320 4.

2 STATE SPACE FORMULATION

The state of adynamic system is a minimal set of variables (known as state variables)
such that the knowledge of these variables at t =t, together with the knowledge of the inputs
for t t Completely determines the behaviour of the system for t > to. (or) A set of
variables which describes the system at any time instant arà called state variables.
In the state variable formulation of a system, in general, a system consists of
m-inputs,p-outputs and n-state variables. The state space representation of the system may
be visualized as shown in fig 4.1.
Let, State variables x,(), x,(t), x,(), *,()
Input variables =
u,(), u,(t), u,(t), ... u()
Output variables = y,(). y,(), y,(), y,()
of
variables
input
number
m
[u,() y,0)
u,(t)’ y,() variables
output Control
Control ofnumber
p
u,(t) System
System

()
y,0) X
x,() x,(1) x,() x()
n number of state variables Fig 4.1 :State space representation of system

The different variables may be represented by the vectors (column matrix) as shown
below.
uj() X()]
Input U(t) = u, (t) Ouput Y2(t) State variable x,(t)
vector Y(t) = X() =
vector vector

um()
STATE EQUATIONS
The state variable representation can be arrariged in the form of n number of first
order differential equations as shown below.

dt

dx2
dt

dxn= x, =f,(X1,
dt
X2,..... X u, Uz.......Um) ...4.1)
 The nnumbersof differential equations may be written in vector notationas
X(t) =f(X(0), U(t) .4.

Theset of all possible values which the input vector U(t)can have (assume) at
time
forms the input space of the system. Similarly. the set of all possible values which the outp
vector Y(t) can assume at time t forms the output space of the system and the set of a.
possible values which the state vector X(t) can assume at time t forms the state space of th
system.
4.3 STATE MODEL OF LINEAR SYSTEM
The state model ofa system consist of the state equation and output equation. The
equation ofa system is afunction of state variables and inputs as defined by equatior
(4.2). For linear time invariant systems the first derivatives of statevariables can be expressed
as a linear combination of state variables and inputs.

XË = aj|X ta,2X,+....a. nXn +bËu, + bË2 u, t....bimum

x =aXË ta2Xt........a n +bnju +bn2u, t....tbnm m ....(4.3)

where the coefficients a., and b, are constants.

In the matrix form the above equations can be expressed as,

a12 X1 | b b2 . . bËm u,
a2n b b2 .... 2m
+ b31 b2
ag| a32 b3m
anl 2n2 ånn Xn |bal ba2 bnm Um ..4.4)

The matrix equation (4.4) can also be written as, ~(t) =A X(t) + BU) ..(4.5)
where, X(t) =State vector of order (n x 1)
U() =Input vector of order(m x l)
A = System matrix of order (n xn)
B= Input matrix of order (n x m).
Note : For convenience the input, output and state variables are denoted as U
and x,, xz ; but actually they are functions of time, t.
22
322
The cquation X() =A N() + BU) is called the state cquation of Lincar Time
Invariant (LT) system.
Theoutput at any tine are fumctions of'state variables and inputs.
Output vector, Y) fX(0),UO) ..(4.6)
Hence the output variables can be expressed as alincar combination ofstatevariables
and inputs.

}C teyNyt....tnN t d¡l, +d,li, +.... d2,Um

..4.7)

where the coetticients c and d, are constants.

In the matrix form the above equations can be expressed as,

C C12..Cn d d...... m
Y2 C21 C22.C2n d d.....d.n
C31 C32......C3n + d31 d2....... dgm
:
:
Cpl Cp2***pn
Cp2....LXnxp. di d2...pm Um ..(4.8)

The matrix equation (4.8) can also be written as, Y(t) =CX()+D U) ..(4.9)
where, X(t)= State vector oforder (n x 1)
U(t) = Input vector of order (m x1)
Y(t) = Output vector of order (p x 1)
C=Output matrix of order (p x n)
D=Transmission matrix of order (p x m)
The equation Y(t) =CX() +D U() is called the output equation of LinearTime
Invariant (LTI)system.
The state model ofa system consist of state equation and output equation. (or) The
state equation and output equation together called as staie model ofthe system. Hence the
state model of alinear time invariant system (L'TI) system is given by the following equations.
X(() = AX(t) + BU() State equation.
Y(t) =CX() + D U(t) Output equation.