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State Space Analysis

The document provides an overview of state space analysis for MIMO systems, detailing the state space representation and comparing it with the transfer function approach. It covers the solution of state model equations, properties of the state transition matrix, and concepts of controllability and observability. Additionally, it includes the necessary conditions for a system to be controllable and observable through the rank of specific matrices.

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Pushpraj Namdeo
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11 views3 pages

State Space Analysis

The document provides an overview of state space analysis for MIMO systems, detailing the state space representation and comparing it with the transfer function approach. It covers the solution of state model equations, properties of the state transition matrix, and concepts of controllability and observability. Additionally, it includes the necessary conditions for a system to be controllable and observable through the rank of specific matrices.

Uploaded by

Pushpraj Namdeo
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State Space Analysis

State Space Analysis


The state space representation of multiple input multiple output (MIMO) system is given by,
X = AX + BU
Y = CX + DU
where, X = State vector (n ×1) U = Input vector (m×1)
Y = Output vector ( p ×1) A = System matrix (n × n)
B = Input matrix (n × m) C = Output matrix ( p × n)
D = Input-output coupling matrix (n × m) X = Differential state vector
 X  = [ A]n×n [ X ]n×1 + [ B ]n×m [U ]m×1
n×1

[Y ] p×1 = [C ] p×n [ X ]n×1 + [ D ] p×m [U ]m×1


Comparison between Transfer Function Approach and State Variable Approach
S. No. Transfer Function Approach State Variable Approach
1. It is based on the input-output relationship It is based on the description of the system
or transfer function. equations in terms of first order differential
equation, which may be combined into vector-
matrix.
2. It is applicable only to LTI systems and it is It is applicable to linear as well as non-linear,
generally limited to SISO. time-invariant as well as variant, SISO as well
as MIMO.
3. In this initial conditions are neglected. In this initial conditions are considered.
4. The transfer function of a system is The state model of a system is not unique.
unique.
Solution of State Model Equation
Solution of homogenous state equation
The state equation is given by,
X = AX (t )
The solution of this equation for initial condition X (0) is given by,
[ X ( s)]n×1 = [ sI − A]−n×1n [ X (0)]n×1
x (t ) = e At X (0)
 
Zero input response

where, φ(t ) = L−1[ sI − A]n−×1n = e At .


This is the solution of homogeneous state equation, where e At is termed as state transition matrix
(STM) and denoted as φ( t ) .
Solution of non-homogenous state equation
The state equation is given by,
X = AX + BU
Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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Control System [SSC-JE & All State AE/JE] 2 GATE ACADEMY®
The solution of this equation for initial condition X (0) is given by,
t
X (t ) = e At X (0) +  e A( t −τ ) BU (τ) d τ
 
ZIR 
0
ZSR

Where, the forced response or zero state response (ZSR) or the response due to input only is
ZSR = L−1 [ φ( s ) BU ( s ) ]
This is the solution of non-homogeneous state equation, where e At is termed as state transition
matrix (STM) and denoted as φ( t ) .
Properties of State Transition Matrix
−1
φ(t ) = L−1 [ sI − A]
1. φ(0) = I
2. φ−1 (t ) = φ(− t )
3. φ(t2 − t1 )φ(t1 − t0 ) = φ(t2 − t0 )
[φ(t )]
K
4. = φ( Kt ); where, K = Positive integer
5. φ '(0) = A
6. φ(t1 + t2 ) = φ(t1 ) φ(t2 )
Transfer Function from State Model
The state model is given by,
x (t ) = Ax(t ) + Bu (t ) …(i)
y (t ) = Cx(t ) + Du (t ) …(ii)
Y ( s)
= C [ sI − A] B + D
−1
T ( s) =
U ( s)
The characteristic equation is given by,
sI − A = 0

Controllability
State controllability
1. A system is said to be controllable, if the state of the system can be transferred from one to another
desire state over a given time period under the control of input.
2. Controllability of a system depends on [A] and [B] matrices.
Test for controllability
A multiple input multiple output (MIMO), linear time invariant system is described by the dynamic
equations
x (t ) = Ax(t ) + Bu (t )
y (t ) = Cx(t )
To be completely controllable, it is necessary and sufficient that the following n × n controllability
matrix QO has a rank of n, i.e. the order of the system.
[QC ] = [ B AB A2 B....... An −1 B ]
The system is completely controllable if QC is non-singular, that is determinant is not zero.
QC ≠ 0 System is controllable.
QC = 0 System is un-controllable.

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GATE ACADEMY® 3 State Space Analysis

Observability
1. A system is said to be observable if all the states of the system can be determine on the basis of
knowledge of the output of system at a given time.
2. Observability of a system depends on [A] and [C] matrix.
Test for observability
A multiple input multiple output (MIMO), linear time invariant system is described by the dynamic
equations
x (t ) = Ax(t ) + Bu (t )
y (t ) = Cx(t )
To be completely observable, it is necessary and sufficient that the following n × n observability matrix
QO has a rank of n, i.e. the order of the system.
QO = C T AT C T A2T C T  ( AT ) n −1 C T 

If the system has only one output, C is a 1× n row matrix, QO is a (n × n) square matrix. The system
is completely observable if QO is non-singular, that is determinant is not zero.
QO ≠ 0 System is observable.

QO = 0 System is un-observable.

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