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5 Modeling in State Space

This document discusses modeling systems using state-space representation. It defines key concepts like state, state vector, state space and presents the general state-space model with state, input and output equations. Examples are provided on obtaining state-space models of electrical circuits and differential equations. Steps are outlined for representing electrical networks in state-space by selecting state variables and applying Kirchhoff's laws.

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Eliel Basco
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27 views31 pages

5 Modeling in State Space

This document discusses modeling systems using state-space representation. It defines key concepts like state, state vector, state space and presents the general state-space model with state, input and output equations. Examples are provided on obtaining state-space models of electrical circuits and differential equations. Steps are outlined for representing electrical networks in state-space by selecting state variables and applying Kirchhoff's laws.

Uploaded by

Eliel Basco
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 PDF, TXT or read online on Scribd
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Modeling in State-Space

Engr. Ojay DL. Santos

References:
[1] Nise, N. (2011). Control Systems Engineering ,
6th edition
[2] Ogata, K. (2010). Modern Control Engineering ,
5th edition
[3] Singh, Y. & Janardhanan, S. (2011). Modern
Control Engineering , 1st edition
FBCON-EE 1
Analysis & Design Approaches
of Feedback Control Systems
■ Classical or frequency domain approach
■ Modern or state-space approach

FBCON-EE 2
Analysis & Design Approaches
of Feedback Control Systems
■ Classical or frequency domain approach
➢ is based on converting a system’s

differential equation to a transfer


function, thus generating a
mathematical model of the system that
algebraically relates a representation
of the output to a representation of the
input.
➢ is applicable only toFBCON-EE
linear time 3
Analysis & Design Approaches
of Feedback Control Systems
■ Modern or state-space approach
➢ is a unified method for modeling,

analyzing, and designing a wide range


of systems.
➢ is applicable to multiple-input,

multiple-output systems, which may be


linear or nonlinear, time invariant or
time varying.
FBCON-EE 4
Definition
■ 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 ≥ t 0.
■ In other words, the state of a system
refers to the past, present,
FBCON-EE
and future of 5
State Variable Selection
➢ The number of state variables is equal
to the number of independent energy-
storage elements in the system.
➢ In an electric circuit, the state variables
are the inductor current and capacitor
voltage since they collectively describe
the energy state of the system.

FBCON-EE 6
Definition
■ State vector. A vector whose elements are the
state variables.
➢ The components of the state vector must be

linearly independent.
➢ A set of variables is said to be linearly

independent if none of the variables can be


written as a linear combination of the others.
➢ For example, given x 1, x 2, and x3, if x 2 = 5x1 + 6x3,

then the variables are not linearly independent,


since one of them can be written as a linear
combination of the otherFBCON-EE
two. 7
Definition
■ State space. The
n-dimensional
space whose axes
are the state
variables.
■ State vector
trajectory. The
locus of the tips
of the state FBCON-EE 8
State-Space Representation
■

FBCON-EE 9
Definition
■

FBCON-EE 10
State Equation
■

FBCON-EE 11
State Equation
■

FBCON-EE 12
Definition
■ Output equation. The algebraic
equation that expresses the output
variables of a system as linear
combinations of the state variables and
the inputs.
y = Cx + Du

FBCON-EE 13
Output Equation
■

FBCON-EE 14
Output Equation
■

FBCON-EE 15
Block Diagram of a Control System
Represented in State-Space
■

FBCON-EE 16
Steps in State-Space
Representation of Electrical
Networks
Step 1. Select the inductor current iL and
capacitor voltage vC as the state variables,
making sure they are consistent with the
passive sign convention.
Step 2. Apply KVL and KCL to the circuit and
obtain circuit variables (voltages and
currents) in terms of the state variables. This
should lead to a set of first-order differential
equations necessary and sufficient to
determine all state variables.
Step 3. Obtain the output equation
FBCON-EE
and put the 17
Example #1
■ Given the electrical network below, find
the state-space representation if the
output is the current through the resistor.

FBCON-EE 18
Example #2
■ Find the state-space representation of
the electrical network shown below.
The output is vo(t).

FBCON-EE 19
Example #3
■ Find the state-space representation of
the electrical network. The outputs are vo
and vx.

FBCON-EE 20
Example #4
■ Represent the electrical network in state
space. The outputs are vo and io.

FBCON-EE 21
FBCON-EE 22
State-Space Representation of
nth-Order Differential Equation
■ Phase variables – a set of state variables
where each subsequent state variable is
defined to be the derivative of the
previous state variable.

FBCON-EE 23
State-Space Representation of
nth-Order Differential Equation

■ Consider the differential equation,

FBCON-EE 24
State-Space Representation of
nth-Order Differential Equation
■ A
convenient
way to
choose state
variables is
to choose
the output,
y(t), and its
(n – 1)
derivatives
FBCON-EE 25
State-Space Representation of
nth-Order Differential Equation
■ The resulting state equations are

FBCON-EE 26
State-Space Representation of
nth-Order Differential Equation

■ In vector-matrix form,

FBCON-EE 27
State-Space Representation of
nth-Order Differential Equation
■ Since the solution to the differential
equation is y(t), or x 1, the output
equation is

FBCON-EE 28
State-Space Representation of nth-Order Differential Equation

This type of state-


space
representation is
called controllable
canonical form
FBCON-EE 29
Example #5
■ Find the state-space representation of
the differential equation.

FBCON-EE 30
Example #6
■ Find the state-space representation

FBCON-EE 31

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