State

Space
Modeling
 STATE SPACE MODELING

Mathematical Model

Differential Equation

Laplace transfer First order equations

Transfer function model State space model

 STATE SPACE MODELING
For solution of system models, the state space modeling is
used .

the state space is time-domain methods.

A time-varying control system is a system in which one

ormore of the parameters of the system may vary as
a function of time.

In time domain the physical systems are described by an

nth-order ordinary differential equation.

The time-domain techniques can be used for nonlinear,

time-varying, and multivariable systems.
 STATE SPACE MODELING
The time domain primarily analyzes the physical systems
are evaluated by the variables like voltages, currents,
velocities, positions, pressures, temperatures etc.

Utilizing a set of variables, known as state variables,

we can obtain a set of first-order differential
equations.

These first-order equations are grouped using a

compact matrix notation model of (input and output of
the system) known as the state space or state variable
model.
 STATE SPACE REPRESENTATION

 Suitable for both linear and non-linear systems.

 Software/hardware implementation is easy.

A time domain approach suitable for systems

with non-zero initial conditions.

 Transformation From Time domain to

Frequency domain and Vice Versa is possible.

5
 DEFINITIONS
 State of a system: The state of a system at time t0 is the amount of
information that must be provided at time t0, which, together with the
input signal u(t) for t  t0, uniquely determine the output of the system for
all t  t0.

 State Variable: The state variables of a dynamic system are the smallest
set of variables that determine the state of the dynamic system.

D EFINITIONS
State of a system: The state of a system at time t is the amount of information
0
that must be provided at time t0, which, together with the input signal u(t) for t 
t0, uniquely determine the output of the system for all t  t0.

 State Variable: The state variables of a dynamic system are the smallest set of
variables that determine the state of the dynamic system.

x =position, velocity x =position, velocity

State (t=t1)
State (t=t0)

State
State

Time ‘t’ to t1

State variable 7
State of system
 DEFINITIONS

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.
 DEFINITIONS
 Let x1 and x2 are two states variables that define the
state of the system completely .

𝑑𝑥
𝑥2 𝑑𝑡

Velocity State (t=t1)

State (t=t1)

State
Vector 𝑥1
𝑥
Position

Two Dimensional State space State space of a Vehicle

9
 DEFINITIONS
 State Vector: If n variables are needed to completely describe the
behaviour of the dynamic system then n variables can be considered as n
components of a vector x, such a vector is called 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.

(t0 = initial time)

 State Space: The state space is defined as the n-dimensional

space in which the components of the state vector represents its
coordinate axes.

Any state can be represented by a point in the state space.

 STATE SPACE REPRESENTATION
 This representation transforms an nth order
differential equation into a set of n 1st order
differential equations.

 State Space representation is not unique.

 Provides complete information about all the internal

signals of a system.

11
 DEFINITIONS
State-Space Equations.
In state-space analysis three types of variables are involved in the
modeling of dynamic systems:
input variables,
output variables, and
state variables.

The state-space representation for a given system is not unique, except that the
number of state variables is the same for any of the different state-space
representations of the same system.

The dynamic system must involve elements that memorize the values of the input for t
….t1 .

Since integrators in a continuous-time control system serve as memory devices, the

outputs
of such integrators can be considered as the variables that define the internal state of
the
dynamic system.
Thus the outputs of integrators serve as state variables.
 DEFINITIONS
State-Space Equations.
The number of state variables to completely define the
dynamics of the system is equal to the
number of integrators involved in the system.

Assume that a multiple-input, multiple-output system

involves n integrators.

Assume also that there are r inputs u1(t), u2(t), p , ur(t) and
m outputs y1(t), y2(t), …., ym(t).

Define n outputs of the integrators as state variables: x1(t),

x2(t), ….. , xn(t)
 Steps for development state space model

1. Select the state variables.

2. Transforming the nth order differential equation into

a set of n 1st order differential state variable
equations.

3. Elaborate the coefficient of state variable equation.

4. Rewritten the state space form the state variable

equation
 STATE SPACE MODELING
 The system shown in Figure has
 r inputs u1(t) ……. ur(t),
 m output variables y1(t), . . . , ym(t).
n state variables (x1(t0), x2(t0), . . . , xn(t0))
t0= initial time
 STATE SPACE MODELING
 The state variables are an internal description of the system which
completely characterize the system state at any time t, and from
which any output variables yi(t) may be computed.
 STATE DIFFERENTIAL EQUATION
The response of a system is described by the set of first-
order differential equations

These first-order differential equations can be written in

general form as

Eq. 1

where
.
 STATE DIFFERENTIAL EQUATION

This set of simultaneous differential equations can be written in matrix form

as follows:

Eq. 2

Then the system can be represented by the compact notation of the

state differential equation as

Eq. 3

The differential equation (3) is also commonly called the state equation.
The matrix A is an n x n square matrix, and B is an n x m matrix.
 STATE DIFFERENTIAL EQUATION

In general, the outputs of a linear system can be related to the state

variables and the input signals by the output equation

Eq. 4

where y is the set of output signals expressed in column vector form.

