Chapter 3

State Equations For Physical

Systems
Introduction

 Two approaches are available for analysis and

design of control systems
 Transfer function in frequency domain (chap 2)
▪ Differential Equation Transfer Function
▪ Simplifies modeling of inter connected subsystems
▪ Provides stability and transient response information
▪ Limited Applicability: For only LTI systems
 State equation in time domain (chap 3)
 Conversion between Transfer Function & State
Space Model
State Space Representation

 An alternate technique for modeling ,

analyzing and designing a wide range of
systems
 Can be used to represent
 non-linear systems such as saturation, dead zone
 Systems with non-zero initial conditions
 Time Varying Systems
 MIMO Systems
 Focus is on LTI systems
State Space Representation

 Some observations
 State variables
▪ Inductor Voltage, Resistor Voltage, Capacitor Current
 State Equations
 Output Equations
 State Space Representations
Steps for State Space Representation
Example for State Space
Representation
Example for State Space
Representation

State
Equations
State Space
Representation
Output
Equation
Example for State Space
Representation
General State Space Representation
Some facts about State Space
Representation
 State Space Representation consists of
 Simultaneous 1st order differential equations from
which state variables can be solved
 Algebraic output equation from which all other
system variables can be solved
 Is there any restriction on choice of state
variables?
 No of state variables required to describe a system =
no. of differential equations
 Linearly Independent
Choice of State Variables

 Set of State Variables in Electrical system are

[ VR(t), VL(t), VC(t), iR(t),iL(t), iC(t)]
But can’t choose linearly dependent state
variables (i. e. VR(t) = R iR(t) ) simultaneously
 Usual practice is to choose derivative of
energy storage elements as state variables
because they are linearly independent
Applying State Space Representation

 State vector is chosen by considering

State space Representation is not unique . Different choice of

state variables yields different state space of same system
Minimum No. of State Variables

 No. of state variables = no. of independent

storage elements
 No. of independent storage elements = order
of differential equation
 If too few state variables are selected then it
may not be possible to write particular output
equation
Steps for State Space Representation

 Write differential equation for each energy storage

element
 Solve for each derivative term as a linear
combination of any of system variables and i/p that
are present in equation
 Select differentiated variable as a state variable
 Express all other state variables in terms of state
variables and i/p
 Finally write o/p variables as linear combination of
state variable
Example 3.1

 Example 3.1 : Find State space representation

if the o/p is current through resistor.