State Space Analysis in Discrete

Time Control System

By
Dr V S Krushnasamy
 Block Diagram of Digital Control System

• Sample and Hold: It describes a circuit that receives an analog

signal and hold this signal at a constant value for specified period
of time. Usually signal is electrical but other forms, such as optical
or mechanical also possible.
• Sampler: A sampler is a switch which close or open at a specified
interval of time.(converts analog signal to digital signal
• Analog to Digital Converter : A/D converter(also known as encoder)
is a device that converts an analog signal into digital signal.
• Such a device is needed as an interface between an analog
component and a digital computer.
• Digital to Analog Converter : D/A converter(also known as decoder)
is a device that converts an digital signal into analog signal.
• Such a device is needed as an interface between a digital
component and an analog component.
Block Diagram of Digital Control System
• Plant or Process : A, plant is a physical object such as
electric furnace, chemical reactor, steel mill.
• Where the temperature of the furnace/percentage of
concentration of a substance/speed of motor is to be
controlled to obtain the desired output.
• Sensor / Transducer: A transducer is a device that converts
an input signal into an output signal of another form.
• Generally, the input signal- displacement, temperature,
speed -is non electrical and the output signal is an
electrical voltage or current.
Block Diagram of Digital Control System
Transducers are classified as
• Digital Transducer: The input and the output signals occur
only at discrete instants of time and the signals
magnitudes are quantized.
• Sampled data Transducer: The input and the output
signals occur at discrete instants of time but the
magnitudes of the signal are unquantized.
• Analog Transducer: The input and output signals are
continuous function time. The magnitude of these signals
may be values within physical limitations of the system
 Introduction to state variables
 State :The state of a dynamic system is the smallest set of variables (called
state variables) such that knowledge of these variables at t = t0, together
with knowledge of the input for t ≥t0, completely 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 determines the state of the
dynamic system.
 If at least n variables x1,x2,… xn are needed to completely describe the
behavior of a dynamic system (so that, once the input is given for t ≥ t0. and
the initial state at t=t0 is specified, the future state of the system is
completely determined), then those n variables are a set of state variables.
 State vector: If n state variables are needed to completely describe the
behavior of a given system, then those state variables can be considered the
n components of a vector x called a state vector. A state vector is thus a
vector that uniquely determines the system state x(t) for any time t ≥ t0,
once the state at t=t0 is given and the input u(t) for t ≥ t0 is specified.
 Introduction to state variables
State space: The n-dimensional space whose
coordinate axes consist of the x1-axis, x2-axis,..xn-axis 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 systems: input
variables, output variables, and state variables.
For Linear or Nonlinear discrete-time systems:
Difference Equation vs Differential Equation

 A difference equation expresses the change in

some variable as a result of a finite change in
the other variable.

 A differential equation expresses the change

in some variable as a result of an infinitesimal
change in the other variable
 Differential Equation
• Following figure shows a mass-spring-damper-system. Where y is
position, F is applied force D is damping constant and K is spring
constant.

𝐹 ( 𝑡 )=𝑚 𝑦¨ (𝑡 ) + 𝐷 ˙𝑦 ( 𝑡 )+ 𝐾𝑦(𝑡 )
 

• Rearranging above equation in following form

  1 𝐷 𝐾
𝑦¨ ( 𝑡 )= 𝐹 ( 𝑡 ) − 𝑦˙ ( 𝑡 ) 𝑦 (𝑡 )
𝑚 𝑚 𝑚
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State space representation of DTCS
Time Varying Discrete Time System
Linear Time Invariant Time System
State Model in Block Diagram(Discrete)
State Model in Block Diagram(Contiuous)
 Phase Variable representation of DTCS

Difference Equation of the form

Various forms State space representation
(DTCS)
Phase Variable representation of DTCS
Controllable Canonical Form(CCF)
Controllable Canonical Form(CCF)
Observable Canonical Form(OCF)
Observable Canonical Form(OCF)
Diagonal Canonical Form
Jordan Canonical Form(JCF)
Diagonal Canonical Form
Pulse Transfer Function
PULSE TRANSFER FUNCTION
PBM2