 EXAMPLE-1 state space representation of Mass
Spring Damper system
A mechanical system shown in Figure .
The external force u(t) is the input to the system, and
the displacement y(t) of the mass is the output.
The displacement y(t) is measured from the equilibrium
position in the absence of the external force.
This system is a single-input, single-output system.
the system differential equation is

𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
𝑚 + 𝑏 + 𝑘𝑦(𝑡) = 𝑢(𝑡) . . . . . . . . . . . (1)
𝑑𝑡 2 𝑑𝑡

 This system is of second order. This means that the system involves two
integrators.
 EXAMPLE-1 (Mass Spring Damper system)
𝑑 2 𝑦(𝑡) 𝑑𝑦(𝑡)
𝑚 + 𝑏 + 𝑘𝑦(𝑡) = 𝑢(𝑡) . . . . . . . . . . . (1)
𝑑𝑡 2 𝑑𝑡

Step 1: Choosing displacement y =x1 and velocity v= x2 as state variables

Step 2:Transforming the 2nd order differential equation into a set of two 1st
order differential state variable equations.

𝑑(𝑥1 ) 𝑥ሶ 1 = 𝑥2 = 𝑣 . . . . . . . . . (2)
=𝑣
𝑑𝑡

𝑑(𝑥2 ) 𝑑𝑣 𝑥ሶ 2 = 𝑣ሶ
=
𝑑𝑡 2 𝑑𝑡

𝑑2 𝑦(𝑡) 𝑏 𝑑𝑦(𝑡) 𝑘 1 𝑘 𝑏 1
= − − 𝑦(𝑡) 𝑢(𝑡) 𝑥ሶ 2 = − 𝑥1 − 𝑥2 + 𝑢(𝑡) . . . . . . . (3)
𝑑𝑡 2 𝑚 𝑑𝑡 𝑚 𝑚 𝑚 𝑚 𝑚
 EXAMPLE-1 (Mass Spring Damper system)
Step 3: To elaborate the coefficient of state variable the equation (2) and equation (3) can be
rewritten as

𝑥ሶ 1 = 0 × 𝑥1 + 1 × 𝑥2 + 0 × 𝑢(𝑡) . . . . . . . (2) 𝑥ሶ 1 = 𝑥2 = 𝑣 . . . . . . . . . (2)

𝑘 𝑏 1 𝑘 𝑏 1
𝑥ሶ 2 = − × 𝑥1 + − × 𝑥2 + × 𝑢(𝑡) . . . . . . . (3) 𝑥ሶ 2 = −
𝑚
𝑥1 − 𝑥2 + 𝑢(𝑡)
𝑚 𝑚
. . . . . . . (3)
𝑚 𝑚 𝑚

Step 4: rewritten the equation (2) and equation (3) in state space form

0 1 𝑥1 0
𝑥ሶ 1
= 𝑘 𝑏
𝑥 + 1 𝑢(𝑡) . . . . . . . . . . (4)
𝑥ሶ 2 − − 2
𝑚 𝑚 𝑚

If the displacement x1 =y is output of system then

𝑥1
𝑦= 1 0 𝑥 . . . . . . . . . . . . . . (5)
2
EXAMPLE-1 (Mass Spring Damper system)

𝑋ሶ = 𝐴𝑋 + 𝐵𝑈. . . . . . . . . . (6)

𝑌 = 𝐶𝑋 + 𝐷𝑈. . . . . . . . . . (7)

where

0 1
𝑋 = 𝑥1 𝑥2 ′
𝐴= 𝑘 𝑏 0
− − 𝐵= 1 𝑈 =u(t)
𝑚 𝑚
𝑚

𝐶= 1 1 𝐷=0
 STATE SPACE MODELING
Consider again the mechanical system shown in Figure.
State-space equations for the system are given by Equations (6) and (7).

