CONTROL SYSTEM (BEC-602)
UNIT -II
State Variable Analysis
Prepared By:
Dr. Amit Garg
Asso. Prof.
ECE, AKGEC
1
Unit-2
• State-Variable Analysis: Introduction, vector matrix
representation of state equation, state transition matrix,
state-transition equation, relationship between state
equations and high- order differential equations,
relationship between state equations and transfer
functions, Decomposition of transfer functions,
Controllability and observability, Eigen Value and
Eigen Vector, Diagonalization.
State Variable Analysis- Introduction
• The systems discussed in previous chapters were of Single-Input Single-Output (SISO) type.
• But the real-world systems are of Multi-Input Multi-Output (MIMO) type. To analyse MIMO type
of systems, state-variable technique can be effectively used by which the complexity of
mathematical equations governing the systems can be reduced.
• The state-variable technique provides a convenient formulation procedure for modelling such
MIMO systems. While the conventional approach is based on input-output relationship or transfer
function, the modern approach is based on the description of system equations in terms of
differential equations.
• State-variable technique uses this modern approach to represent a system. The state-variable
technique is applicable to linear and non-linear time-invariant time-varying systems.
• Transfer function approach is only defined for Linear Time Invariant (LTI) systems with non-zero
initial conditions while state variable approach includes the initial condition also to overcome
shortcomings of transfer function approach.
• This technique also facilitates the determination of the internal behaviour of absystem very easily.
State-Space Representation of Continuous-
Time LTI Systems
Concept of State, State Variables and State Model
• State Variables: The smallest set of variables which determine the state of a
dynamic system are called state variables.
• State: The state of a dynamic system is the smallest set of state variables
such that the knowledge of these variables at t = t0 (initial condition)
together with the knowledge of the inputs for t > = 0, completely
determine the behavior of the system for any time t > = to. The state of a
system represents the minimum amount of information that we need to
know about a system at t0.
• State Vector: If ‘n’ state variables are necessary to determine the behaviour
of a given system, the variables can be considered as ‘n’ components of a
vector called state vector.
• State Space: The ‘n’ dimensional state variables are elements of ‘n’
dimensional space called state space. Any state can be represented by a
point in the state space.
Advantages of State-Variable Analysis
• The advantages of state-variable analysis are:
1. The state-variable analysis includes the effect of all initial
conditions.
2. It is useful to determine the time-domain response of non-
linear systems effectively.
3. State equations involving matrix algebra are highly
compatible for simulation on digital computers.
4. It simplifies the mathematical representation of a system.
5. MIMO systems can be easily represented and analyzed using
state variables.
State-Space Representation
• The state-space model of a system can be obtained in three different
ways when differential equations or transfer function is given. The
different ways of representing a system in state space model are shown
in Fig.
State Variable Representation Using Physical Variable
• The state-space model of electrical, mechanical (translational and
rotational) and electromechanical systems can be obtained using
physical variables.
• The physical variables which are considered as state variables differ
from system to system.
• In an electrical system, the voltages across the resistance, inductance
and capacitance and/or currents flowing through the resistance,
inductance and capacitance are taken as state variables.
• In translational mechanical system, linear displacement, linear velocity
and linear acceleration are taken as state variables and in rotational
mechanical system, angular displacement, angular velocity and angular
acceleration are taken as state variables.
Advantages and Disadvantages of Physical
Variable Representation
Advantages Disadvantages
1. The values of the physical quantities 1. The method of obtaining solution is
involving the physical variables are tedious.
measurable. 2. The state-space model of a system can be
2. Implementation is simple. obtained if and only if the differential
3. The performance of a system can be equation relating physical variables
analysed as the behaviour of the physical exists.
variables with time is determined. 3. It is difficult to determine the differential
4. The feedback design for a system can be equation of a complex system.
done as the information about state
variables and output variables are
available from the feedback.
2. State-Space Representation of Transfer Function
in Phase Variable Forms
1. The phase variables are the state variables which are obtained by
assuming one of the system variables as a state variable and other
state variables as the derivatives of the selected system variable.
2. In most cases, the output variable which is one of the system
variables is considered as the state variable.
3. The state-space model of the system using phase variables can be
obtained if and only if the differential equation of the system or the
system transfer function is known.
4. The state-space model of the system using phase variables can be
obtained using three methods.
Advantages and Disadvantages of Phase
Variable Representation
Advantages Disadvantages
1. The implementation is simple. 1. As the phase variables are not physical
2. The state and output equations can be variables, the significance in measurement
obtained by inspecting the differential and control is lost for practical
equations constituting the system. considerations.
