VTU e-learning Courseware

Control Engineering (ME55)

Session VII

STATE SPACE ANALYSIS OF CONTROL SYSTEMS

Introduction:
Control systems analysis has two main approahes namely root locus
and frequency response. These methods are quite useful dealing eith
Single Input and Single Output systems (SISO). For example, by means
of open loop frequency response tetsts, one can predict the dynamic
behaviour of a closed loop system, Also, if needed, the dynamic
behaviour of a complex system may be improved by inserting a simle
lead or lag compensator. The tehniques of conventional contreol theory
are conceptually simple and require only a reasonable amount of
compensation.
In conventioanl theory, only the input, output and error signals are
considered inmportant; the analysis and design of control suystems are
carried out using transfer functions, together with a variety of graphical
techniques such as root locus plots, nyquist lotsand Bode plots. The
unique characteristic of conventional control theroy is that it is based on
the input-output realtions of the system, or the transfer function.
The main disadvantage of conventional control theory is that, generally
speaking, it is applicable only to linear time invariant systems having a
SINGLE INPUT AND A SINGLE OUTPUT. It is powerless for time
varying systems, non-linear systems (except Simple ones) and multiple
input-multiple-output systems. The conventional tehniques (root locus
and frequency response methods) do not apply to the design of optimal
and adaprtive control systems whichh are mostly time varying and/or
non-linear.
1
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

VTU e-learning Courseware

Control Engineering (ME55)

A New Apporach in Control System Analysis And Design - Modern

Control Theory.
The modern trend in engineering system design is towards greater
complexity, due to mainly to the requiremetns of complex tasks and
expectations of high to very high levels of accuracy. Complex systems
may have multiple inputs and multiple outputs and may be tiem varying.
Beause of the necessity of meeting increasingly stringent requirtements
on the performance of control systems, the increase in system
complexityu, and easy accesss to large scale computers, modern control
theory, which is a new approah to the analysis and design of complex
control systems. This new approach is based on the oncept of stste. Te
concept of state by itself is not new since it has been inexistence for a
long time in the field of classical dynalics and other fields.
Modern Control Theory Versus Conventional Control Theory
Modern control theory is contrasted with conventional control theory in
that the former is applicable to multiple-input-multiple-output systems,
which maybe linear or non-linear, time invariant or time varying, while
the latter is applicable only to linear time invariant single-input-singleoutput systems. Also, modern control theory is essentially a time-domain
approach, while, conventional control theory is a complex frequency
domain appraoch.
System designn inclassical control theory is based on trial and errror
procedures which, in general, will not yield optimal control systems.
System design in modern control theory on the other hand, enables the
designer to design optimal control systems with respect to given
performanec indexes. In addition, design in modern control therory can
be carried out for a class of inputs, instead of a specific input fucntion,
such as the impulse function, step function, or sinusoidal function. Also,
modern control theroy enables the designer to include initial conditions
in the design.

2
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

VTU e-learning Courseware

Control Engineering (ME55)

State space technique is one of the modern approaches in the design

and analysis of control system.
An order of differential describing a physical system can be reduced
to a set of first order idfferental equation and is represented in vector
matrix rotation known as state variable model.
This approach has the following advantages.
It can be applied to linear and non-linear, time-invaniant and time
varying, single input single output system and multivariable
systems.
Since it is a time domain approach, state variable model lends itself
more reaily to computer solution and analyses.
State variable approach enables the designer to include initial
conduction.
Variables that do not represent the procedure and the design based
on this may not yield optimal control system
State space models are true domain models which are suitable to be used
with computers.
State:- The state of a dynamic system is the smallest set of variables
(called state variables) that must be known at any given instant in order
that, the future response of the system to any specified input may be
calculated from the given dynamic equation. These are the set of
variables such that the knowledge of these variables at t=t0, together
with the input for t>=t0 completely determines the behaiour of the
ssytems for any time t>=t0.

