State Space AnalysisConsider the network as shown in the Fig. 15. To find Voy), the knowledge of the initial capacitor voltage must be known, Only information about Vig will not be sufficient to obtain precisely the Vg at any time t2 0. Key point : The systems in which the cutput isnot only dependent on the int but also on the initial conditions are called the systems with memory or dynamic systems, Fig. 15.4The various advantages of state variable analysis are, 1) The method takes into account the effect of all initial conditions. 2) It can be applied to nonlinear as well as time varying systems. 3) It can be conveniently applied to Multiple Input Multiple Output systems. 4) The system can be designed for the optimal conditions precisely by using this modern method. 5) Any type of the input can be considered for designing the system. 6) As the method involves matrix algebra, can be conveniently adopted for the digital computers, 7) The state variables selected need not necessarily be the physical quantities of the system. 8) The vector matrix notation greatly simplifies the mathematical representation of the system.dD 2 3 4) Definitions : State : The state of a dynamic system is defined as a minimal set of variables such that the knowledge of these variables at t = to together with the knowledge of the inputs for t > to, completely determines. the behaviour of the system for t> to. State Variables : The variables involved in determining. the state of a dynamic system X(t), are called the state variables. X;(t), X(t) ~...Xp(t) are nothing but the state variables. These are normally the energy storing elements contained in the system. State Vector : The “n’ state variables necessary to describe the complete behaviour of the system can be considered as “n’ components of a vector X(t) called the state vector at time “t. The state vector X(t) is the vector sum of all the state variables. State Space : The space whose co-ordinate axes are nothing but the “n’ state variables with time as the implicit variable is called the state space.State Model of Linear Systems Consider Multiple Input Multiple Output, nth order system as shown in the Fig. 1.7. Number of inputs = m Number of outputs = p Uy ‘ uy ‘2 Um Y, XXX Ea State vanabies All are column vectors having orders m1, nx 1 and p * 1 respectively. For such a system, the state variable representation can be arranged in the form of ‘n’ first order differential equations. AX, (t) “+ = Xa(t) = f, XX »Xq Uy Uy dX) _ = R00 = fy Xp pee Xq Uy Uy aX) _ y SRO Sal = fy Oy Xp roe Xy rUy Vysneer-{ ttn pe wipat® fn t ay Integrating the above equation, mee XVOD = Xl) + ff Oy Xp one Ny Uy» Uy wens Um) ot ‘o where i = 1, 2, ‘Thus “n’ state variables and hence state vector at any time “t' can be determined uniquely. Any “n’ dimensional time invariant system has state equations in the functional form XW = £~&Y) While outputs of such system are dependent on the state of system and instantaneous inputs. Functional output equation can be written as, Y(t) = g(X, U) where °g' is the functional operator. For time variant system, the same equations can be written as, Sw = U0) Y() = g(X U, 8... Output equation State equation‘The functional equations can be expressed interms of linear combination of system states and the input as, X1 = ayy Xy + ayQXq + oes + ApyXy + BYU + DyQU2 +... + Dim Up Ka = ayy Xp + agaXp ov + aggXy + bypUy + byU + + bam Um Koy = ayy Xp + agXq + on + MygXq + DygUy + BygUy +». + Boag Ugg For the linear time invariant systems, the coefficients