3. The transfer function design and time- 2. It is difficult to obtain higher order
domain design can be related easily by derivatives of output.
using the phase variables. 3. It does not provide practical mathematical
4. It is a powerful method for obtaining the information.
mathematical model.
5. It is not necessary to consider the phase
variables as the physical variables.
State Space Representation of Systems
Contd…
State Space Representation for Electrical Network
Example 2: Determine the state-space
model for the electrical system shown in
Example 3: Obtain the state equation and output
equation of the translational mechanical system shown
in Fig. below
Block Diagram and SFG Representation of a
Continuous State-Space Model
• The basic element for drawing the block diagram from the state-space model of a
system is the integrator. The procedure to obtain the block diagram of a state-space
model is as follows:
1. The individual state equation and output equation are written by using the
obtained state-space model.
2. The block diagrams for the individual state equation and output equation are
drawn.
3. The number of integrators used for the given state-space model is n (order of
matrix A).
4. The individual block diagrams obtained in Step 2 can be interconnected in an
appropriate way and by using the n integrators, the block diagram for the given
state-space model can be obtained.
5. Once the block diagram of the state-space model is obtained using the steps
mentioned, the SFG for the model can be obtained.
Block Diagram and SFG Representation
of a Continuous State-Space Model
Block diagram of the state-variable model SFG representation of the state-variable model
Block Diagram and SFG Representation of a
Continuous State-Space Model
Block diagram of the state-variable model SFG representation of the state-variable model
TRANSFER FUNCTION DECOMPOSITION
• The process of obtaining state model from the transfer
function is called transfer function decomposition.
• In general, there are three basic ways to decompose transfer
functions.
• These are direct decomposition, cascade decomposition,
and parallel decomposition.
• Each of these three schemes of decomposition has its own
merits and is best suited for a particular purpose.
Direct Decomposition
• The direct decomposition of a transfer function is performed for the system, when
the transfer function is given in the following form :
Contd…
Cascade Decomposition
Parallel Decomposition
Contd…
Parallel Decomposition of a transfer function having repeated roots
of its Characteristics Equation
Contd…
Transfer Function Decomposition Using State Signal Flow Graph
Contd…
Example : Determine the state representation of a continuous-
time LTI system with system function
Solved using Alternative Method
Relationship Among Various Methods Used in State Space Analysis
Block diagram
showing the
relationships among
various methods of
describing linear
systems
Transfer Function from State-Space Model
Transfer Function from State-Space Model (cont.)
Transfer function from given SS Model
Example 8: Obtain the transfer function of the system defined
by the following state-space equations:
Example 8: Obtain the transfer function of the system
defined by the following state-space equations:
Qus.
Note: In this question one more input that
is disturbance input w1(t) is added due to
which one more T.F will be calculated
Extra T.F
Solution of State Equation (State Transition Equation)
Homogeneous State Equation:
Where, ∅ 𝑡 = 𝑒 𝐴𝑡 is known as state transition matrix.
From Eq.(5) it is observed that initial state x(0) at t=0 is driven to a state x(t) at time t. This transition is
carried out by the matrix exponential e At
Non Homogeneous State Equation:
State Transition Equation (Using Laplace Transform)
Properties of State Transition Matrix:
Methods of Finding State Transition Matrix (ZIR)
1. Classical Method or Infinite series method
2. Laplace Transform Method
3. Cayley Hamilton Method (Not covered)
4. Diagonalization Method
Controllability:
• The controllability is in relation to transfer of a system from one state to another by
appropriate input controls applying for finite time i.e a system is said to be controllable if
the system can be driven to the desired state from a given state by applying a finite input
for the finite time. Sometimes such a control is not possible and this can be verified by
using controllability test matrix.
• Kalman’s Test (also called the Kalman rank condition) is a mathematical test used in
control systems to check whether a state-space system is controllable or observable.
• The concept of controllability test matrix (Denoted as Qc or U) or Kalman
controllability test matrix are given below:
For the system to be completely state controllable, it is necessary and sufficient that the n × nm
matrix given below has a rank of n.
OBSERVABILITY:
• The method of determining the state of a system by observing its output concerns
observability.
• Sometimes it is desirable to get information about the state variables from the
measurements of the output and input.
• In case, it is not possible to obtain any one of the states from the measurements of the
output, the state is said to be unobservable and the system as a whole is
unobservable.
• The condition under which the state of a system is measured from the output is
explained below :
The matrix Qo is also called Kalman Observability test matrix.
Qus.
Eigen Value and Eigen Vector:
Eigen value of nxn Non-Singular Matrix:
Ans.
‘M’ matrix obtained using Eigen vectors is known as Modal Matrix. This matrix is used in the
process of Diagonalization
Diagonalization:
The matrix having elements only on its main diagonal is known as diagonal matrix.
Diagonal Matrix