UNIT-5 State Space Analysis

State space analysis:

State space analysis is an excellent method for the design and analysis of
control systems. The conventional and old method for the design and analysis
of control systems is the transfer function method. The transfer function
method for design and analysis had many drawbacks.

Drawbacks of transfer function analysis.

 Transfer function is defined under zero initial conditions.

 Transfer function approach can be applied only to linear time invariant systems.
 It does not give any idea about the internal state of the system.
 It cannot be applied to multiple input multiple output systems.
 It is comparatively difficult to perform transfer function analysis on computers.
State variable analysis can be performed on any type systems and it is very
easy to perform state variable analysis on computers. The most interesting
feature of state space analysis is that the state variable we choose for
describing the system need not be physical quantities related to the system.
Variables that are not related to the physical quantities associated with the
system can be also selected as the state variables. Even variables that are
immeasurable or unobservable can be selected as state variables.

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. 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. The use of the
state space representation is not limited to systems with linear components and zero initial
conditions.

Advantages of state variable analysis.

 It can be applied to non-linear system.

 It can be applied to time invariant systems.
 It can be applied to Multiple Input Multiple Output(MIMO) systems.
 Its gives an idea about the internal state of the system.

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Dynamic System:

Consider the system shown in figure, to find the output Vout, knowledge of the initial capacitor
voltage must be known. Only the information about Vin will not be sufficient to obtain precisely the
Vout at any time t>=0. Such systems in which the output is not only dependent on the input but also
on the initial conditions are called the system with memory or Dynamic Systems.

While in the above network capacitor is replaced by another resistance R1 then the output will be
dependent only on the input applied Vin. Such systems in which the output of the system depends
only on the input applied at t=0, are called systems with zero memory or static systems.

Thus initial conditions affects the system characterization and subsequent behaviour and describe
the state of the system at t=t0. So, the state can be regarded as a compact and concise
representation of the past history of the system.

State of a dynamic system.

State is the group of variables which summarises the history of the system in order to predict the
future values.

The state of a system is the minimum set of variables (state variables) whose
knowledge at time t=0, along with the knowledge of the inputs at time t≥
t0 completely describes the behaviour of a dynamic system for a time t >t0 .

State variable is a smallest set of variables which fully describes the state of a
dynamic system at a given instant of time.

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 is a vector which contains the state variables as elements.

State model of dynamic systems:

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The output equations and state equations together is called state model of a
system.

Output variables
u1(t) y1(t)
Input variables

MIMO System
u2(t) y2(t)

x1(t) x2(t)
State variables
Output equation for two of the outputs can be written as:

Where c-represents the constants relating the state variables to the outputs
d-represents the constants relating the inputs of a system to the outputs
Matrix form of the output equations:

So the output equation is

Y(t)=CX(t)+DU(t)
C is the matrix representation of c’s and is called as output matrix
D is the matrix representation of d’s and is called as transition matrix

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State equations (Next state equations) for two of the states and matrix form of state equations can
be written as:

Where
a-represents the constants relating the state variables of the system to the first derivatives of the
state variables
b-represents the constants relating the input variables of a system to the first derivatives of the
state variables

So the state equation is

̇ (t)=AX(t)+BU(t)

A is the matrix representation of a’s and is called as system matrix

B is the matrix representation of b’s and is called as input matrix

State transition matrix:

State transition matrix is an (nXn) matrix and is designated by φ(t), which satisfies the linear
homogeneous state equation.

= ̇ (t)=AX(t) ----1
i,e ̇ (t) =Aφ(t) so φ(t) = X(t)

•State transition matrix depends only on matrix A

•System’s response, when it is excited only by its initial condition, x0, that is when u(t)=0 is called
free response
•φ(t) completely defines the transition of the state vector x(t)from it’s initial state x(0)to any new
state x(t). I,e x(t) = φ(t)x(0)
•This is the reason why the matrix φ(t) is called State transition matrix

Taking the LT of eq1

SX(s)+X(0)=AX(s)
Above eq can be written as

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ISX(s)-x(0)=AX(s)
Where I is the identity matrix
ISX(s)-AX(s) = x(0)
X(s)[IS-A] = x(0)
X(s) = x(0)
Taking inverse LT,
x(t) = x(0)
we know that x(t) = φ(t)x(0), Therefore φ(t) =

Properties of state transition matrix

1. If t = 0 , then state transition matrix will be equal to an Identity matrix

ϕ(0)= I
2. Inverse of state transition matrix will be same as that of state transition matrix just by
replacing t by -t.

3. If t=t1+t2 , then the corresponding state transition matrix is equal to the multiplication
of the two state transition matrices at t=t1 and t=t2.

ϕ(t1+t2)=ϕ(t1)ϕ(t2)

Examples:
1. Determine the state transition matrix of the given matrix

Soln:

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Obtaining the Transfer function from the state model:

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Physical variable model:

•Here the state variables selected are actual physical variables in the system such as current
thru’ an inductor or voltage across a capacitor

•Differential equations for the system can be written using KVL or KCL

•From these, eqn for derivative of inductor current or derivative of capacitor voltage can be
obtained in terms of inductor current, capacitor voltage and the inputs to the system.

Example 1:

Obtain the state model for the electrical circuit shown in figure, Choose state variables as
i1(t),i2(t) and Vc(t).

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Example 2:
Obtain the state model for the electrical circuit shown in figure.

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Phase Variable model

•For a physical system, let a particular quantity x1 be chosen as state variable. If successive
derivatives of x1 are also chosen as state variables, the state model thus obtained is said to
be in phase variable form.
In the Phase variable method state variables are obtained from one of the system variable
and its derivatives, usually the variable chosen to be the output of the system.
Ex:
+5 +3y(t) =u(t)

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Example 1:

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Example 2:

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