AL-Zaytoonah University of Jordan

Faculty of Engineering and Technology

Department of Electrical Engineering / Power and control

Automated Control systems.

State Space Representation

Omar Hamsho 201811746

Osama Hamdan 202010003
Hamzah Al-Khoujah 201920259
Sofian Swedan 201910358

Submitted to: Dr. Mae Irshaida

Table of contents

Introduction ..................................................................................... III

1-State Space: .............................................................................................. 1

2-Basic Concepts of State Space Model:..................................................... 1

2.1-State: ................................................................................................... 1

2.2-State Variable: .................................................................................... 1

2.3-State Vector: ....................................................................................... 1

3- State Space Model from Differential Equation: ...................................... 1

3- State-space Representation of Continuous Dynamical System: ............. 4

4- Method of State Space: ........................................................................... 5

Conclusion .......................................................................................... 8

References .......................................................................................... 9

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Table of figures
Figure 1 RLC Circuit ...................................................................................... 2

Figure 2 Determining the notion of the state trajectory ................................................................. 6

II
 Introduction
A state space representation is a mathematical model of a dynamical system that describes
the behavior of the system using a set of variables called state variables, which evolve over
time according to a set of rules known as state equations. The state variables represent the
"state" of the system at any given time, and the state equations describe how the state of
the system changes over time.

The state-space representation gives a suitable and compact way to model and analyze
systems with multiple inputs and outputs.

III
1-State Space:

The state space representation is often used to model systems that can be described by a set of first-
order differential equations, where the state variables are the variables being differentiated and the
state equations are the differential equations themselves.

For example, consider a simple mass-spring-damper system, where the position of the mass is the
state variable. The state space representation of this system would consist of the state equation:

dx/dt = v

where x is the position of the mass and v is the velocity of the mass, and the initial condition x(0)
= x0, where x0 is the initial position of the mass.

The state space representation is a powerful tool for analyzing and controlling dynamical systems
because it allows us to study the behavior of the system using a set of linear equations, which are
easier to work with mathematically than nonlinear equations. It is also useful for developing control
systems, as the state space representation allows us to design controllers that operate on the state
variables rather than the inputs and outputs of the system

2-Basic Concepts of State Space Model:

2.1-State:
It is a group of variables, which summarizes the history of the system in order to predict
future values (outputs).

2.2-State Variable:
The number of the state variables required is equal to the number of storage elements
present in the system.

Examples − current flowing through the inductor, the voltage across the capacitor

2.3-State Vector:
It is a vector, which contains the state variables as elements.

3- State Space Model from Differential Equation:

Consider the following series of the RLC circuit. It is having an input voltage, vi(t) and
the current flowing through the circuit is i(t).

1
 Figure 1 RLC Circuit

There are two storage elements (inductor and capacitor) in this circuit. So, the number of
the state variables is equal to two and these state variables are the current flowing through
the inductor, i(t), and the voltage across the capacitor, VC (t).

From the circuit, the output voltage, v0(t) is equal to the voltage across the capacitor, VC (t)

Apply KVL around the loop:

The voltage across the capacitor is:

Differentiate the above equation with respect to time.

2
State Vector:

Differential state vector:

After we arrange the differential equations and output equation into the standard form of
the state space model as:

Where:

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3- State-space Representation of Continuous Dynamical System:

The transfer function expresses the relationship between the output and the input of the
system. The main advantage of this disclosure is to obtain the equation of which can easily
determine the behavior of the system.
State space describes a system using conditions and their changes over time.

(Figure 1) systems y(t) are a state function x(t) and input variables u(t).

The output variables (Figure 1) of the system are the function of the state values and input values.
The vector of the output of the model is the state matrix, which indicates the relationship between
the variables describing the behavior of the system.

In this description, it is possible to observe the state of the system at the time, which sometimes
allows for estimating the behavior in the next time step. Under the effect of input variables u1,
u2...., um is the state vector u(t), the output signal is determined through the response of the system
thru output vector y(t) and indicates the status of the state vector x(t). If we have a system according
to the m inputs and r outputs, we may describe a system of n first-order differential equations.

It is described by the state equation:

where initial conditions x (0) =xS, output values of the system are the function of state variables
and input values. The output equation of the system is in the form:

where:

xT = (x1, x2...., xn) - vector of state variables,

uT = (u1, u2...., um) – vector of input variables,

yT = (y1, y2, ..., yr) - vector of output variables,

fT = (f1, f2...., fn)– nonlinear vector functions,

n – number of state variables,

m – number of inputs,

4
r – number of outputs.

Equation (1) is called the equation of dynamics, the state equation of the system, and equation (2)
is called the equation of output of the system. These two equations describe the continuous
nonlinear time-variant system. If the functions f and g are not depending explicitly on the time t,
the system description is obtained in the form:

These are time-invariant systems; their characteristics do not change over time.

4- Method of State Space:

It is a method which is a graphical-analytical method for the investigation of nonlinear

dynamical systems. The essence of the method is the description of the behavior of
dynamic systems using illustrative geometric patterns that we call the state trajectory.
When becoming acquainted with the basic concepts of state space is based on the equation
of state of a nonlinear dynamical system.

The instantaneous state of a dynamic system and other behavior is considered as clearly
defined if at some point in time t=ti is the known value of the n state variables xi (i =
1, n). These values can be considered as the coordinates of the point (x 1, x2, ..., xn) of n-
dimensional space, which is called the state space.
Point with coordinates x 1,x2...xn representing a curve point, after which point to the
change of status call state trajectory.

5
The state trajectory in three-dimensional state space is shown in Figure 2.

Figure 2 Determining the notion of the state trajectory

To specific initial conditions x1(0), x2(0),...xn(0) corresponds to one solution of the

dynamic system. This means that each group of initial conditions corresponds to only
one start point M0 and one status trajectory. Corresponds to the set of groups of initial
conditions corresponding to the whole set of state trajectories, which we call the phase
portrait of a dynamical system. The state trajectory set really gives you an idea about the
behavior of dynamic systems in time.
The state-space method is best suited for the analysis of a dynamic system of the second
order because in this case the state trajectory in the plane s.
This method is simple and opinions shall form the dynamic system of 2nd order. In this
case, the state space is represented by a plane state trajectory are in the plane of the curve.
State trajectory can be obtained directly from the equation of state without having to look
for their solutions. State trajectory equation so we can get and we do not know the given
system of equations of state directly addressed.

6
Suppose a dynamic 2nd order system is described by nonlinear differential equations:

Substitution:

Then we get a system of two equations of state:

If in the system (13) the second equation is divided by the first equation by we get:

The solution to equation (14) can be obtained directly in the path of the equation of the
state variable x1(t) and x2(t) e.g. at state space (in this case, in the state plane).

7
 Conclusion
In the state space theory is the variable vector x considered an abstract quantity that cannot
generally be measured directly. The vectors of the input quantities u and output quantities
y on the other hand have particular physical significance. Equation (5) is understood as an
abstract model of the physical dependencies between physical quantities u and y and
abstract variables x. To assume that at any time we chose an arbitrary but fixed coordinate
system in vector space. The symbol x(t)=[x1(t), x2(t), … xn(t)] can be interpreted as a n
numbers representing the coordinates of the state vector. The choice of the coordinate
system in the state space is quite arbitrary, while the vectors u and y are precisely defined
by their components, with a total of particular significance.

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 References
• (SCiepub, n.d.)
• (tutorialspoint, n.d.)