ay and by are constants, Thus all the equations can be written in vector matrix form as, Xt) = AX() + BU) where X(t) = State vector matrix of order n x 1 U(t) = Input vector matrix of order m x 1 A = System matrix or Evolution matrix of order nx n B_ = Input matrix or control matrix of order n x mSimilarly the output variables at time t can be expressed as the linear combinations of the input variables and state variables at time t as, Y(t) = yy Xylt) + one # Cy Xplt) + yy Uy) +o. + dim Usn(t) Yplt) = cpr Xp(t) + vos + Cpr Xnlt) + dp Uyit) + oo + dpm Unit) For the linear time invariant systems, the cvefficients cy and di are constants. Thus all the output equations can be written in vector matrix form as, YY = CX) + D UW) where Y(t) = Output vector matrix of order p x 1 C = Output matrix or observation matrix of order p xn D = Direct transmission matrix of order p x m The two vector equations together is called the state model of the linear system. X() = AX + BUY) ..State equation YQ) = XW) + DU) .»Outpat equation This is state model of a system.Obtain the state model of the given electrical system. R a4 “o ) Cc vest) { ro afSolution : There are two energy storing clements L. and C. So the two state variables are current through inductor i(t) and voltage across capacitor i.c. vo(t). X= i) and X() = v0) And U(t) = w(t) = Input variable Applying KVL to the loop, vy) = (REL so + volt) Arrange it for di(t)/dt, so = TM d-Eiey—Pvo(t) but BO 2 Sato ic. Kw = - Bx\o-Lx,orp vo wf) While vo(t) = Voltage across capacitor = Efunar sve i) =e ic. x = Lx @The equations (1) and (2) give required state equation. * R 1 1 ud] 2 TE WE RS +|E] uw Xait) z 0} P20] Io ie. Xt) = AX) +B UM) While the output variable Y(t) = v4(t) = X(t) Xx Yo = (01 [xi] true ie. Yt) = CX(} and D = {0} This is the required state model. As n = 2, it is second order system.Obtain the state model of the given electrical network in the standardSokétion : UW = input = e,(0) Y(t) = output = e,(t) State variables : X,(t) = i,(0), X2(0) = in(t), X3(0 = ve(t) Writing the equations : di,(t) e() = Ly = +velt) . di) a 1 ie. dn To- ive xy = Luw-2 x0 (1) y u = di,(t) ‘Then, ved = ty HO oR, dit) 1 _R a Tp ve ~ Tea : R. Kaw) = EE X30- G2 Xa ~@)Be wi Se = i,(t)-i,(t) = Current through capacitor avo 1, wy 1, MeO. Lio bio Koy = EX0- EX ~ @) . 1 1 mu) fo o -- a . R. ia xy cn Xa} =]o -72 cf |[% [+] 0] U0 2 2 % 1 1 9 | Us. 0 ic £ ie Ky = At) + BOW and eo() = i,0R, Y) = Xq(0 Ry % Yq) = [0 R, 0 EI X3 ie. Y(t) = CX(t) + DUC) where D = 0. This is the required state model.Write a set of state equations for the network shown in fig.4, choose i, i, and v, as a State variables.Solution: Let e(t) Voltage across R, a) i vel) Input eg (0) = output x x, x0 Let i,(t) and i ae oy cms eng EVY pf bape ett) X= ve Ri, i ah +y, at c i, 1 aVe tel] at X,-X, +e(0)] ea ()and = iy-iz = £@-i) - 1 Xs = GOG-%) While eg) = iz Rz = RK, Xz Hence the state model is, x R, 1 2] 1m 2 x. R2 se : Baal Xa e -e anid YO = eo@=[0 R, Oo} [= 4 L, 1 Xz te o ae x Xs ve 2) -.