Chapter 3

State Variable Models

The State Variables of a Dynamic System

The State Differential Equation
Signal-Flow Graph State Variables
The Transfer Function from the State Equation

1
 Introduction
• In the previous chapter, we used Laplace transform to obtain the
transfer function models representing linear, time-invariant, physical
systems utilizing block diagrams to interconnect systems.

• In Chapter 3, we turn to an alternative method of system modeling

using time-domain methods.

• In Chapter 3, we will consider physical systems described by an nth-

order ordinary differential equations.

• Utilizing a set of variables known as state variables, we can obtain a

set of first-order differential equations.

• The time-domain state variable model lends itself easily to computer

solution and analysis.

2
 Time-Varying Control System
• With the ready availability of digital computers, it is convenient to
consider the time-domain formulation of the equations representing
control systems.

• The time-domain is the mathematical domain that incorporates the

response and description of a system in terms of time t.

• The time-domain techniques can be utilized for nonlinear, time-

varying, and multivariable systems (a system with several input and
output signals).

• A time-varying control system is a system for which one or more of

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

• For example, the mass of a missile varies as a function of time as the

fuel is expended during flight

3
 Terms
• State: The state of a dynamic system is the smallest set of variables
(called state variables) so that the knowledge of these variables at t =
t0, together with the knowledge of the input for t  t0, determines the
behavior of the system for any time t  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.
• State Vector: If n state variables are needed to describe the behavior
of a given system, then the n state variables can be considered the n
components of a vector x. Such vector is called a state vector.
• State Space: The n-dimensional space whose coordinates axes
consist of the x1 axis, x2 axis, .., xn axis, where x1, x2, .., xn are state
variables, is called a state space.
• State-Space Equations: In state-space analysis, we are concerned
with three types of variables that are involved in the modeling of
dynamic system: input variables, output variables, and state
variables.

4
 The State Variables of a Dynamic System
• The state of a system is a set of variables such that the knowledge of
these variables and the input functions will, with the equations
describing the dynamics, provide the future state and output of the
system.
• For a dynamic system, the state of a system is described in terms of a
set of state variables.

y1(t)
u1(t)
System
u2(t) y2(t)

Input Signals Output Signals

5
 State Variables of a Dynamic System

x(0) initial condition

u(t) Input y(t) Output

Dynamic System
State x(t)

The state variables describe the future response of a system,

given the present state, the excitation inputs,

and the equations describing the dynamics

6
 The State Differential Equation


The state of a system is described by the set of first-order differential
equations written in terms of the state variables (x1, x2, .., xn)
.
x1  a 11 x1  a 12 x 2  ...  a 1 n x n  b11 u 1  ...  b1 m u m
.
x2  a 21 x1  a 22 x 2  ...  a 2 n x n  b 21 u 1  ...  b 2 m u m
.
xn  a n1 x1  a n 2 x 2  ...  a nn x n  b n1 u 1  ...  b nm u m
dx
x 
dt  x1  a 11 a 12 a 1 n   x1 
      b11 .... b1 m  u 1 
d  x 2   a 21 a 22 a 2 n
  x 2   .......... ..  . 
dt .  . . .  .    
      b n1 .... b nm  u m 
 x n  a n1 a n 2 a nn   x n 
A x B u
.

A : State matrix; B : input matrix

x  Ax  Bu (State differenti al equation)
C : Output matrix; D : direct tra nsmission matrix y  Cx  Du (Output equation - output signals)

7
 Block Diagram of the Linear, Continuous Time Control System

D(t)
+
.
u(t) x ( t) x(t) y(t)
B(t) dt C(t)
+ +
+

A(t)

.
x ( t)  A( t )x(t)  B( t ) u ( t )
y ( t)  C( t ) x ( t )  D( t ) u ( t )
8
 Mass Grounded, M (kg)

Mechanical system described by the first-order differential equation

Appied torque T a ( t ) (N - m)

Linear vel ocity v ( t ) (m/sec)

x (t) v (t)
Linear position x ( t ) (m)

