us) — {[({s+ 20]s+ 45) s+ 18]s+ 100} ‘The state diagram is as shown in Fig. 2.42Modern Gontrol Theory 2-59 State Space Representation Fig. 2.42 The state equations are, X\=Xp, Xp =Xy, Xs =Xy, Xy =-100X, - 18Xq - 4X -20X, +U and Y 100 X, + 5X, +10X, 0 1°00 0 0 0 10 0 a “Jo 1 0 o 01)’ C= [100 5 10 0] 100-18 -4 -20 ‘mm Example 2.27 : Obtain the slate model of the system responsed by the following differential equation : 'y + 6y-+5y+ yeu. (VTU: July/Aug.- 2005) Solution : Take Laplace transform of both sides neglecting initial conditions, s*¥(s)+ 6s? Y(s)+ 5sY(s)+ ¥(s) = U(s) MO 2 Us) 53 +65? +5841 Ms) 1 Us) © {{(s+ 6)s+ 5]s+1} ‘The state diagram is shown in the Fig. 2.43 Ys)| Modern Control Theory 2-60 State Space Representation The state equations are, | : | x and Y=X ol oO Oo A=|0 0 11[,B=|0|,C=[100] -1-5 -6 1 => Example 2.28; Obtain two different state models for a system represented by the {following transfer function. Write suitable state diagram in each case. (VTU: July/Aug.-2005) Us) — (s+1) (s? +854 15) Solution : 1) Direct decomposition : Y(s) | _ 887 #17848 _ 8s 417548 Us) $9495 4238+15 {[(s+9)s+23]s+15) The state diagram is shown in the Fig.2.44 Fig. 2.44 =X,, X2=X3, Xa 2-15X,-23X,-9X5 +U Y = 8X) +17X, +8X, 0 10 0 A=|o 0 1],B=/0|,c =[817 8] -15 -23 -9 1Modern Control Theory 2-64 State Space Representation 2) Foster's term : Ms) _ 85? +17s+8 A,B YC US) (s+ 1)(s+3)(st5) Stl 843° S45, A=-0125, B=~725, C= 15.375 Ms) | =0125_ 725 , 15375 Us) 41 s+37 845 The state diagram is shown in the Fig. 2.45 Fig. 2.45 The state equations are, X,=-X,+U, 2 BX +U, Xy=-5X4+U Y =~ 0,125X, -7.25X, +15.375Xy ,C = [+0125 -— 7.25 15.375] mmm} Example 2.29: Choosing appropriate physical variables as state variables, obtain the state model for the electric circuit shown in Fig. 2.46 (VTU: JanJFeb.-2006)Modern Control Theory 2-62 State Space Representation Fig. 2.46 Solution : The various currents are shown in the Fig. 2.46(a). Fig. 2.46 (a) The volatage across resistance and second inductor is y(t). ig = wo = yt) val) dip and x 2 = y(t) snd) The voltage across capacitor is, vet) = ult) ~ yit) ict) = te = Sef (8) diy and 1x Et = ul) -y) = ve) (A) diy From (4), y(t) = ult)— a= u(t) — v(t) . dip, Using in (2), == = u(t) = ve(t) (5) ‘atModer Control Theory 2-63 ‘State Space Representation Applying KCL at node A, ict in = iia tig dv cll rei, = inty dve(t) = ult)=ve~ iy, Hip Select Xi =i, 4, X2= and Y= > " ° ' 0 0 1 0 ,B=j1|,C=(0 0 -1],D= [I] mp Example 2.30 : For the transfer function 8). 18+205+3) Obtain the state model in i) Phase variable carionical form ii) Jordan Canonical form Solution : i) Phase variable form Ys) _ 86+2)(6+3) _ _s7 +55? +65 Rs) (ss1)2(s44) 83 +657 +9844 Using direct decomposition, Ys) _ __83 45s? +65 Rs) ~ {[(s+6)s+9]s+4} 6) from (4) from (5) from (6) from (2) RG)” (+14) (VLU; JansFeb.2006)Modern Control Theory 2-64 State Space Representation The state diagram is shown in the Fig. 247. Fig. 2.47 Xq, Xy=Ny, Ky s=4X)-9XQ-6X4R Y = 6X, +5Xy +Xy = 6Xq +5Xy—4X, 9X - 6X4 HR Y = -4X,-3X)-X,4R fo 1 o 0 =io0 0 11,B=l0|,c=[-4 -3 -1],D=1] [-a -9 6 1 ii) Jordan Canonical form : A As the degree of denominator and numerater is same, first divide and then obtain partial fractions, s3 46s? +9544) 534557 46s (1 s3 +657 49544 - 4 wo 2 4) fa ec Rs) (s+1)2(6+4) (+? Stl std A(s+4)* Bis +1)(s+4)+C(s +1)? = s? +3544