UNIT – V
STATE SPACE ANALYSIS
Topics: Concepts of state - state variables and state model - state space
representation of transfer function: Controllable Canonical Form -
Observable Canonical Form - Diagonal Canonical Form - diagonalization
using linear transformation - solving the time invariant state equations
State Transition Matrix and its properties- concepts of controllability and
observability.
INTRODUCTION
The concept of modelling, analysis and design of control systems
discussed, so far was based on their transfer functions which suffer from
some drawbacks as stated below.
(i) The transfer function is defi ned only under zero initial conditions.
(ii) It is only applicable to linear time-invariant systems and generally
restricted to single input single output (SISO) systems.
(iii) It gives output for a certain input and provides no information about the
internal state of the system.
To overcome these drawbacks in the transfer function, a more generalised
and powerful technique of state variable approach in the time domain was
developed. The state variable method of modelling, analysis and design is
applicable to linear and non-linear, time-invariant or time varying multi-
input multi-output (MIMO) systems. The placement of closed-loop poles for
improvement of system performance can be done with state feedback.
CONCEPTS OF STATE, STATE VARIABLES AND STATE MODEL
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STATE SPACE EQUATIONS (OR) STATE MODEL (OR) STATE
EQUATIONS
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The set of state equations and output equations of the above state model
may be written in a vector-matrix form as given below.
The block diagram of state model of linear MIMO system is shown in the fig.
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DERIVATION OF TRANSFER FUNCTION FROM STATE MODEL
PROBLEMS
1) Obtain the transfer function of a system described by the following state
equations
SOL:
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2) Obtain the transfer function of the system
SOL:
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3) Obtain the transfer function of the system
SOL:
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4) Find the transfer function when
SOL:
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STATE SPACE REPRESENTATION FOR ELECTRICAL NETWORKS
(PHYSICAL VARIABLE FORM)
PROCEDURE:
PROBLEMS:
1) Obtain the state model for the following network
SOL:
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2) Obtain the state model for the following network
SOL:
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STATE SPACE REPRESENTATION FOR DIFFERENTIAL EQUATIONS
PROBLEMS:
1) Construct the state model for a system characterized by the differential
equation
SOL:
2) Construct the state model for a system characterized by the differential
equation
SOL:
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3) Construct the state model for a system characterized by the differential
equation
SOL:
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CONTROLLABLE CANONICAL FORM
STATE SPACE REPRESENTATION FOR TRANSFER FUNCTION
(PHASE VARIABLE FORM)
PROBLEMS
1) Obtain the state model for the following transfer function
SOL:
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2) Obtain the state model for the following transfer function
SOL:
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3)
SOL:
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OBSERVABLE CANONICAL FORM
The state model in controllable canonical form is given by
The state model in observable canonical form from the
controllable canonical form is given by
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PROBLEM:
1) Obtain the state model in observable canonical form for the following
transfer function
SOL:
The state model in observable canonical form is given by
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DIAGONAL CANONICAL FORM
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PROBLEM
1)
SOL: 22
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2) Obtain the state model in diagonal canonical form for the
following transfer function
SOL:
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DIAGONALIZATION USING LINEAR TRANSFORMATION
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PROBLEM:
SOL:
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SOLUTION OF STATE EQUATIONS & STATE TRANSITION
MATRIX (STM)
For a time-invariant system, the state equations are divided into two
types. They are
i) Homogeneous State equations
ii) Non-Homogeneous State equations
SOLUTION OF HOMOGENEOUS STATE EQUATION
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PROPERTIES OF STATE TRANSITION MATRIX ( (t) )
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SOLUTION OF NON-HOMOGENEOUS STATE EQUATION
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NOTE :
PROBLEMS
1) Find the homogeneous solution of the system
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SOL:
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2) Find the homogeneous solution of the system
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SOL:
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3)
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SOL:
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4)
SOL: 36
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CONCEPTS OF CONTROLLABILITY AND OBSERVABILITY
[KALMAN’S TEST]
CONTROLLABILITY
OBSERVABILITY
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PROBLEMS
1) Find the controllability of the system described by the state equation
SOL:
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2) Find the observability of the system described by the state equation
SOL:
3) Check the controllability of the system
SOL:
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4) Check the observability of the system
SOL:
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5) Test the observability of the system described by
SOL:
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6)
SOL:
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