NAME : KAUSHIK SAHA SEMESTER : 6TH DISCIPLE : EE-2

SUB-NAME : CONTROLL SYSTEM II SUB-CODE : EE-601 ROLL : 16901616102

TITLE : Analysis Of Discrete Data System Represented In State Space Model.

ABSTRACT : In this paper we will discuss about the discrete data system using State Space
model, along with it we will also see the use of Z-Transform in developing the dynamic quations
of a discrete system when applied to a unit step input considering the initial conditions.
INTRODUCTION : The classical design methods generally used for linear time-invariant
systems are centered on the transfer function models of the system, so they are restricted to SISO
and MIMO systems. To overcome these limitations of classical methods, more generalised and
powerful technique of state variable approach was developed. It is discrete time approach and
can be used for design of linear as well non-linear, time-invariant or time-variant SISO & MIMO
systems.

State variable models are basically time domain models where we are interested in the dynamics
of some characterizing variables called state variables which along with the input represent the
state of a system at a given time.

State: The state of a dynamic system is the smallest set of variables, x ε Rn , such that
given x(to)and u(t), t > to, x(t), t > to can be uniquely determined.

Usually a system governed by a nth order differential equation or nth order transfer function is
expressed in terms of n state variables: x1, x2,....... xn.

The generic structure of a state-space model of a nth order continuous time dynamical system
with m input and p output is given by:

where, x(t) is the n dimensional state vector, u(t) is the m dimensional input vector, y(t) is
the pdimensional output vector and A ε Rn x n , B ε Rn x m, , C ε Rp x n,, D ε Rp x m,

State Equations of Sampled Data Systems

Let us assume that the following continuous time system is subject to sampling process with an
interval of T.
We know that the solution to above state equation is:

Since the inputs are constants in between two sampling instants, one can write:

for

which implies that the following expression is valid within the interval

if we consider :

Let us denote by . Then we can write:

If ,

(4)

where and .
If , we can rewrite as .

Equation (4) has a similar form as that of equation (3) if we consider and
Similarly by setting t = kT , one can show that the output equation also has a

similar form as that of the continuous time one.

When T = 1,

BLOCK DIAGRAM REPRESENTATION OF THE DISCRETE DATA MODEL :

THE SYSTEM REPRESENTED BY THE FOLLOWING EQUATIONS :

𝑥̇ = 𝐴𝑥 + 𝐵𝑢
y = Cx + Du
THE BLOCK DIAGRAM OF SYSTEM IS AS SHOWN BELOW :
Let us consider an example to get some idea about the state model of discrete data system.
Example 1: Determine the state model for the given difference equation
y(k+2) + 5y(k+1)+6y(k)= u(k) where, y(k) and u(k) are output and input, respectively.
Solution : y(k+2)+5y(k+1)+6y(k) = u(k)
y(k+2)= u(k)-5y(k+1)-6y(k)
Let us take, x1(k)=y(k) and x2(k)=y(k+1)=x1(k+1) then the equation becomes,
y(k+2)=x2(k+1)= -5x2(k) -6x1(k) +u(k)
𝑥1(𝑘 + 1) 0 1 𝑥1(𝑘) 0
= [ ] + u(k)
𝑥2(𝑘 + 1) −6 −5 𝑥2(𝑘) 1
𝑥1(𝑘)
The output equation is [1 0]
𝑥2(𝑘)

Now to expalin the expression of state and output solution for a discrete data system
represented in state variable method let us consider the following state model of a discrete
time system:

where the initial conditions are x(0) and u(0). Putting k = 0 in the above equation, we get

Similarly if we put k = 1 , we would get

For k=2,
and so on. If we combine all these equations, we would get the following expression as a
general solution:

As seen in the above expression, x(k) has two parts. One is the contribution due to the
initial statex(0) and the other one is the contribution of the external input u(i) for . When
the input is zero, solution of the homogeneous state

equation can be written as x(k+1) = Ax(k)

where is the state transition matrix.