2 Fa(t) M
dv d x ( t)
F a ( t) M M 2
dt dt
t
1
v ( t)   F a ( t ) dt
M t0

9
 Mechanical Example: Mass-Spring Damper

A set of state variables sufficient to describe this system includes the
position and the velocity of the mass, therefore, we will define a set of
state variables as (x1, x2)
x1 ( t )  y ( t )
u(t)
dy ( t )
x 2 ( t)  K
dt b
2 Wall friction
d y dy
M
2
b  ky  u ( t )
dt dt
M
dx 2
M  bx 2  kx 1  u ( t )
dt
dx 1
 x2 ; y(t)
dt
dx 2 b k 1
 x2  x1  u k : Spring constant
dt m M M
10
Example 1: Consider the
pre vious me chanical
system. Assume that the
s y s t e m i s l i n e a r. T h e
external force u (t ) is the
input to the system, and
the displacement y ( t ) of
the mass is the output. The
displace me nt y(t) is
measured from the
equilibrium position in the
absence of the external
fo rce . This syst e m is a
single-input-single-output
system.

11
 Electrical and Mechanical Counterparts

Energy Mechanical Electrical

Kinetic Mass / Inertia Inductor

0.5 mv2 / 0.5 j2 0.5 Li2

Potential Gravity: mgh Capacitor

Spring: 0.5 kx2 0.5 Cv2

Dissipative Damper / Friction Resistor

0.5 Bv2 Ri2

12
 Resistance, R (ohm)

Appied voltage v ( t )
i(t)
Current i ( t )
v ( t)  Ri ( t ) v(t) R

1
i ( t)  v ( t)
R

13
 Inductance, L (H)

Appied voltage v ( t )
Current i ( t ) i(t)

di ( t )
v ( t) L v(t) L
dt
t
1
i ( t)   v ( t ) dt
L t0

14
 Capacitance, C (F)

Appied voltage v ( t )

Current i ( t ) i(t)

t
1
v ( t)   i ( t ) dt v(t) C
C t0

dv ( t )
i ( t) C
dt

15
 Electrical Example: An RLC Circuit

x1  vC ( t ); x 2  i L ( t)
  1 / 2  Li L2  1 / 2 Cv c2
x1 ( t 0 ) and x 2 ( t 0 ) is the total initial iL L
energy of the network

USE KCL at the junction

iC
dv c
ic C  u ( t )  i L
dt u(t) vC C R +
di L Vo
L   Ri L  v c
dt -
The output of the system is represente d by : v o  Ri L ( t )
dx 1 1 1
 x2  u ( t)
dt C C
dx 2 1 R
 x1  x2
dt L L
The output signal is then : y 1 ( t )  v o ( t )  Rx 2

16
Example 2: Use Equations from the RLC circuit

 1 
. 0 -  1 
 x  C  u ( t)
C
x 
1 R  
 L
- 
 0 
L 
The output is
y  0 Rx
When R  3, L  1, C  1/2, we have
. 0 - 2 2 
x   x  u
1 - 3 0 
y  0 3 x
17
 Signal-Flow Graph Model

A signal-flow graph is a diagram consisting of nodes that are connected
by several directed branches and is a graphical representation of a set
of linear relations. Signal-flow graphs are important for feedback
systems because feedback theory is concerned with the flow and
processing of signals in system.

G(s)
Vf(s)  (s)

G11(s)
R1(s) Y1(s)
G12(s)
G21(s)
R2(s) Y2(s)
G22(s)

Read Examples : 2.8 - 2.11

18
 Mason’s Gain Formula for Signal Flow Graphs

In many applications, we wish to determine the relationship between an
input and output variable of the signal flow diagram. The transmittance
between an input node and output node is the overall gain between
these two nodes.

1
P  P k k
 k

Pk  path gain of k th forward path

  determinan t of graph

 1 - (sum of all individual loop gain) 

(sum of gain of all possible combinatio ns of two nontouchin g loops)
- (sum of gain products of all possible combinatio ns of these nontouchin g loops)  ..
1- L L a bLc - L d LcL f
a b,c d,e,f

 k  cofactor of the kth forward path determinan t of the graph with the loops

touching the kth forward path removed, that is, the cofactor k is obtained from 
by removing the loops that touc h path P k .

