State Space

Representation
Lec-28
outline
 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
State-Space Modeling
 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
Motivation for State-Space
Modeling
 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)

Þ Primarily used in complicated, large-scale

systems

4
Classical or Frequency-Domain
Technique
 Advantages  Disadvantages
◦ Converts differential ◦ Applicable only to
equation into Linear, Time-
algebraic equation Invariant (LTI)
via transfer systems or their
functions. close
◦ Rapidly provides approximations.
stability & transient LTI limitation became a
response info. problem circa 1960 when
space applications
became important.
State-Space or Modern or Time-
Domain Technique
 Advantages  Disadvantages
◦ Provides a unified ◦ Not as intuitive as
method for classical method.
modeling, analyzing, ◦ Calculations
and designing a required before
wide range of physical
systems using interpretation is
matrix algebra. apparent
◦ Nonlinear, Time-
Varying,
Multivariable
systems
Definitions
 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:
 A(t) is called the state matrix,
 B(t) the input matrix,
 C(t) the output matrix, and
 D(t) the direct transmission matrix.
 A block diagram representation of Equations (2–12) and (2–
13) is shown in Figure
 If vector functions f and g do not involve
time t explicitly then the system is called a
time-invariant system. In this case,
Equations (2–12) and (2–13) can be
simplified to

• Equation (2–14) is the state equation of the

linear, time-invariant system and
• Equation (2–15) is the output equation for the
same system.
 Correlation Between Transfer Functions
and State-Space Equations
 The "transfer function" of a continuous time-
invariant linear state-space model can be
derived in the following way:

First, taking the Laplace transform of

Yields
Signal-Flow Graphs of State
Equations
Ex- 2
 Example-3
• Consider the mechanical system shown in figure. We
assume that the system is linear. The external force u(t) is
the input to the system, and the displacement y(t) of the
mass is the output. The displacement y(t) is measured from
the equilibrium position in the absence of the external force.
This system is a single-input, single-output system.

• From the diagram, the system equation is

𝑚 𝑦¨ (𝑡 )+ 𝑏 𝑦˙ (𝑡 )+ 𝑘𝑦 (𝑡 )=𝑢 (𝑡 )

• This system is of second order. This means

that the system involves two integrators.
Let us define state variables and as

𝑥1 ( 𝑡 )= 𝑦 (𝑡 )
𝑥2 ( 𝑡 ) = 𝑦˙ ( 𝑡 )
 Example-3
𝑥1 ( 𝑡 )= 𝑦 (𝑡 ) 𝑥2 ( 𝑡 ) = 𝑦˙ ( 𝑡) 𝑚 𝑦¨ (𝑡 )+ 𝑏 𝑦˙ (𝑡 )+ 𝑘𝑦 (𝑡 )=𝑢 (𝑡 )

• Then we obtain
𝑥˙ 1 ( 𝑡 )=𝑥 2 (𝑡 )
𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑦˙ ( 𝑡 ) − 𝑦 ( 𝑡 ) + 𝑢( 𝑡 )
𝑚 𝑚 𝑚
• Or
𝑥˙ 1 ( 𝑡 )=𝑥 2 (𝑡 )
𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢(𝑡 )
𝑚 𝑚 𝑚
• The output equation is
𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )
 Example-3
𝑏 𝑘 1
𝑥˙ 1 ( 𝑡 )=𝑥 2 (𝑡 ) 𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢(𝑡 ) 𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )
𝑚 𝑚 𝑚

• In a vector-matrix form,

 x 1 (t )   0 1   x (t )   0 
 x (t )   k b   1    1  u (t )
   x2 (t )  
 2   m m  m

 x1 (t ) 
y ( t )  1 0  
x
 2 ( t ) 
 Example-3
• State diagram of the system is

𝑥˙ 1 ( 𝑡 )=𝑥 2 (𝑡 )
𝑏 𝑘 1
𝑥˙ 2 ( 𝑡 ) =− 𝑥2(𝑡 ) − 𝑥 1 ( 𝑡 )+ 𝑢(𝑡 )
𝑚 𝑚 𝑚

𝑦 ( 𝑡 ) =𝑥1 ( 𝑡 )

-k/m

-b/m
1/m 𝑥˙ 2 𝑥1
𝑢(𝑡) 1/s 𝑥 = 𝑥˙ 1/s 𝑦 (𝑡)
2 1
 Example-3
• State diagram in signal flow and block diagram format

-k/m

-b/m
1/m 𝑥˙ 2 𝑥1
𝑢(𝑡) 1/s 𝑥 = 𝑥˙ 1/s 𝑦 (𝑡)
2 1
 Example-4
 Obtain state equations of following mechanical
translational system and draw the state diagram.
Where f(t) is input and x1 is output.

• System equations are:

d 2 x1 dx1 d 2 x2
M1 2
D  Kx1  Kx2 0 f (t )  M 2 2
 Kx2  Kx1
dt dt dt
 Example-4
• Now dx1 d 2 x1 dv1
v1 
dt dt 2 dt
dx2 d 2
x2 dv2
v2 
dt dt 2 dt
• Choosing x1, v1, x2, v2 as state variables
dx1
v1
dt
dv1
M1  Dv1  Kx1  Kx2 0
dt
dx2
v2
dt
dv2
f (t )  M 2  Kx2  Kx1
dt
 Example-4
• In Standard form
dx1
v1
dt
dv1 D K K
 v1  x1  x2
dt M1 M1 M1
dx2
v2
dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
 Example-4
dx1 dv1 D K K dx2
v1  v1  x1  x2 v 2
dt dt M1 M1 M1 dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
• In Vector-Matrix form

 0 1 0 0  0 
 x 1   K D K  1 x 
   M  0    0 
 v1   1 M1 M1
  v1   
  0  f (t )
 x 2   0 0 0 1  x2 
 1 
   K K  
0  v2   
 v 2   M 2
0 
M2   M2 
 Example-5
 State space representation of armature Controlled
D.C Motor. Ra La
B 
ia
eb T J
ea 

t ant
ons
c
V =f

 ea is armature voltage (i.e. input) and  is output.

dia
ea  Ra ia  La  eb
dt
T J  B
 Example-5
T K t ia eb Kb

J   B -K t i a  0
di a
La  R a i a  K b  e a
dt
Choosing as state variables

[ ] [][ ]
0 1 0

[]
𝐾𝑡 0
𝜃 𝐵 𝜃
𝑑 0 −
𝜃˙ = 𝐽 𝐽 𝜃˙ + 0 𝑒𝑎
𝑑𝑡 1
𝑖𝑎 𝐾 𝑅 𝑖𝑎
0 − 𝑏 − 𝑎 𝐿𝑎
𝐿𝑎 𝐿𝑎
Since is output of the system therefore output equation is given as

[]
𝜃
𝑦 ( 𝑡 ) =[ 1 0 0] 𝜃˙
𝑖𝑎