-Capacitor current -@ @) where U(t) = ot)mmm Example 2.11: Consider the mechanical system shown in figure. For shown displacements and velocities obtain the state model in standard form. Assume velocity of M> as output.Solution : Select the state variables as energy storing elements ic. displacements and velocities related to spring and friction. X10 = Y, X3 = V0 Xp) = YQ, X= V2) UW) = Fi), YO = V2) Draw the equivalent mechanical system. Due to F,(t), M, will displace by Y;. Due to spring K, and friction B, which are between the two masses, the displacement change from Y, to Y>. While mass M,, spring K, and friction B, are under the influence of Y> alone as K2 and By are with reference to fixed support and not between two moving points. Represent each displacement by separate node. Connect the elements in parallelwhich are under the influence of same displacement, thus ‘Kj, B, parallel between Y and Yo, my Ky and By parallel between Y2 and reference i.e. fixed support and so on. The spring force is proportional to net displacement in spring while frictional force is Proportional to the velocities. At node Y,, B, d(¥, ~ Yp) Sear mene ~ ay, RM qr th -%)+ At node Y,, a? y, ay, B,d(¥, -¥,) O= My ah + Kao + Be “Gee # Ky (12 -¥))¢ o» Q) Substituting all values in terms of state variables we get, ay, * ay, ° % =X, qe = Xr = Vy =X, woe Y% =X, Sw tam, « aN aX bee Peay aa.. Substituting in equation (1) and equation (2) U(t) = My Xo-+Ky 1X —X]+ By [Xy -Xy] O = M, Xt 4K,X, +B,X, + Ky Xp ~ X14 B, Ky =X5] From equation (3) and equation (4) we can write so Xo = yp [WOK 06 -¥)-B% -X)] and Xe i [Ky Xp - By Xy Ky Kp -Xy)-B, (X, -X5)] and Xi = Xy, Re =X, Y= Vp = Xy(0) +. State model can be constructed in the standard form X = AX+BU Y = CX+DU a) 4) = (6)0 1 0 0 ee Be M, M, =Kj+K) By My M, c=f00 0 1)EXAMPLE 4.2 vo) v0 Obtain the state model of the electrical ¥ R R network shown infig42.1.bychoosingv(t) “) 2%, =C 53, 7C and v,(t) as state variables. = : [ [SOLUTION: Connect a voltage source at the 12 “0 . a 4 R R input as shown in fig 4.2.2. vo : c c Convert the voltage source to ‘e, current source as shown in fig 4.2.3. At node 1, by Kirchoff’s current law vt), ¥,0- ‘we can write (refer fig 4.2.4) wo R 42 cH =o w(42d) ® RS Atnode 2, by Kirchoff’s current law, we can write (Refer fig 4.2.5) R mY, ys dv, _ v(t) “Of 7%, My o=2- wend Seer aner a (4.2.2) R Let the state variables be x, and x, and they c are related to physical variable as shown below. ¥, =x, and v, =X, Also, Let v(t)=u= input.x) x; 10h =— 2b 1 1 Xy=-Go%t Re” nn( 4.2.5) : i 2 Day ee SeontecenTian (SA) NE Eee = Hi Cx, z Gaps oe a NO oi CX 7. . RR 1 2 1 fie eei ea ee ate hb Obes aS (4.2.6)The equation (4.2.5) and (4.2.6) are state equations of the system. Hence the state CHE ve ie: ” The output, y=v,(t)=x, “The outputequationis y=[I af} Si (42.8) et The mato expuaton feo 2.7) and mesa ecules Loge (42-8) ogee oomation> state model of the system.Using the state space analysis technique, obtain the state model of the electrical system shown in Fig4 Ik Fig. 15.35 ‘The KVL equations for three loops are, = LR, - Voy + Vy = 0 (l) = (h- 1) Rp- Ven + Ver = 0 (2) ~~ b- by) Ry- Vo + Ven = 0 ~B) Let =Ver, X= Ven, Up=Vy U,=Vp ~ Now current through C; is I and C, is ly ay, . = GREG fd)Wea 4 - o Maney 6 Using (4) and (5) in (1), (2) and @) we get, = Ry -X, + Uy wu = GRp - Cy X% Rp -X +X = 0 and use J; obtained, FER 6 Sa Ry ay = 0 * Xm [ese )s AA) -1,R3—G, Xt Ry —C, Xz Ry—Ug + Xz = 0 Use fy and (A) EU nic SER oR RGU es Fe RU, +x =0 = % = Re +a or e ~-B) ‘The equations (A) and (B) give the state model, X= AX+BU hence state variable matrixEXAMPLE 4.1 Obtain the state model of the electrical network shown in fig 4.1.1 by choosing minimal number of state variables.SOLUTION E TLetus choose the current through the inductances ip ian voltage across the capacitor vn state vars i pcumed directions of currents and polarity ofthe voltage are shown in fig 4.1.2. Let the three state variables x, to physical ‘as R x, =i, = Current through L = SS cer matnabirlk et) ©) x=, = Voltage across capacitor. ce Atnode A, by Kirchoff’s current law (refer fig 4.1.3), iti, +H =0, e411)On the state variables for physical variables in equ (4.1.1) we Bet ay, (esi=Xp i,=,and Me =%5) thteaseO, Xy +X2 + CK = 0 Ck =-x -%2 sai (4.1.2) 1 1 k= “oH ~cmsy Krchof’s oltage aw inthe closed path shown in fig 4.1.4 we get, e(t)+iR, +1, Ses, 13) covtranne ve cintnoaaaa 3) we get, (i.e. )= Xp» ae %, and v.