Lecture Name

Lecture Name
State Space
Lec Representation
 CONTENTS

• Definitions related to state space representation

• Mathematical representation of state space
• Guidelines for state space representation
• Numerical Example

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 Definitions related to state space representation
State : The concept of state is related to minimum set of variables. These variables
are called as state variable. Thus, the state of a system is defined as the minimum
(smallest) set of variables such that the knowledge of these variables at t = t0 , along
with the knowledge of the input for t  t0 , completely determines the behaviour of
the system for any time .

State vector : If n state variables represent behaviour of a given system, then n

State variables can be considered as n components of a state vector x . Such vector
is called as state vector.

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• State space : The n dimensional space whose coordinate
axes consist of the x axis, x axis,…, x axis is called state
1 2 n

space.

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 System block diagram

D. Roy Choudhury, Modern Control Engineering, Prentice Hall of India,

2005.

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• State equations: It is the set of n simultaneous first-
order differential equation with n variables.
• Output equation: It is the linear combinations of the
state variables and the inputs.

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 State space representation (Mathematical Analysis)

• Consider MIMO System as

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From this MIMO system,

The state vector (n x 1) input vector (r x1) output vector (mx1)

 x1 (t )  u1 (t )   y1 (t ) 
 x (t )  u (t )   y (t ) 
X = 2  u= 2  y= 2 
     
     
 xn (t )  ur (t )   ym (t ) 

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The state representation can be arranged in the form
of n first order differential equations :
• State equation Output equation
dx1 (t )
= x1 (t ) = f1 ( x1 , x2 ,..., xn ; u1 , u2 ,..., ur ; t )
dt y1 (t ) = g1 ( x1 , x2 ,..., xn ; u1 , u2 ,..., ur ; t )
dx2 (t )
= x2 (t ) = f 2 ( x1 , x2 ,..., xn ; u1 , u2 ,..., ur ; t ) y2 (t ) = g 2 ( x1 , x2 ,..., xn ; u1 , u2 ,..., ur ; t )
dt

dxn (t )
= xn (t ) = f n ( x1 , x2 ,..., xn ; u1 , u2 ,..., ur ; t ) ym (t ) = g m ( x1 , x2 ,..., xn ; u1 , u2 ,..., ur ; t )
dt

x(t ) = f ( x, u , t ) y (t ) = g ( x, u , t )

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State model of a linear time invariant system is a special case of the
general time invariants models :

In this case, each state variable now becomes linear combination of

system states and inputs, i.e.,
x1 = a11 x1 + a12 x2 + ... + a1n xn + b11u1 + b12u2 + ... + b1r ur
x2 = a21 x1 + a22 x2 + ... + a2 n xn + b21u1 + b22u2 + ... + b2 r ur

xn = an1 x1 + an 2 x2 + ... + ann xn + bn1u1 + bn 2u2 + ... + bnr ur

In vector matrix form,

x(t ) = Ax(t ) + Bu (t )

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• [A] is (n x n) system matrix which is defined as
 a11 a12 ... a1n 
 
a a22 ... a2 n 
[ A]( nn ) =  21
 
 
 an1 an 2 ... ann 

• [B] is (n x r) input matrix which is defined as

b11 b12 ... b1r 
b b22 ... b2 r 
[ B ]( nr ) =  21
 
 
bn1 bn 2 ... bnr 

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Output variables at time ‘t’ are linear combination of the values
of the input and state variables at time ‘t’, i.e.,

y1 (t ) = c11 x1 (t ) + ... + c1n xn (t ) + d11u1 (t ) + ... + d1r ur (t )

M
ym (t ) = cm1 x1 (t ) + ... + cmn xn (t ) + d m1u1 (t ) + ... + d mr ur (t )

y (t ) = Cx(t ) + Du (t )

c11 c12 ... c1n   d11 d12 ... d1r 

   d d ... d 
c c ... c
[C ]( mn ) = 21 22 2 n  ,[ D]
( m r ) =
 21 22 2r 
M M M M M M
   
cm1 cm 2 ... cmn   d m1 d m 2 ... d mr 

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 The state model of linear time invariant system is given as

x(t ) = Ax(t ) + Bu (t ) ; State equation

y (t ) = Cx(t ) + Du (t ) ; Output equation

where, A : System matrix, B : Input matrix, C : Output matrix,

D : Coupling matrix (Transmission matrix)

I. J. Nagrath and M. Gopal, Control Systems Engineering, 5th

Edition, 2007.
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Block diagram representation of state model of a linear multi-
input-multi-output systems :

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 Selection of state variables
1. Number of state variables should be minimum.
2. The number of state variables must be linearly independent.
3. The number of state variables is equal to number of
independent energy storage element.
4. The number of state variables is equal to the order of
differential equation.
5. The number of state variables are equal to number of
integrators.

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Example: 1
Determine the state space model of the series RLC circuit as
shown in figure given below:

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Applying KVL to the series RLC circuit , we get,
d
vi = RiL + L iL + vC (1)
dt
The voltage across the inductor is given as
d
vL = L iL (2)
dt
The current flowing through the circuit (capacitor/inductor current)
is given as d
iC = iL = C vC (3)
dt
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Example: 1 (Continued)
Consider vC and iL as the state variables.
From equation (3), we write,
d 1
vC = vC = iL (4)
dt C

From equation (1), we get,

d 1
iL = iL = (−vC − RiL + vi ) (5)
dt L

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Example: 1 (Continued)
From equations (4) and (5), the state equation is given as

vC   0 1/ C  vC   0 
 i  =  −1/ L − R / L   i  + 1/ L  vi (6)
 L   L   

The output equation (voltage across capacitor) is given

as v 
y = vC = 1 0  C  +  0 vi
 iL  (7)

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 References
[1] Ashish Tewari, Modern Control Design with Matlab and Simulink, Wiley,
2004.

[2] D. Roy Choudhury, Modern Control Engineering, Prentice Hall of India,

2005.

[3] Norman S. Nise, Control Systems Engineering, Fifth edition, Wiley, 2010.

[4] Katsuhiko Ogata, Modern Control Engineering, Fifth edition, Pearson,

2009.

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Thank You

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