3
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

VTU e-learning Courseware

Control Engineering (ME55)

Thus, the state of a dynamic system at time t is uniquely determined by

the state at time t0 and the input for t>=t0 and it is independent of the
state and input before t0. Indealing with linear time invariant systems,
the refernence time t0 will be chosen as Zero.
Therefore state means compact representation of the history of a system
which can be utilized for predicting future behavior in response to an
external stimulation
State Variables:
The state variables of a dynamic system are the
smallest set of variables which determine the state of the dynamic
system. If atleast n variables x1(t),x2(t),., xn(t) are needed to
completely describe the behavior of a dynamic system (such that once
the input is given for t>=t0 and the initial state at t=t0 is speified, the
future state of the system is completely determined), then such n
variables x1(t), x2(t),.,xn(t) are a set of variables called STATE
variables. It can also be notied that the state variables need not be
physially measurable or observable quantities. Prqactically, however, it
is convenient to choose easily measurable quantities for the state
variables because optimal control laws will require the feedback of all
state variables with suitable weigting.
Since nth order differential examination requires intial conditions, it
follows that state of such a system will be specified by value of n
quanitities called state variables. Number of state variables will be
precisely equal to the order of differenial equation required to model it.
State Vector If n state variables are needed toompletely desribe the
behavior of a gien system, then these n state variables can be considered
to be the n components of a vector x(t). such a vector is called a state
vector. A state vector is thus a vector which determines uinquely the
system state x(t) for any t>=t0, one the input u(t) for t>=t0 is specified.

4
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

VTU e-learning Courseware

Control Engineering (ME55)

State Space The n-dimentional space whose coordinate axes xonsist of

the x1 axis, x2 axis, .. xn axis is caled a state space. Any state can be
represented by a point in the state space.
Analysis of Complex Systems A modern complex system may hae
many inputs and many outputs, and these may be interrelated in a
ompliated manner. To analyse such a system, it is essential to reduce the
complexity of the mathematical expressions as well as to resort to
computers for most of the tedious computations neessary in the analysis.
The state space appraoch to system analysis is best suited from this
viewpoint.
While conventional control theory is based on the input-output
realrtionship or transfer function, the modern control theory is based on
the description of system equations in terms of n first order differential
equations, which may be combined into a first order vector matrix
differential equation. The use of vector matrix notation greatly simplifies
the mathematial reprsentation of systems of equations. Te increase in the
number of state variables, number of inputs, or the number of outputs
does not inrease the complexity of the equations. Infact, the analysis of
complicated multiple-input-multiple-output systems can be carried out
by the procedures tat are only slightly more complicated than those
required for the analysis of systems of first order scalar differential
equations.
From the computational viewpoint, the state spae methods are partiularly
suited for digital omputer computations because of their tiem-domain
approach. This relieves the designer of the burden of tedious
computations otehrwise neesssary and eanbles to devote the efforts
solely to the analystial aspects of the problem. This is one of the
advantages of the state-space methods.
Finally, it is important to note that, it is not necessary that the state
variables represent physical qwuantities of the system. Variables which
5
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

VTU e-learning Courseware

Control Engineering (ME55)

do not represent physical quantities, and those which are neither

measurable nor observable, may be chosen as state variables. Such
freedom in choosing state variables is another advantage of the state
space methods.
Consider Resistance Capacitance and Inductance network having Vi as
the input and Vo as the output.
Dynamic behavior of the system is defined for t>=to provided the initial
value of current is i(to), the capacitor valtage vc(to) and the input
vaoltage v(t) for t>=to
If i(t) and vc(t) are a set of state variables for the system ( choice of state
variables for a given system is not unique). For the present system

x1 ( t ) v i ( t ) R i ( t )
x 2 (t ) vi (t )
these are chosen as set of variables.
considering i(t) and v c ( t ) as the set of state
variables, then equations describing system dynam ics are
L(di/dt) + R i+v c v
C ( dv c / dt ) i
In vector m atrix notation,

.
i R / L 1 / L i 1 / L v
. 1 / C
0 v c 0
v c
This is a State - Space repersentation
for the network given comprising of RLC
6
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

