EET2415: CONTROL SYSTEMS II

PRESENTED BY

Dr. Linus A. Aloo, PhD.

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.1. Introduction
The classical tools developed, viz, root locus technique, Bode plot,
Nyquist plot, etc. are powerful in the analysis and design of control
systems based on transfer function model.
Its disadvantages include:
1. It is not useful for systems with initial conditions, Nonlinear systems,
Time varying systems and MIMO systems.
2. Does not provide any insights on the variation of internal variables
3. May not yield optimum results.
To overcome these drawbacks, state space representation approach
evolved forming basis for development of modern control systems.

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
 State space approach is a generalized time-domain method of
modelling, analysing and designing a wide range of control systems.
Advantages of State space approach :
i. Applicable to linear or nonlinear, time variant/time invariant systems.
ii. It is easier to apply where the Laplace transform cannot be applied.
iii.It is suitable for digital computer computation
iv.The system can be designed for optimal condition based on set
objective functions.
v. Multiple input, multiple output (MIMO) systems or multivariable
systems.

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
 To carry out state space representation of a system, we require:
i. Input variables
ii. State variables
iii. Output variables

Fig. 1.1 MIMO Dynamic System

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
 Some Important Definitions
State: State of dynamic system is the smallest set of variables (state
variables) such that knowledge of the variables at time 𝑡 = 𝑡𝑜 plus
knowledge of the inputs for 𝑡 ≥ 𝑡𝑜 , this information determines the
behaviour of the system for any time 𝑡 ≥ 𝑡𝑜 .
State variables: These are variables making up the smallest set of
variables that determine the state of the dynamic system. Let a
dynamic system have 𝑛 variables 𝑥1 , 𝑥2 , … . , 𝑥𝑛 to describe the
behaviour of the system while the input is given for 𝑡 ≥ 𝑡𝑜 and the
initial state at 𝑡 = 𝑡𝑜 is specified. If the future state of the system is
determined, then such variables are a set of state variables.

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
 Some Important Definitions
State vector: The behaviour of a given system is described by 𝑛 state
variables and can be considered to be 𝑛 components of a vector x. Such
a vector is called a state vector.
Thus a state is a vector that determines uniquely the system state 𝑥(𝑡)
for any 𝑡 ≥ 𝑡𝑜 once the state at 𝑡 = 𝑡𝑜 is given and the input for 𝑡 ≥ 𝑡𝑜 is
specified.
State space: The 𝑛 dimensional space whose coordinate axis consists
of 𝑥1 , 𝑥2 , … . , 𝑥𝑛 axis is called state space. Any state can be represented
by a point in the state space.

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
Derivation of State Space Representation
 Let’s consider the dynamic MIMO system of Fig.1.1
 The state of the system is described by a set of first order differential
equations in terms of the state variables 𝑥1 , 𝑥2 , … . , 𝑥𝑛 and input variables
𝑢1 , 𝑢2 , … . , 𝑢𝑟 as

𝑥ሶ 1 𝑡 = 𝑓1 𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡
𝑥ሶ 2 = 𝑓2 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡)
.
.
𝑥ሶ 𝑛 𝑡 = 𝑓𝑛 𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡 (1.1)
STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo
 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
Derivation of State Space Representation
 The output of the system 𝑦1 𝑡 , 𝑦2 𝑡 , . . . , 𝑦𝑚 𝑡 may be a function of input
variables, state variables and time.

 This may be described as

𝑦1 𝑡 = 𝑔1 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡)
𝑦2 𝑡 = 𝑔2 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡
.
𝑦𝑚 𝑡 = 𝑔𝑚 𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡 (1.2)

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
Derivation of State Space Representation

Using vector notation, the definitions of 𝑢(𝑡), 𝑥(𝑡) and 𝑦(𝑡) would be:

𝑥1 (𝑡) 𝑢1 (𝑡) 𝑦1 (𝑡)

𝑥2 (𝑡) 𝑢2 (𝑡) 𝑦2 𝑡
𝑥 𝑡 = . State vector 𝑢 𝑡 = . Input vector 𝑦 𝑡 = . Output vector
. . .
𝑥𝑛 (𝑡) 𝑢𝑟 (𝑡) 𝑦𝑚 (𝑡)

Using the above vectors, equations (1.1) and (1.2) become

𝑥ሶ 𝑡 = 𝑓 𝑥, 𝑢, 𝑡 state equation (1.3)
𝑦 𝑡 = 𝑔 𝑥, 𝑢, 𝑡 output equation (1.4)

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
Derivation of State Space Representation
Time invariant systems
If the vector functions of 𝑓 and 𝑔 do not involve time, then the system is said to be a time invariant
system
Then
𝑥ሶ 𝑡 = 𝑓(𝑥, 𝑢) (1.5)

𝑦 𝑡 = 𝑔(𝑥, 𝑢) (1.6)
If equations 1.5 and 1.6 are linear then

𝑥ሶ 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝑢 𝑡 (1.7)
𝑦 𝑡 = 𝐶𝑥 𝑡 + 𝐷𝑢(𝑡) (1.8)
where A, B, C and D are constant matrices and hence are not functions of time.