Let us take an example

Example 2 : Consider the dynamic equation of a discretee non-homogeneous system as
0 1 0
x(k+1) = ( ) x(k) + u(k) and y(k) = [ 0 1 ] x(k)
−4 −5 1
Given the initial condition x(0) = [1 0]T where u(k) is zero. Determine the output y(k) for
k=0,1,2,3
0 1 0 1
Solution : A = [ ],B= , C=[0 1] and x(0) =
−4 −5 1 0
1
y(0) = C*x(0) = [0 1]* = 0.
0
Taking k = 1, x(1)= A*x(0) + ∑0𝑖=0 𝐴^0 ∗ 𝐵𝑢(𝑖)
0 1 1 1 0 0
= [ ]* +[ ]*
−4 −5 0 0 1 1
0 0 0
= + =
−4 1 −3
0
y(1) = C*x(1) = [0 1]* = -3
−3
Taking k = 2, x(2)= A2*x(0) + ∑1𝑖=0 𝐴^(1 − 𝑖) ∗ 𝐵𝑢(𝑖)
−4 −5 1 0 1 0 1 0 0
= [ ]* + [ ]* + [ ]* +
20 16 0 −4 −5 1 0 1 1
 −4 1 0 −3
= + + =
20 −5 1 16
−3
y(2) = C*x(2) = [0 1]* = 16
16
Taking k = 3, x(3)= A3*x(0) + ∑2𝑖=0 𝐴^(2 − 𝑖) ∗ 𝐵𝑢(𝑖)
20 16 1 −4 −5 0 0 1 0 1 0 0
= [ ]* + [ ]* +[ ]* +[ ]*
−48 −60 0 20 16 1 −4 −5 1 0 1 1
20 −5 1 0 16
= + + + =
−48 16 −5 1 −36
16
y(3) = C*x(3) = [0 1]* = -36
−36
Now let us discuss the method of determining the state and the output solution of a discrete data
system using Z transformation. The role played by Z transform in discrete dta system is similar
to that of Laplace transform in continuous-time system.
Considering the given discrete data system :