19
 Signal-Flow Graph State Models

-R/L

1/C 1/s 1/L R

1/s x2
x1 vo
U(s)

-1/C
V o ( s) 
G ( s)  
U ( s) s
2
 s  
.
1 1
x1  x2  u ( t)
C C
.
1 R
x2  x1  x2 ; vo  Rx 2
L L
2
Vo ( s ) R / LCs R / LC
 ; 20
1   R / Ls   1 / LCs  R  1 / LC
2 2
U ( s)  s / L s 
 m 1
Y ( s) s
m
 b m 1 s  ....  b1 s  b o
G ( s)  
U ( s) s
n
 a n 1 s n 1  ....  a 1 s  a o
( n  m )  ( n  m 1 )  ( n 1 ) n
Y ( s) s  b m 1 s  ....  b1 s  bo s
G ( s)   1
U ( s) 1  a n 1 s  ....  a 1 s ( n 1 )  a o s  n

G ( s) 
Y ( s)

 P k
k k

U ( s) 

G ( s) 
 P
k k

Some of the forward - path factors

1   q 1 Lq
N
1 - sum of the feedback loop factor

21
 Phase Variable Format: Let us initially consider the fourth-order
transfer function. Four state variables (x1, x2, x3, x4); Number of
integrators equal the order of the system.
U(s) Y(s)
1/s 1/s 1/s 1/s

x4 x3 x2 x1

1 1/s 1/s 1/s 1/s bo

U(s) x4 x3 -a1 x2 x1 Y(s)

-a3 -a2 -a0

Y ( s) b0
G ( s)  
U ( s) s
4
 a 3 s  a 2 s  a1 s  a 0
3 2

4
b0 s
 1
1  a3s  a 2 s  2  a 1 s 3  a 0 s  4
22
 b3
b1
b2
1 1/s 1/s 1/s 1/s bo

U(s) x4 x3 x2 x1 Y(s)
-a3 -a1 -a0
-a2
. . .

b3 s
3
 b 2 s 2  b1 s  b 0
x1  x2 ; x 2  x3 ; x 3  x4
G ( s)  .
s
4
 a 3 s 3  a 2 s 2  a1 s  a 0
x4   a 0 x1  a 1 x 2  a 2 x 3  a 3 x 4  u
1 2 3 4
b3 s  b2 s  b1 s  b0 s
 1
y ( t)  b 0 x1  b1 x 2  b 2 x 3  b 3 x 4
1  a3s  a 2 s  2  a 1 s 3  a 0 s  4
 x 1  0 1 0 0   x 1  0 
   x   
d  x 2   0 0 1 0
  2   0  u ( t )
dt  x 3  0 0 0 1   x 3  0 
      
 x 4  - a 0 - a1 - a2 - a3   x 4   1
Read Examplev 3.1 of the textbook
 x1 
 
x2
y ( t)  Cx  b 0 b1 b 2 b3  
x3  23
 
 x 4 
 Alternative Signal-Flow Graph State Models

Motor and Load

R(s) Y(s)
16
Controller
G ( s) 
5 ( s  1)
 3)
 2)
(s
I(s)
c
 1)
(s
U(s) (s

 1)
5( s 1 6
G c ( s) 
( s  5) (s  2) s  3

1 1/s 5 1 1/s I (s) 6 1/s 1

R ( s) U ( s) Y (s)
-5 -2 -3

- 3 6 0 0 
 0   5  r ( t )
.
x -2 - 20 x
 y  1 0 0 x
0 0 -5
 1  24
The State Variable Differential Equations

1/s
1 -20
-5
1 1/s -20
1
1/s 30

-3 Diagonal form or Canonical form

Y(s) 30 ( s  1) q ( s)
T ( s)  
R ( s) (s  5 )( s  2 )( s  3 ) (s  s1 )( s  s 2 )( s  s 3 )
Y(s) k1 k2 k3
T ( s)   
R ( s) (s  5) (s  2) (s  3)
k1  20 , k 2  -10, and k 3  30
- 5 0 0 1
 0  
.
x -2 0 x  1 r ( t ); y ( t)  - 20 - 10 30 x
 