𝑋ሶ = 𝐴𝑋 + 𝐵𝑈. . . . . . . . . . (6)

𝑌 = 𝐶𝑋 + 𝐷𝑈. . . . . . . . . . (7)
 STATE SPACE MODELING TO TRANSFER FUCCTION MODEL

We can obtain the transfer function for the system from the state-space equations.
By substituting A, B, C, and D into Equation (8), we obtain

det transpose

----------(8)
 RLC STATE SPACE MODEL
 Step-1: Select the state variables.

𝑣𝑐
𝑖𝐿

Step-2: Apply Kirchhoff's voltage and current laws, to obtain ic and vL in

terms of the state variables, vc and iL.

𝑖𝐿 = 𝑖𝑅 + 𝑖𝐶 𝑖𝐶 = −𝑖𝑅 + 𝑖𝐿
Applying KCL at Node-1

𝑑𝑣𝑐 1
𝐶 = − 𝑣𝐶 + 𝑖𝐿
𝑑𝑡 𝑅

𝑑𝑣𝐶 1 1
𝑑𝑡
= − 𝑅𝐶 𝑣𝐶 + 𝐶 𝑖𝐿 . . . . . . . . . (1)
 RLC STATE SPACE MODEL
Step-2: Apply network theory, such as Kirchhoff's voltage and current
laws, to obtain ic and vL in terms of the state variables, vc and iL.

Applying KVL at input loop

𝑣(𝑡) = 𝑣𝐿 + 𝑣𝐶

𝑑𝑖𝐿
𝑣(𝑡) = 𝐿 + 𝑣𝐶
𝑑𝑡

𝑑𝑖𝐿
𝐿 = −𝑣𝐶 + 𝑣(𝑡). . . . . . . . . . . (2)
𝑑𝑡
𝑣𝑐
𝑖𝐿
Step-3: Write equation (1) & (2) in standard form.
𝑑𝑣𝐶 1 1
=− 𝑣𝐶 + 𝑖𝐿
𝑑𝑡 𝑅𝐶 𝐶

𝑑𝑖𝐿 1 1 State
= − 𝑣𝐶 + 𝑣 𝑡 … … … . (2)
𝑑𝑡 𝐿 𝐿 Equations
 RLC STATE SPACE MODEL

𝑑𝑣𝐶 1 1
= − 𝑅𝐶 𝑣𝐶 + 𝐶 𝑖𝐿 . . . . . . . . . (1) 𝑑𝑖𝐿 1 1
𝑑𝑡
= − 𝑣𝐶 + 𝑣 𝑡 … … … . (2)
𝑑𝑡 𝐿 𝐿
𝑑𝑣𝑐 1 1 𝑑𝑖𝐿 1 1
=− 𝑣𝐶 + 𝑖𝐿 + 0 𝑣(𝑡) = − 𝑣𝐶 + 0 𝑖𝐿 + 𝑣 𝑡 … … … . (2)
𝑑𝑡 𝑅𝐶 𝐶 𝑑𝑡 𝐿 𝐿

Input =v(t) and state variables = [vc iL]

1 1
𝑑 𝑣𝑐 0
= 𝑅𝐶 𝐶 𝑣𝑐 + 1 𝑣(𝑡)
𝑑𝑡 𝑖𝐿 1 𝑖𝐿 𝑣𝑐
− 0 𝐿 𝑖𝐿
𝐿

1 1
𝑣ሶ𝑐 𝑅𝐶 𝐶 𝑣𝑐 0
= 1 𝑖 + 1 𝑣(𝑡)…………. (3)
𝑖ሶ𝐿 −𝐿 0 𝐿 𝐿
 EXAMPLE-2

Step-4: The output is current through the resistor therefore, the output
equation is
1
𝑖𝑅 = 𝑣
𝑅 𝐶

1
𝑖𝑅 = × 𝑣𝐶 + 0 × 𝑖𝐿
𝑅

1 𝑣𝑐
𝑖𝑅 = 0 𝑖
𝑅 𝐿
EXAMPLE-2
1 1
𝑣𝑐 0
𝑣ሶ𝑐 𝑅𝐶 𝐶 1 𝑣 . . . . . . . (3)
= 𝑖𝐿 +
𝑖ሶ𝐿 1
− 0 𝐿
𝐿

Where,
𝑋ሶ = 𝐴𝑋 + 𝐵𝑈
X is state vector
A (nxn) is system matrix
B (nxp) is input matrix
1 𝑣𝑐 U is input vector
𝑖𝑅 = 0 𝑖 . . . . . . . . . (4)
𝑅 𝐿

Where,
𝑌 = 𝐶𝑋 + 𝐷𝑈 Y is output vector
C (qxn) is output matrix
D is Feed forward Matrix