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31 - Lecture-31 - State Space Analysis

This document discusses state-space representations for modeling linear time-invariant systems. It describes how to find a state-space model from a system's differential equations and convert between transfer functions and state-space models. State-space models use matrices and vectors to represent system parameters and variables.

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Deepesh Rajpoot
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14 views17 pages

31 - Lecture-31 - State Space Analysis

This document discusses state-space representations for modeling linear time-invariant systems. It describes how to find a state-space model from a system's differential equations and convert between transfer functions and state-space models. State-space models use matrices and vectors to represent system parameters and variables.

Uploaded by

Deepesh Rajpoot
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Control Systems

15B11EC613
 How to find mathematical model, called a
state-space representation, for a linear, time-
invariant system
 How to convert between transfer function and

state space models


 Alternative method of modeling a system than
◦ Differential / difference equations
◦ Transfer functions
 Uses matrices and vectors to represent the system
parameters and variables
 In control engineering, 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. To abstract from the number of inputs,
outputs and states, the variables are expressed as
vectors.
3
 Easier for computers to perform matrix
algebra
◦ e.g. MATLAB does all computations as matrix
math
 Handles multiple inputs and outputs
 Provides more information about the system
◦ Provides knowledge of internal variables (states)

 Primarily used in complicated, large-scale


systems

4
 State- The state of a dynamic system is the
smallest set of variables (called state
variables) such that knowledge of these
variables at t=t0 , together with knowledge of
the input for t ≥ t0 , completely determines
the behavior of the system for any time t to
t0 .
 Note that the concept of state is by no means

limited to physical systems. It is applicable to


biological systems, economic systems, social
systems, and others.
State Variables:
 The state variables of a dynamic system are
the variables making up the smallest set of
variables that determine the state of the
dynamic system.

 If at least n variables x1, x2, …… , xn are


needed to completely describe the behavior
of a dynamic system (so that once the input
is given for t ≥ t0 and the initial state at t=t0
is specified, the future state of the system is
completely determined), then such n
variables are a set of state variables.
State Vector:
 A vector whose elements are the state

variables.
 If n state variables are needed to completely

describe the behavior of a given system, then


these n state variables can be considered the
n components of a vector x. Such a vector is
called a state vector.
 A state vector is thus a vector that determines
uniquely the system state x(t) for any time t≥
t0, once the state at t=t0 is given and the
input u(t) for t ≥ t0 is specified.
State Space:
 The n-dimensional space whose coordinate

axes consist of the x1 axis, x2 axis, ….., xn


axis, where x1, x2,…… , xn are state
variables, is called a state space.
 "State space" refers to the space whose axes

are the state variables. The state of the


system can be represented as a vector within
that space.
• State-Space Equations. In state-space analysis
we are concerned with three types of variables
that are involved in the modeling of dynamic
systems: input variables, output variables, and
state variables.
• The number of state variables to completely
define the dynamics of the system is equal to
the number of integrators involved in the
system.
• Assume that a multiple-input, multiple-output
system involves n integrators. Assume also
that there are r inputs u1(t), u2(t),……. ur(t) and
m outputs y1(t), y2(t), …….. ym(t).
• Define n outputs of the integrators as state
variables: x1(t), x2(t), ……… xn(t). Then the system
may be described by
 The outputs y1(t), y2(t), ……… ym(t) of the
system may be given by
 If we define
 then Equations (2–8) and (2–9) become

• where Equation (2–10) is the state equation and


Equation (2–11) is the output equation. If vector
functions f and/or g involve time t explicitly, then the
system is called a time varying system.
• If Equations (2–10) and (2–11) are linearized
about the operating state, then we have the
following linearized state equation and
output equation:
Important points

• Thus far we have dealt primarily with the input/output characteristics of linear
systems. State variable, or state space, representations describe the internal
state of the system.
• State variables represent a way to describe ALL linear systems in terms of a
common set of equations involving matrix algebra.
• Many familiar properties, such as stability, can be derived from this common
representation. It forms the basis for the theoretical analysis of linear systems.
• State variables are used extensively in a wide range of engineering problems,
particularly mechanical engineering, and are the foundation of control theory.
• The state variables often represent internal elements of the system such as
voltages across capacitors and currents across inductors.
• They account for observable elements of the circuit, such as voltages, and
also account for the initial conditions of the circuit, such as energy stored in
capacitors. This is critical to computing the overall response of the system.
• Matrix transformations can be used to convert from one state variable
representation to the other, so the initial choice of variables is not critical.
• Software tools such as MATLAB can be used to perform the matrix
manipulations required.
Differential Equations

• Consider the CT differential equations:


y (t )  a1 y (t )  a0 y (t )  b0 v(t )
• A second-order differential equation requires two state variables:
x1 (t )  y (t ) x2 (t )  y (t )
• We can reformulate the differential equation as a set of three equations:
x 1 (t )  x2 (t )
x 2 (t )  a0 x1 (t )  a1 x2 (t )  b0 v(t )
y (t )  x1 (t )
• We can write these in matrix form as:
 x 1 (t )   0 1   x1 (t )   0 
 x (t )   a 
 a1   x2 (t ) b0 
v(t )
 2   0
 x (t ) 
y (t )  1 0 1 
 x2 (t )
• This can be extended to an Nth-order differential equation of this type:
N 1
y N 
(t )   ai y i  (t )  b0 v(t )
i 0
• The state variables are defined as: xi (t )  y (i 1) t , i  1, 2, ..., N
 I. J Nagrath and M. Gopal, Control Systems Engineering, Fifth
edition, New age International, 5th Edition, 2009.
 Normal S. Nise,, Control Systems Engineering, 7th Edition,
John Wiley,2014
 K.Ogata, Modern Control Engineering, 5th Edition, Prentice
Hall, 2010
 N.S. Beniwal and R. Beniwal, Automatic Control Systems with
MATLAB Programming, University Science Press, Laxmi
Publication PVT Ltd, 2009

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