NATIONAL ENGINEERING COLLEGE, [Link], KOVILPATTI- 628503.
(An Autonomous Institution - Affiliated to Anna University, Chennai)
15EC56C –CONTROL SYSTEM
ANALYSIS AND DESIGN
UNIT V STATE VARIABLE ANALYSIS
CO5: Use state variable analysis for continuous time and discrete time
systems.(K3)
By
[Link] Nandini, AP/ECE
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UNIT V STATE VARIABLE ANALYSIS
CO5: Use state variable analysis for continuous time and discrete
time systems.(K3)
State space representation of Continuous Time systems
State equations
Transfer function from State Variable Representation
Solutions of the state equations
Concepts of Controllability and Observability
State space representation for Discrete time systems
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Introduction
The conventional approach used to study the behavior of
control systems, uses time domain or frequency domain
methods.
Generally the systems are modelled using transfer function
approach.
The limitations associated with transfer function approach
are:
Significant initial conditions in obtaining precise solution of
any system loose their importance in conventional
approach.
It is not convenient for the analysis of Multiple Input
Multiple Output Systems.
It is only applicable for Linear Time invariant systems.
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State Variable Analysis
The modern method uses the concept of total internal state of
the system considering all initial conditions called state
variable analysis or state space analysis
The advantages of state variable analysis are:
The method take account into the effect of all initial
conditions.
It can be applied to nonlinear as well as time varying
systems.
It can be conveniently applied to Multiple Input Multiple
Output systems.
The state variables selected need not necessarily be the
physical quantities of the system.
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State:
The state of a dynamic system is the smallest set of variables
(called state variables) such that knowledge of these variables
at t=t0 , together with knowledge of the input for t ≥ t 0 ,
completely determines the behavior of the system for any
time t to t0 .
State Variables:
The state variables of a dynamic system are the variables
making up the smallest set of variables that determine the
state of the dynamic system.
If at least n variables x1, x2, …… , xn are needed to completely
describe the behavior of a dynamic system (so that once the
input is given for t ≥ t0 and the initial state at t=t0 is specified,
the future state of the system is completely determined), then
such n variables are a set of state variables.
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State Vector:
A vector whose elements are the state variables.
If n state variables are needed to completely describe the
behavior of a given system, then these n state variables can be
considered the n components of a vector x. Such a vector is
called a state vector.
A state vector is thus a vector that determines uniquely the
system state x(t) for any time t≥ t0, once the state at t=t0 is
given and the input u(t) for t ≥ t0 is specified.
State Space:
The n-dimensional space whose coordinate axes consist of the
x1 axis, x2 axis, ….., xn axis, where x1, x2,…… , xn are state
variables, is called a state space.
"State space" refers to the space whose axes are the state
variables. The state of the system can be represented as a
6 vector within that space.
In general, a system consists of m-inputs, p-outputs and n-
state variables.
The state space representation of the system may be viewed
as,
Let, state variables=x1(t), x2(t), x3(t),…………,xn(t)
Input variables=u1(t), u2(t), u3(t),…………,um(t)
output variables=y1(t), y2(t), y3(t),…………,yp(t)
State space representation of system
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The different variables may be represented by the vectors (column matrix)
as shown below.
State Equations:
The state variable representation can be arranged in the form of n number
of first order differential equations as shown below.
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The n numbers of differential equations may be written in vector notation as,
………(1)
State Model:
The state model of a system consists of the state equation and output
equation.
The state equation of a system is a function of state variables and inputs
as defined by equation (1).
For linear time variant systems the first derivatives of state variables
can be expressed as a linear combination of state variables and inputs.
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In the matrix form the above equations can be expressed as,
The matrix equation can also be written as,
………(2)
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is called state equation of the system
The output at any time are functions of state variables and inputs.
Output Vector,
Hence the output variables can be expressed as a linear combination of
state variables and inputs.
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In the matrix form the above equations can be expressed as,
The matrix equation can also be written as,
12 is called the output equation of the system