Introduction to Space Space Modelling :

Modelling in Time Domain

Part 1
Muhammad Jakaria Rahimi
 Content

• Introductory Concepts.
• Examples
State Space Representation

An electrical network is given in following figure, find a state-space representation if the output is
the current through the resistor.
 State Space Representation

Step-1: Select the state variables.

v c 
 
iL 

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 KCL at Node-1 iL  iR  iC
iC  iR  iL
dvC vC
C   iL (1)
dt R
 State Space Representation

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

diL
v(t )  L  vR
dt
diL
L  vC  v(t ) (2)
dt
Step-3: Write equation (1) & (2) in standard form.
dvC 1 1
 vC  iL
dt RC C
State Equations
diL 1 1
  vC  v(t )
dt L L
State Space Representation

dvC 1 1 diL 1 1
 vC  iL   vC  v(t )
dt RC C dt L L

 1 1 
d  cv    v   0 
 RC C c
  1  v(t )
    
dt  iL    1 0   iL   
L
 L 
 1 1 
vc   RC C  vc   0 
 i    1      1  v(t )
 L   0  L   L 
 i
 L 
 State Space Representation

Step-4: The output is current through the resistor therefore, the

output equation is

1
i R  vC
R

1  v c 
iR   0  
R  iL 
State Space Representation
 1 1
vc   RC   v  0
C c   1  v(t )
    1  
 i L   0   i L   L 
 L  Where,
x(t) --------------- State Vector
x(t )  Ax(t )  Bu (t ) A (nxn) ---------------- System Matrix
B (nxp) ----------------- Input Matrix
u(t) --------------- Input Vector

1  v c 
iR   0  
R  iL  Where,
y(t) -------------- Output Vector
C (qxn) ---------------- Output Matrix
y(t )  Cx(t )  Du(t ) D ----------------- Feed forward Matrix
 Example-2
Consider RLC Circuit Represent the system in Sate Space and find (if
L=1H, R=3Ω and C=0.5 F):
State Vector
System Matrix iL
Input Matrix & Input Vector + +
Output Matrix & Output Vector Vc Vo
- -
• Choosing vc and iL as state variables

dvc diL
C  u( t )  iL L   RiL  vc Vo  RiL
dt dt

1 1 diL 1 R
dvc
  iL  u(t )  vc  iL
dt C C dt L L
Example-2 (cont...)
dvc 1 1 diL 1 R
  iL  u(t )  vc  iL
dt C C dt L L

 1
vc   0   v   1 
 i    1
C
 
c
   C u(t ) State Equation
 L  R  iL   
  0
L L

Vo  RiL

v c 
Vo  0 R   Output Equation
iL 
 Writing State Equations
Electrical System: Example 3

For the following circuit, write the dynamic equations in state variable form.

Choose, Tips for choosing states:

vi=u input •inductor current
vc=y output •capacitor voltage
x= [i1 i2 vc] states

Write the system state equations in the form,

x  Ax  Bu
Y  Cx  Du
KVL around the outer loop,

di1 di1 R v  vi
vi  R1i1  L1  vc    1 i1  c (1)
dt dt L1 L1 L1
From the inner loop,

di2 di2 vc
L2  vc   (2)
dt dt L2
KCL at one of the nodes,

dvc dvc i1 i2
C  i2  i1    (3)
dt dt C C
State equations from (1)-(3) are written in matrix form as,
no I2
 R1 1
 L 0   1
  i1   L1 
L1
 i1  
1

d    1     (4)
i  0 i2   0  vi
dt  2  
0
 L2     
v
 c   1  v
 c  0
1 
 C  0   
C 
Equation (4) is of the form,

x  Ax  Bu
The output is,
 i1 
Y  0 0 1 i2  As Vc=y
 
 vc 
Which is in the form,
Y  Cx  Du
In the above, D=0
Example-4
Consider the following system

K
x(t)
M
f(t)
B
Differential equation of the system is:

d 2 x(t ) dx(t )
M B  Kx(t )  f (t )
dt 2 dt

22
 Example-4 d 2 x(t ) dx(t )
M B  Kx(t )  f (t )
• As we know dt 2 dt
dx
v d 2x dv

dt dt 2 dt
• Choosing x and v as state variables

dx
v
dt
dv B K 1
 v x f (t )
dt M M M

 x   0 1   x  0 
     K B      1  f (t )
  v   
v   M M M 
 Example-4

 x   0 1   x  0 
     K B      1  f (t )
  v   
v   M M M 
• If velocity v is the out of the system then output equation is given as

 x
y (t )  0 1 
v 
 Example-5
Find the state equations of following mechanical translational
system.

• System equations are:

d 2 x1 dx1 d 2 x2
M1 2
D  Kx1  Kx 2  0 f (t )  M 2 2
 Kx 2  Kx1
dt dt dt
 Example-5
• Now dx1 d 2 x1 dv1
 v1 
dt dt 2 dt
dx2 2
 v2 d x2 dv2

dt dt 2 dt
• Choosing x1, v1, x2, v2 as state variables
dx1
 v1
dt
dv1
M1  Dv1  Kx1  Kx2  0
dt
dx2
 v2
dt
dv2
f (t )  M 2  Kx2  Kx1
dt
 Example-5

• In Standard form
dx1
 v1
dt
dv1 D K K
 v1  x1  x2
dt M1 M1 M1
dx2
 v2
dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
 Example-5

dx1 dv1 D K K dx2

 v1  v1  x1  x2  v2
dt dt M1 M1 M1 dt
dv2 K K 1
 x2  x1  f (t )
dt M2 M2 M2
• In Vector-Matrix form

 0 1 0 0  0 
 x1   K  1  
x
    
D K
0   
 0 
 v1    M 1 M1 M1 v
  1    0  f (t )
 x 2   0 0 0 1  x2 
   K    1 
0  v 2  
K
 v2   M 0  
 2 M2  M2 
 Example-5

 0 1 0 0  0 
 x1   K  1 x 
0    0 
D K
    
 v1    M 1 M1 M1  v1   
   0  f (t )
 x 2   0 0 0 1  x2 
   K    1 
0  v 2  
K
 v2   M 0  
 2 M2  M2 
• If x1 and v2 are the outputs of the system then

 x1 
1 0 0 0  v
 1

y (t )  
0 0 0 1
  x2 
 
 v2 