STATE VARIABLE MODELS

Chapter 3

State Space Approach

So far we have used the Laplace transform to obtain a transfer function model
representing liner time invariant physical systems described by ordinary differential equations.
Now we turn to an alternative method of system modeling using time domain methods.

The availability of a digital computer made it convenient to consider the time domain
formulation of the equation representing control systems. The time domain techniques can be
utilized for nonlinear, time varying and multivariable systems. A time varying control system
is a system for which one or more of the parameters of the system may vary as a function of
time. For example, the mass of a missile varies as a function of time as the fuel is expanded
during flight. The time domain is the mathematical domain that incorporates the response and
description of a system in terms of time t

THE STATE VARIABLES OF A DYNAMIC SYSTEM

The state of a system is a set of variables such that the knowledge of these variables
and the input function will with the equations describing the dynamics provide the future
state and output of the system.

For a dynamic system the state of a system is described in terms of a set of state variables
[ x 1(t ), x 2(t ),......................,x n (t )] ] . The state variables are those variables that determine the future
behavior of a system when the preset state of the system and the excitation signals are known.

Example 3.1

Figure 3.1

Knowing the state variable at

t =t 0 and knowing input at t≥t 0 (future) determines the
behavior of the system at any
t≥t 0 (future)
THE STATE DIFFERENTIAL EQUATION

The state of a system is described by the set of first order differential equations written in
terms of state variables (( x 1 ,x 2 ,............,x n ) . These first order differential equations can be
written in general form as:

ẋ1=a 11 x1+a12 x 2+..........................+a1n x n+b11 u 1+...........+b1m u m

ẋ2=a 21 x 1+a 22 x 2+.........................+a2n x n+b 21 u1+..........+b2m u m
↓ dx
↓ = ¿
dt
ẋ n=an1 x 1+an2 x 2+..........................+a nn x n+b n1 u 1+..........+b nm um

where { ẋ

In Matrix Form

[][ ][ ] [ ] [ ]
ẋ1 a 11 a12 ⋯ a 1n x 1 b 11 ⋯ b1 m u1
ẋ 2 = a 21 a22 ⋯ a 2n x 2 + ⋮ ⋮ ⋮
⋮ ⋮ ⋮ ⋯ ⋮ ⋮ ⋮ ⋮ ⋮
ẋ n an1 a n2 ⋯ anm x n b n1 ⋯ b nm um

The column matrix consisting of state variables is called the state vector

[]
x1
X = x2
⋮
xn
State Differential Equation

Ẋ =AX +BU [state equation)

where
A=State Matrix
B=Input Matrix
The matrix A and B

A=n×n square matrix

B=n×m matrix

The state differential equation relates the rate of change of the state of the system to the state
variables and the input signals by the output equation.

In general the outputs of a linear system can be related to the state variables and the input signals
by the output equation

Y =Cx +Du
where
Y = Set of output signals expressed in column vector form
D= Direct Transmission Matrix

Block Diagram Representation

Ẋ =AX +BU Input equation

Y =Cx+Du output equation

D(t)

X (t ) X(t)

d (t)
B(t) C(t) Y(t)
U(t)

A(t)

Figure 3.3
 Example 3.2.1

Draw a block diagram for the general second-order, single-input single-output system:

[ ][= ][ ] [ ]
ẋ1 a11 a12 x 1 b1
+
ẋ2 a21 a22 x 2 b2
u(t)

][ ]
x1
y ( t ) =[ C1 C2
x2

Step 1: Draw n integrator (S−1) blocks, and assign a state variable to the output of each block.

Step 2: At the input to each block (which represents the derivative of its state variable) draw a
summing element.

Step 3: Use the state equations to connect the state variables and inputs to the summing
elements through scaling operator blocks.

Step 4: Expand the output equations and sum the state variables and inputs through a set of
scaling operators to form the components of the output.
 Example 3.2

A simple example of the state variable is the state of an 0n-off light switch. The switch
can be in either the on or the off position, and thus he state of the switch can assume one of two
possible values. Thus if we know the present state (position) of the switch at
t =t 0 and if an
input is applied, we are able to determine the future value of the state of the element.

Example 3.3

Figure 3.2
The number of state variables chosen to represent this system should be as small as possible in
order to avoid redundant state variables. A set of state variables sufficient to describe this system
includes the position and the velocity of the mass.

The differential equation describing the behavior of the system is

d2 y dy
M 2
+b + ky=u( t )
dt dt

The equation can also be written in the following way

m ÿ+b ẏ+ky=u
where u(t ) is the input, y (t ) is the output, m,k,b are constants

1
ÿ= [u(t )−b ẏ−ky)
m

Therefore we will define a set of state variables as x 1 , x2 where

dy (t ) dx 1 dx 2 d 2 y (t )
x 1 (t )= y (t ) and x2 (t )= = and =
d (t ) dt dt dt 2

To write these equations in terms of state variables, we substitute the state variables as already
defined and obtain.

substitute x 2 for { ẏ and x 1 for y in original equation ¿

d2 y dy
M 2
+b + ky=u( t )
dt dt

dx 2
M +bx 2 +kx 1=u (t )
dt
∴
dx 2 −b k 1
= x2− x 1+ u
dt M M M
This set of differential equations describes the behavior of the state of the system in terms of the
rate of changes of each state variable.

Second Order System……….Two integrators……..Two state variables

−k b 1
ẋ 2 (t )= x 1− x 2 + u
m m m
the output from the definitions y=x 1 (t )

Putting in Matrix Form

[][ ][ ] [ ]
0 1 0
ẋ1 x1
= −k −b +1 u
ẋ 2 x2
m m m

ẋ = A x + Bu

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