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.2.State Space Representation
Derivation of State Space Representation
Time varying systems
If the system is time varying, then equations 1.3 and 1.4 result to
𝑥ሶ 𝑡 = 𝐴(𝑡)𝑥 𝑡 + 𝐵(𝑡)𝑢(𝑡) (1.9)

𝑦 𝑡 = 𝐶(𝑡)𝑥 𝑡 + 𝐷(𝑡)𝑢(𝑡) (1.10)

where
𝑥 = 𝑛 − dimensional state vector
𝑢 = 𝑟 −dimensional control vector or input vector
𝑦 = 𝑚 −dimensional output vector
𝐴(𝑡) – 𝑛 × 𝑛 state matrix
𝐵(𝑡) – 𝑛 × 𝑟 input or control matrix
𝐶(𝑡) – 𝑚 × 𝑛 output matrix
𝐷(𝑡) – 𝑚 × 𝑟 direct transition matrix
NB: State variable representation of a system is not unique.

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.3. State Space Representation of nth Order Differential Equations
Example 1.1: For nth Order Differential Equation
A system is described by the differential equation:

𝑑3 𝑦 𝑑2𝑦 𝑑𝑦
3
+ 5 2 + 12 + 8𝑦 = 6𝑢(𝑡)
𝑑𝑡 𝑑𝑡 𝑑𝑡

where 𝑦 is the output and 𝑢 is the input to the system. Obtain state space representation of the system.
Solution
Knowledge of 𝑦(0), 𝑦(0)ሶ and 𝑦(0)
ሷ together with the input 𝑢(𝑡) for 𝑡 ≥ 0 determines completely the
future of the system. Thus if 𝑦(𝑡), 𝑦(𝑡)
ሶ and 𝑦(𝑡)
ሷ are a set of the state variables then
Defining the state variables as
𝑥1 = 𝑦,𝑥2 = 𝑦ሶ and 𝑥3 = 𝑦ሷ
Then
𝑥ሶ1 = 𝑦ሶ = 𝑥2 , 𝑥2 = 𝑦ሶ = 𝑥3 and 𝑥3 = 𝑦ሷ = −8𝑥1 − 12𝑥2 − 5𝑥3 + 6𝑢

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1.3. State Space Representation of nth Order Differential Equations
Example 1.1: Solution Continued
By use of vector matrix notation, then the 3 first order differential equations can be combined into one as:

𝑥ሶ1 0 1 0 𝑥1 0
𝑥ሶ 2 = 0 0 1 𝑥2 + 0 𝑢 𝑡 (1.11 𝑎)
𝑥ሶ 3 −8 −12 −5 𝑥3 6
The output y is given by
𝑥1
𝑦 = 1 0 0 𝑥2 (1.11 𝑏)
𝑥3
Comparing equations (1.11 a and b) with equations (1.9 and 1.10) respectively, we obtain:

0 1 0 0
𝐴= 0 0 1 ,𝐵= 0 ,𝐶 = 1 0 0 and 𝐷 = [0]
−8 −12 −5 6

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1. 4. State Space Representation for Electrical Network
 Usually in the circuit problem, the current through the inductor and voltage across
the capacitor are chosen as the state variables.
Example 1.3
Consider an RLC network excited by an input 𝑣(𝑡) as shown in Fig. 1.2. Obtain the state variable
representation of the system in two different forms and comment on the same.

Fig. 1.2. A Series RLC circuit

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1. 4. State Space Representation for Electrical Network
Example 1.3 : Solution
Method 1
If the current,𝑖, through the inductor and voltage, 𝑣𝑐 across the capacitor are selected as state variables, we have,
𝑑𝑣𝑐
𝐶 =𝑖 𝑡 (1.13𝑎)
𝑑𝑡
𝑑𝑖
𝐿 = 𝑣𝐿 𝑡 = 𝑣 − 𝑖𝑅 − 𝑣𝑐 (1.13𝑏)
𝑑𝑡
Defining
𝑣𝑐 𝑡 = 𝑥1 𝑡 , 𝑖 𝑡 = 𝑥2 𝑡 and 𝑣 𝑡 = 𝑢(𝑡)
We have
1
𝑥ሶ1 𝑡 = 𝑥 𝑡 (1.13𝑐)
𝐶 2
1 𝑅 1
𝑥ሶ 2 𝑡 = − 𝑥1 𝑡 − 𝑥2 𝑡 + 𝑢 𝑡 (1.13𝑑)
𝐿 𝐿 L
In matrix form, eqns. (1.13 𝑐 & 𝑑) can be written as,
1
0 𝑥1 (𝑡) 0
𝑥ሶ1 𝑡 𝐶
= + 1 𝑢 𝑡 (1.14𝑎)
𝑥ሶ 2 (𝑡) 1 𝑅 𝑥2 𝑡
− − 𝐿
𝐿 𝐿

