CONTROL SYSTEMS

(5EC4-03)
V-Sem(ECE)
Dr. Vinita Mathur (Asso. Prof.)
Electronics and Communication Engg.
JECRC. Jaipur (Raj), India
[Link]@[Link]
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 Course Outcomes
 CO1: Characterize a system mathematically and find its steady
state behaviour
 CO2: Analyze stability of a system using different tests
 CO3: Design various controllers
 CO4: Solve linear, non-linear and optimal complex control
problems
 CO5: Designing state model for a given system of equations
 Disclaimer
The contents used in this presentation are taken from the
text books mentioned in the references. I do not hold any
copyrights for the contents. It has been prepared to use in
the class lectures, not for commercial purpose.
Syllabus
 Unit-V

State Variable Analysis

 Basic Concepts of State Space Model
The following basic terminology involved in this chapter.
 It is very important to discuss here the differences between the conventional theory

of control system and modern theory of control system.

1. The conventional control theory is completely based on the frequency

domain approach while the modern control system theory is based on time domain
approach.

2. In the conventional theory of control system we have linear and time

invariant single input single output (SISO) systems only but with the help of theory
of modern control system we can easily do the analysis of even non linear and time
variant multiple inputs multiple outputs (MIMO) systems also.
 In the modern theory of control system the stability analysis and

time response analysis can be done by both graphical and

analytically method very easily.

 Now state space analysis of control system is based on the modern

theory which is applicable to all types of systems like single input

single output systems, multiple inputs and multiple outputs
systems, linear and non linear systems, time varying and time
invariant systems. Let us consider few basic terms related to state
space analysis of modern theory of control systems.
 State in State Space Analysis
It is a group of variables, which summarizes the history of the
system in order to predict the future values (outputs).
It refers to smallest set of variables whose knowledge at t = t0
together with the knowledge of input for t ≥ t0 gives the
complete knowledge of the behavior of the system at any time
t ≥ t0.
A state of a system is the current value of internal elements of
the system, that change separately (but not completely
unrelated) to the output of the system. In essence, the state of
a system is an explicit account of the values of the internal
system components.
 Here are some examples:
 Consider an electric circuit with both an input and an output terminal. This circuit may

contain any number of inductors and capacitors. The state variables may represent the

magnetic and electric fields of the inductors and capacitors, respectively.

 Consider a spring-mass-dashpot system. The state variables may represent the

compression of the spring, or the acceleration at the dashpot.

 Consider a chemical reaction where certain reagents are poured into a mixing

container, and the output is the amount of the chemical product produced over time.

The state variables may represent the amounts of un-reacted chemicals in the

container, or other properties such as the quantity of thermal energy in the container

(that can serve to facilitate the reaction).

 State Variables in State Space analysis

The number of the state variables required is equal to the

number of the storage elements present in the system.
It refers to the smallest set of variables which help us to
determine the state of the dynamic system. State variables are
defined by x1(t), x2(t)……..Xn(t).
When modeling a system using a state-space equation, we
first need to define three vectors:
 Input variables
A SISO (Single Input Single Output) system will only have
a single input value, but a MIMO system may have
multiple inputs. We need to define all the inputs to the
system, and we need to arrange them into a vector.
 Output variables
This is the system output value, and in the case of MIMO
systems, we may have several. Output variables should be
independent of one another, and only dependent on a linear
combination of the input vector and the state vector.
State Variables
The state variables represent values from inside the system, that
can change over time. In an electric circuit, for instance, the node
voltages or the mesh currents can be state variables. In a
mechanical system, the forces applied by springs, gravity, and
dashpots can be state variables.
We denote the input variables with u, the output variables with y,
and the state variables with x. In essence, we have the following
relationship:
y=f(x,u)
Where f(x, u) is our system. Also, the state variables can change
with respect to the current state and the system input:
x'=g(x,u)
Where x' is the rate of change of the state variables.
 State Vector
It is a vector, which contains the state variables as elements.

In the earlier chapters, we have discussed two mathematical

models of the control systems. Those are the differential
equation model and the transfer function model. The state
space model can be obtained from any one of these two
mathematical models. Let us now discuss these two methods
one by one.
 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)

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 capacitor, vc(t).