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L01 Description of Dynamical Systems into Standard State Space form

The document discusses the State Space Approach to Control System Analysis and Design, emphasizing the representation of dynamical systems through first-order differential equations. It defines the system state and provides examples, including a second-order ODE and a series R-L-C network, illustrating how system states can be determined. The standard state space representation is outlined, highlighting the relationships between state variables, input variables, and the system's order, with a focus on linear time-invariant systems.

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Harshal Vaidya
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8 views

L01 Description of Dynamical Systems into Standard State Space form

The document discusses the State Space Approach to Control System Analysis and Design, emphasizing the representation of dynamical systems through first-order differential equations. It defines the system state and provides examples, including a second-order ODE and a series R-L-C network, illustrating how system states can be determined. The standard state space representation is outlined, highlighting the relationships between state variables, input variables, and the system's order, with a focus on linear time-invariant systems.

Uploaded by

Harshal Vaidya
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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State Space Approach to Control

System Analysis and Design


1. State Space Representation of Dynamical
Systems

A P Tiwari
Visiting Professor
School of Computing and Electrical Engineering
Indian Institute of Technology Mandi
Kamand (HP), India
Introduction
• Control System Engineering – Interdisciplinary in
nature.
• However, the Control System Engineer is only
required to transform the information received
from system experts into a form suitable for
control studies.
• The feature of State Space Approach is the
representation of the process under examination
by a system of first order differential equations.

State Space Approach to Control System Analysis and Design:


Chapter2–State Space Representation of Dynamical Systems
System State (Defn.)
• System state (Defn.): The state of a dynamical
system is a set of physical quantities, the
specification of which at the initial time 𝑡0
alongwith the knowledge of input for 𝑡 ≥ 𝑡0,
completely determines the evolution of the
system.
• Points important to note:
– The specific quantities that define the system state are
not unique.
– Their number, however, is unique. It is called as the
system order.

State Space Approach to Control System Analysis and Design:


Chapter2–State Space Representation of Dynamical Systems
Examples 1: a 2nd order ODE
• Example: Consider the 2nd order
differential equation

• It is manipulated as follows:
Two Initial Conditions, e.g.,
!"
| and 𝑥0 will be
!# 𝑡 = 0
required to determine 𝑥(𝑡).
Hence 𝑥 𝑡 and 𝑥(t)̇ may
constitute the system
states.

State Space Approach to Control System Analysis and Design:


Chapter2–State Space Representation of Dynamical Systems
Example 2: A series R-L-C Network
• Consider a series R-L-C network to which the applied
voltage is 𝑒 𝑡 . Its governing equation in terms of mesh
current 𝑖 𝑡 is

• Or, in terms of electric charge

• The response of the network for any 𝑒 𝑡 can be


determined if the initial stored charge in capacitor and
initial current are known besides the applied voltage.
Hence, 𝑞 𝑡 and 𝑖 𝑡 may be considered as states. The
system order is 2.
State Space Approach to Control System Analysis and Design:
Chapter2–State Space Representation of Dynamical Systems
Standard State Space Representation
• The standard state space representation of a system
consists of n first order differential equations, as

• Here, 𝑥1, 𝑥2, ⋯ denote the state vaiables and 𝑢1, 𝑢2,
⋯ denote the input variables. 𝑛 > 0 is called the system
order. 𝑚 denotes the number of inputs.

State Space Approach to Control System Analysis and Design:


Chapter2–State Space Representation of Dynamical Systems
Standard State Space Representation
• In vector form

• Note that f is a vector valued function with 𝑛 +


𝑚 + 1 arguments.
• 𝑋(𝑡) is called the state vector and 𝑈(𝑡) is called
the input vector.
State Space Approach to Control System Analysis and Design:
Chapter2–State Space Representation of Dynamical Systems
Standard State Space Representation
• When the time 𝑡 does not explicitly appear in the state
equation, the state equation takes the form:

and the system is said to be time-invariant, otherwise it is


called time-varying.
• In case of Linear systems, the state equations take
the form

State Space Approach to Control System Analysis and Design:


Chapter2–State Space Representation of Dynamical Systems
Standard State Space Representation

• A is called the system matrix and B input matrix.


• Generally, the physical systems are nonlinear. However, they can
be linearized around an operating point and represented in the
form of a linear system.
State Space Approach to Control System Analysis and Design:
Chapter2–State Space Representation of Dynamical Systems
Standard State Space Representation
• Linear Time-Invariant (LTI) systems are represented as

• One is generally interested in the outputs represented as

State Space Approach to Control System Analysis and Design:


Chapter2–State Space Representation of Dynamical Systems
Standard State Space Representation
Chapter Summary
• The standard state space representation of a dynamical system
consists of a set of n first order differential equations.
• The first derivative of each state is expressed as a function of
the states, inputs and time.
• When the system is linear, the first derivative of each state is
expressed as a linear combination of states and inputs and
time.
• When the system is linear as well as time invariant the
combining coefficients are constant.
• The outputs of the system are expressed as functions of states,
inputs and time. In case of LTI systems, the outputs are
expressed as linear combinations of states and inputs; the
combining coefficients are constant.

State Space Approach to Control System Analysis and Design:


Chapter2–State Space Representation of Dynamical Systems
Standard State Space Representation
Exercises
!!"($)
1. Consider the 2nd order ODE = 2𝑎, where 𝑎 is a
!$!
constant. Suggest the initial conditions (other than those
stated in the lecture) required to determine 𝑥 𝑡 .
2. Test whether or not the following ODEs linear:
!"(#)
i. !#
= 2𝑥 + 5
!&($)
ii. !$
= 𝑒𝑡

3. Which of the equations in exercise 2 above is time invariant?


Which is time varying? Give reasons in support of your answer.

State Space Approach to Control System Analysis and Design:


Chapter2–State Space Representation of Dynamical Systems

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