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1. 4. State Space Representation for Electrical Network
Example 1.3 : Solution
and assuming the output is 𝑦 = 𝑣𝑐 𝑡 = 𝑥1 𝑡 ,
𝑥1
𝑦= 1 0 𝑥 (1.14𝑏)
2
Method 2
Now, consider the eqn. (1.15a) for the RLC circuit,
𝑑𝑖 1 𝑡
𝑅𝑖 + 𝐿 + න 𝑖𝑑𝑡 = 𝑣 (1.15𝑎)
𝑑𝑡 𝐶 −∞
The charge 𝑞 is given by,
𝑡
𝑞 𝑡 = ‫׬‬−∞ 𝑖𝑑𝑡 (1.15𝑏)
𝑑𝑞
And 𝑖= (1.15𝑐)
𝑑𝑡
In terms of the variable 𝑞, eqn. (1.14a) can be written as
𝑑2 𝑞 𝑑𝑞 𝑞
𝐿 2 +𝑅 + =𝑣 (1.15𝑑)
𝑑𝑡 𝑑𝑡 𝐶

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1. 4. State Space Representation for Electrical Network
Example 1.3 : Solution
Now if we define the state variables as:

𝑥1 𝑡 = 𝑞 𝑡 (1.15𝑒)

𝑑𝑞
𝑥2 𝑡 = = 𝑖 𝑡 = 𝑥ሶ 1 𝑡 (1.15𝑓)
𝑑𝑡
Thus
𝑥ሶ 1 𝑡 = 𝑥2 1.15𝑔

𝑑2𝑞 1 𝑅 𝑑𝑞 𝑞 1 𝑅 1
𝑥ሶ 2 𝑡 = 2 = 𝑣 − − =− 𝑥1 − 𝑥2 + 𝑢 𝑡 (1.15ℎ)
𝑑𝑡 𝐿 𝐿 𝑑𝑡 𝐿𝐶 𝐿𝐶 𝐿 L

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
1. 4. State Space Representation for Electrical Network
Example 1.3 : Solution
Putting in vector-matrix differential form, eqns. (1.15 𝑔 & ℎ) can be written as,
0 1 𝑥 0
𝑥ሶ 1 𝑡 1 𝑅 1 + 1 𝑢 𝑡
= 𝑥2 (1.16𝑎)
𝑥ሶ 2 (𝑡) − −
𝐿𝐶 𝐿 𝐿
and assuming the output is 𝑦 = 𝑞 𝑡 = 𝑥1 𝑡 ,

𝑥1
𝑦= 1 0 𝑥 𝑡 (1.16𝑏)
2
Comments
Eqns (1.14) and (1.16) give two different representations of the same system in state
variable form.
Thus, the state variable representation of any system is not unique.
STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo
 1.0 STATE VARIABLE METHODS
Exercises
1. Obtain two possible state space representations for the RLC network shown in Fig. 1.4 given that
𝑅1 = 2Ω ,𝑅2 = 5Ω, 𝐿1 = 𝐿2 = 1𝐻, 𝐶 = 1𝐹 and 𝑒 = 10𝑉. Assume that the voltage across 𝑅2 and the
current through 𝑅2 are the output variables denoted as 𝑦1 and 𝑦2 respectively and therefore obtain the
output equations.

L1 L2
i1 i2
R1

C
R2
e1 V
e

Fig. 1.4
2. Attempt Questions 1 to 3 of Practice Exercise 1.1 in the issued hand out.

STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo

 1.0 STATE VARIABLE METHODS
Practice Exercise 1.1
2. Consider the system shown in Fig. 1.6a. The system involves one integrator and two delayed
integrators. The output of each integrator or delayed integrator can be a state variable. By defining the
output of the plant as 𝑥1 , the output of the controller as 𝑥2 and the output of the sensor as 𝑥3 . Obtain a
state-space model of the system.
3. Fig. 1.6 b shows an RLC circuit, obtain its state-space representation.

U (s) 10 Y (s) L1
 1 i1  i 2
_ s s5
Controller Plant C 1 C 2 R2
1 i 1 i
s 1 R1 2

Sensor Fig. 1.6 b

Fig.1.6a. Control System.
STATE SPACE REPRESENTATION Lecture Slides by Dr. Linus. A. Aloo