Where Φ(1)=Ak and θ(1)=B, applying Z transform on the above expression we get,
ZX(z) – ZX(0) = AX(z) + Bu(z)
[ZI-A]X(z) =ZX(0) +Bu(z)
X(z) = [ZI-A]-1 ZX(0) + [ZI-A]-1 Bu(z)
x(k) = Z-1[ZI-A]-1Zx(0) + Z-1[ZI-A]-1Bu(z)……………………(1)
the equation(1) is the output solution of discrete data system using Z transform.
Now to explain this method let us consider an example as stated below :
Consider the dynamic equation of a discrete non-homogeneous system as
0 1 0
x(k+1) = ( ) x(k) + u(k) and y(k) = [ 0 1 ] x(k)
−2 −3 1
given the initial condition x(0) = [1 0]T where u(k) is a unit step input. Dteremine the output y(k)
and also find y(22).
0 1 0
Solution : x(k+1) = ( ) x(k) + u(k)
−2 −3 1
1
Given, 𝑥(0) = [1 0]𝑇 = [ ]
0
 𝑥(𝑘) = 𝑧 −1 {[𝑧𝐼 − 𝐴]−1 𝑧𝑥(0)} + 𝑧 −1 {[𝑧𝐼 − 𝐴]−1 𝐵𝑢(𝑧)}
1 𝑧 + 3 −1
[𝑧𝐼 − 𝐴]−1 = [ ]
𝑧2 + 3𝑧 + 2 2 𝑧
𝑧 𝑧 + 3 −1 1 𝑧 𝑧+3
[𝑧𝐼 − 𝐴]−1 𝑧𝑥(0) = 2
[ ] [ ] = 2
[ ]
𝑧 + 3𝑧 + 2 2 𝑧 0 𝑧 + 3𝑧 + 2 2
𝑧+3
(𝑧 + 1)(𝑧 + 2) 2(−1)𝑘 𝑢(𝑘) − (−2)𝑘 𝑢(𝑘)
𝑧 −1 {[𝑧𝐼 − 𝐴]−1 𝑧𝑥(0)} = 𝑧 −1 𝑧 =[ ]
2 2(−1)𝑘 𝑢(𝑘) − 2(−2)𝑘 𝑢(𝑘)
{ [(𝑧 + 1)(𝑧 + 2)]}
1 𝑧 + 3 −1 0 1 −1
𝑧 2 + 3𝑧 + 2 [ ][ ]𝑧
𝑧 2 + 3𝑧 + 2 [ ]𝑧
−1
[𝑧𝐼 − 𝐴] 𝐵𝑢(𝑧) = 2 𝑧 1 = 𝑧
𝑧−1 𝑧−1
1
−
(𝑧 + 1)(𝑧 − 1)(𝑧 + 2)
𝑧 −1 {[𝑧𝐼 − 𝐴]−1 𝐵𝑢(𝑧)} = 𝑧 −1 {𝑧 [ 𝑧 ]}
(𝑧 + 1)(𝑧 − 1)(𝑧 + 2)
1 1 1
𝑢(𝑘) − (−1)𝑘 𝑢(𝑘) + (−2)𝑘 𝑢(𝑘)
= [6 2 3 ]
1 1 𝑘
2 𝑘
𝑢(𝑘) + (−1) 𝑢(𝑘) − (−2) 𝑢(𝑘)
3 2 3
1 1 1
𝑘 𝑢(𝑘) − (−1)𝑘 𝑢(𝑘) + (−2)𝑘 𝑢(𝑘)
2(−1) 𝑢(𝑘) − (−2)𝑘
𝑢(𝑘)
𝑥(𝑘) = [ ] + [6 2 3 ]
𝑘 𝑘
2(−1) 𝑢(𝑘) − 2(−2) 𝑢(𝑘) 1 1 𝑘
2 𝑘
𝑢(𝑘) + (−1) 𝑢(𝑘) − (−2) 𝑢(𝑘)
3 2 3
1 3 2
𝑢(𝑘) − (−1)𝑘 𝑢(𝑘) − (−2)𝑘 𝑢(𝑘)
=[ 6 2 3 ]
1 3 𝑘
8 𝑘
𝑢(𝑘) + (−1) 𝑢(𝑘) − (−2) 𝑢(𝑘)
3 2 3
1 3 2
𝑢(𝑘) − (−1)𝑘 𝑢(𝑘) − (−2)𝑘 𝑢(𝑘)
1] [6
𝑦(𝑘) = 𝐶𝑥(𝑘) = [0 2 3 ]
1 3 𝑘
8 𝑘
𝑢(𝑘) + (−1) 𝑢(𝑘) − (−2) 𝑢(𝑘)
3 2 3
𝟏 𝟑 𝟖
𝒚(𝒌) = 𝒖(𝒌) + (−𝟏)𝒌 𝒖(𝒌) − (−𝟐)𝒌 𝒖(𝒌)
𝟑 𝟐 𝟑
1 3 8 1 3 8
𝑦(22) = 𝑢(22) + (−1)22 𝑢(22) − (−2)22 𝑢(22) = + (−1)22 − (−2)22
3 2 3 3 2 3
𝒚(𝟐𝟐) = −𝟏𝟏𝟏𝟖𝟒𝟖𝟎𝟖. 𝟖𝟑𝟒
Conclusion : In this term paper we find various examples of discrete data system its applications
and the different methods by which we can solve the problem related to this type of system.
Allover as whole this term paper provides us the knowledge of discrete data system.
Reference :1) AUTOMATIC CONTROL SYSTEM(WITH MATLAB PROGRAMS –
S.HASAN
2)CONTROL SYSTEM- R.C.SUKLA