VTU e-learning Courseware

Control Engineering (ME55)

State Space Representation of Systems

A dynamic system comprising of a finite number of lumped (mass
system) elements may be described by ordinary differential equation.
For example, a simple spring mass damper system will have
..

m x c x kx f
If th e syste m is a d d e d w ith o n e m o re
e le m e n t th e n , th e sa m e b e c o m e s a 2 d e g re e
o f syste m p ro b le m w h ic h c a n b e e x p re sse d in
th e m a trix fo rm fo r e a c h in p u t o f x 1 a n d x 2
re sp e c tiv e ly.
if n e le m e n ts o f th e v e c to r a re a se t o f sta te v a ria b le s,
th e n v e c to r-m a trix d iffe re n tia l is c a lle d th e
S T A T E E Q U A T IO N . A c o n tin u o u s syste m w ill b e
e x p re sse d a s a v e c to r m a trix .
S ta te S p a c e re p re se n ta tio n o f n th o rd e r syste m s
o f lin e a r d e ffe re n tia l e q u a tio n in w h ih th e fo rc in g
fu n c tio n d o e s n o t in v o lv e d e riv a tiv e te rm s.
C o n sid e r a n th o rd e r syste m
n

y +a1 y

n -1

+ .............+ a n -1 y + a n y = u

7
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

VTU e-learning Courseware

Control Engineering (ME55)

n 1

y (0), y (0), ...... y (0) together w ith

input u(t) for t> = 0 determ ines the futu re behavior of the system .
n 1

y(t), y ( t ).............. y ( t ) are the set of n state variables.

M athem atically, this is onvenie nt set of state variables because
higher order derivative term s are
inaccurate due to inherent disturbances.
n 1

Let x 1 y , x 2 y ......... x n y be defined . T hen the first equation

m ay be w ritten as
.

x1 x 2 , x 2 x 3 , ................ x n 1 x n
.

x n a n x1 .............. a1 x n 1 u
or
.

x A x B u w here,

0
x1
0
x

2
x = x3 , A .

0
.
a n
x n

a n 1

an2

0
0

0
0

. , B = .

1
0
1
a1

then , the output equation becom es,

y= 1,

0,

or y= cx w here c= 1

x1
x
2
.
0
.
.

x n
0

.
.

F irst order differential equation x A x B u is the S T A T E

E Q U A T IO N and
y= C X algebraic equation is the O U T P U T E Q U A T IO N

8
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

VTU e-learning Courseware

Control Engineering (ME55)

Problem: Consider a system defined by the equation

...

..

y 6 y 11 y 6 y 6u

where, y is the output of the systemand u is the input to the system.

Obtain the state space representation of the system.
.

..

x1 y , x 2 y , x 3 y t h e n ,
.

x1 x 2 w h i c h m e a n s
.

x 1 d x1 / d t d y / d t y x 2
.

..

d x2 / d t d y/ d t y x3
.

..

x 3 d y / d t 6 x1 1 1 x 2 6 x 3 6 u
6 x1 1 1 x 2 6 x 3 6 u
Last three epressions were obtained by solving the original deifferential
equation for the highest derivative term.
.

..

y x1 , y x 2 , y x 3

9
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006

Mass
F=
m
F
x
:Mass
*
Prope
Accel
rty
or
eratio
mean
sn
Kinet
=mx
ic
energ
y is
store
d

Tra
nsl x
0
1
0 0
ati x 0 0 1 0 u
6 11 6 0

on x
al is the state equation and the out put equation
Sy
x
y= 1 0 0 x
ste
x
ms the same euqation maybe equated as
Mas
s

VTU e-learning Courseware

Control Engineering (ME55)

2
3

0
A= 0
-6

1
0
-11

0
0
1 and B= 0 and C= 1
-6
6

10
Srinidhi.R, Faculty, Mechanical Engineering, SJCE, Mysore 570006

Session VII: 08/12/2006