0 25
0 -3 
 1
 The State Variable Differential Equations

- 3 6 0 0 
 0   
.
x -2 - 5 x  5 r ( t)
  
0 0 - 5 1 
Y(s) 30 ( s  1) q ( s)
T ( s)  
R ( s) ( s  5 )( s  2 )( s  3 ) (s  s1 )( s  s 2 )( s  s 3 )
Y(s) k1 k2 k3
T ( s)   
R ( s) (s  5) (s  2) (s  3)
k1  20 , k 2  -10, and k 3  30
- 5 0 
0 1
.
x  0
 -2
 
0 x  1 r ( t)
  
0 0 -3 
 1
y ( t )  - 20 - 10 30 x 26
 The Transfer Function from the State Equation

Given the transfer function G(s), we may obtain the state variable equations
using the signal-flow graph model. Recall the two basic equations

.
x  Ax  B u y is the single output and

y  Cx u is the single input.

sX ( s )  A X ( s) B U ( s) Take the Laplace transform

Y ( s)  CX ( s)
 sI A X ( s) BU ( s)
1
Since  s I - A    ( s)
X ( s)   ( s) B U ( s)

Y ( s)  C  ( s) B U ( s)
Y ( s)
G ( s)   C  ( s) B
U ( s)
27
 Exercises: E3.2 (DGD)


A robot-arm drive system for one joint can be represented by the differential equation,




dv ( t )



 k1 v ( t )  k 2

y ( t )  k 3 i ( t )
dt


where v(t) = velocity, y(t) = position, and i(t) is the control-motor current. Put the
equations in state variable form and set up the matrix form for k1=k2=1
dy
v 
dt
dv
 k1 v ( t )  k 2 y ( t )  k 3 i ( t )
dt
d  y  0 1   y  0 
         i
dt  v   k 2 - k 1  v  k 3 

Define u  i , and let k 1  k 2  1

. 0 1 0  y
x  Ax  Bu; A   ,B   , x   
- 1 - 1 k 3  v 
28
E3.3: A system can be represented by the state vector differential
equation of equation (3.16) of the textbook. Find the characteristic roots
of the system (DGD).

. 0 1
x  Ax  Bu A  
 1 - 1

  -1 
Det ( I - A)  Det   
 1 (   1)  
 
    1   1      1  0
2

1 3 1 3
1    j ; 2   j
2 2 2 2
29
E3.7: Consider the spring and mass shown in Figure 3.3 where M = 1 kg, k
= 100 N/m, and b = 20 N/m/sec. (a) Find the state vector differential
equation. (b) Find the roots of the characteristic equation for this system
(DGD).
.
x1  x2
.
x2  100 x1  20 x 2  u
.  0 1  0 
x   x   u
- 100 - 20  1 
  -1 
Det ( I - A)  Det     20   100
2

100   20 
   10  2  0 ; 1  2  -10

30
E3.8: The manual, low-altitude hovering task above a moving land deck
of a small ship is very demanding, in particular, in adverse weather and
sea conditions. The hovering condition is represented by the A matrix
(DGD)
0 1 0

A  0 0 1


0 -5 -2 


 -1 0 
Det( I - A)  Det 0  -1 

 
0 5   2 
   2   5 )   0
2

1  0 ; 2  -1  j 2; 3  -1 - j2

31
E3.9: See the textbook (DGD)

.
1
x1  x2  x1
2
.
x2   x1  x 2
- 1 1/2 
x   x, y  1 - 3/2 x
1 - 3/2 
5  1
s  s  1   s  2  s    0
2

2  2
.  2 0
z   z ; y  - 0.35 - 1.79 z
0 - 1/2 
32
P3.1 (DGD-ELG4152):

Apply KVL

di
v ( t)  Ri ( t )  L  v c
dt
1
vc   idt
C
(a) Select the state variables as x1  i and x2  vc
(b) The state equations are :
.
1 R 1
x1  v  x1  x2
L L L
.
1
x2  x1
C
. - R/ L - 1/ L  1/ L 
(c) x   x  0  u
1/ C 0   
33