=%,) eft) +x,RAL, 17% Also, let u(t) = e(t) = input to the system “.utx,R, + LyX) = x3 L)X, =X3—X)R,-u R 1 K = rc + Dyk RonT TE, X3 Ly u weeee(4.1.4)oe Ba ale Kirchoff’ s voltage law in the closed path shown 1.5 we get, _ di, . v= LG tik, 4.1.5) substituting the state Vary for physical inequ (4. i D ‘we get, c.,i,= x £2 = x andy, =X.) Fig 4.1.5. % x a +XRp 2 = X2Rz +X3 1 =z eae %+T% thequations (4.1.2), (4.1.4) and (4.1.6.) are the state equations of the sy : equations of the system are, 1 R, 1 ane xp Wh” 5 Fo = Patt a “ % = “cf “38 On arranging the state equations inthe matrix form we get, % Rk 0 as x 1 Ly = Ty mle] o - 1|lalel o (ta Ey) State equation .....(4.1.7) 1 1 : —= -= (Ollx, 0Letus choose the voltage across the resistances as output variables and variables are denoted by y, and y,. “FAR, and ¥,=1R, 4 Cn substituting the tate variables in equations (4.1 8)and (41.9) we ee (ie., i, =x, and i,=x,) y=%R, 3 %=%R, Onarranging the above equations in the matrix form we get BHP aE : x a} LO RadLe output equation seve “The state equation [equ (4.1.7)] and output equation [equ (4.1.10)] together the state model of the system. rEXAMPLE 4.3 Construct the state model ofmechanical system shown in fig 4.3. i SOLUTION Free body diagram of M, is shown in fig 4.3.2. HU) 2 d aot ‘ y, fm=Mi—- ae fa f fy gidiee S01 Ya) bl E fa = oe Y2) Sete eeBy Newton’s second law, the force balance equation at node M, is, f(t) = fim + for + fia a f= M, B+ By O17) +) Pa = M, 3+, Shp, 2 + Ky -Ky2Free body diagram of M, is shown in fig 4.3.3. dy dy: =. =M,— oe 2 ‘m2 2 ae be = By at d fy = By 2-91) > fia =Kay2 fu =KiQ2-¥1) By Newton’s second law, the force balance equation at node M, is, £ ett +f a0 ae a & M, e+ B, 92 +B, 02 -y1)+Kyy2 + Ki2-y) =9 d? wy 22.48, 24-0) dB, B+ Kay, +Kiys iy, =Ochoose four state variable x,, x,, x, and x,. Also, let the input f(t) = u. The state related to physical variables as follows dy, dy a, eed my 5% ™. ¥35= > Mo? tye ah ; y= SP F : dy, substituting y, =x, ; y,= x, Marg: Maan: oe = %3 and ft) =u (4.3.1) we get, u=M)kx; + Byx; — Bix, + Kyx, —K,x, M,X3 = —B,x; + Byxg — K,x, + K,x) +u K, B. 1 ks Saag +—x, waneat +—*x4—0 issesiede3)a ; a - od r substituting y, =x, ; rms Et =X3; Se =x%5 Sars and 0) =u (4.3.1) we get, u=M,x; +B,x; - Bx, +K\x, —K,x2 MX; =—B,Xx; + ByX4 — Kx, +K,x, + kK wa tty — as xg (43.3) mM, 7M, M, 1 dy yax, iyex Stax 5 Shan, and 22 =k, in + Bx, + B,x4 — Byx3 + Kyx, + Kx, —K,x, =0 4 = ~B,X4 — Byxy + Byx3 ~ K2x2 — Kyxz + Kix = ~(B, + By) xq +B,x; — (Ky + Ky) + KX = Xi,, t®) Be oe = dx, seves(4.3.4) M2 M2 M2 M2state variable x, = y,- Re RE FRE - dx, 5 ie $1 = 5, ona Si = 5 =X evee(4.3.5) state variable, x,—Y.- On differentiating x, =, With respect tot we get, oes dx. e vant, and Hang 5 4% vn 3.6)ky =%3 i =X fy Ree BEB yt 2 RY Sty, oy = mM, M,” M, ma *M Mi Ky = Ky, 62%) X tats -GiBa),, 2 M, . M2 My (On arranging the state equations in the matrix Ton, We ES ear 6 0 1 a ol a | | 0 0 0 1 Yeon ao pe ost eee Br \|xs| + M, M, M, M 1 «| | & _Ky+Ky) By =@i+B))},) | 0 4 M3 M, M2 Masystem. f the of outputs the be Yy its y, and . ent : — s 2 on in matrix 3 te ion in xy 00 ‘| * : : 100 _ bese y2