• Find a mathematical model, called state space

representation, for a linear time-invariant system

• Model Electrical and Mechanical systems in state space

• Convert a Transfer Function to State Space

• Convert State Space to Transfer Function

System Solutions
 Frequency Domain Approach
• Disadvantage:
• Limited Applicability

• Only applied to LTI systems

• Advantage:
• Rapidly provide Stability and Transient Response info.
State-Space Approach
• A unified method for Modeling, Analyzing and Designing
a wide range of systems

• Used to represent non-linear systems that have Saturation,

Backlash, and Dead Zone

• Handles, conveniently, systems with Non-Zero Initial

conditions

• Time-varying systems can be represented in the state space

• Missiles with varying fuel levels or lifts in an aircraft flying through a wide
range of altitudes
State-Space Approach

• Not intuitive as Classical Approach

• The designer has to engage in several

calculations before the physical interpretation of

the model is apparent.

The General State-Space Representation
• A system is represented in state space by the following
equations:  State Equation
 Output Equation

• For t ≥ to and initial conditions, x(to), where

Applying State-Space Representation

• A way to determine the number of state variables is to

count the number of independent energy storage

elements in the system

• The number these energy storage elements equals the

order of the differential equation and the number of

state variables
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 3.8
Electric circuit for Skill-Assessment Exercise 3.1
Figure 3.7
Translational Mechanical System
• First write the differential equations for the network using the
Methods of chapter 2 to find the Laplace-transformed equations of
motion.
• Next take the Inverse Laplace transform of these equations,
assuming Zero initial conditions and obtain:

What will be v1 in this case???

• Select x1, v1, x2, and v2 as state variables
• Next form two of the state equations by solving the two main
equations for dv1/dt and dv2/dt respectively.
• Finally add dx1/dt = v1 and dx2/dt =v2 to complete the set of
state equations.
What is the output equation if the output is x2(t)???
 Converting

from

State Space

to a

Transfer Function
 Converting from State Space to a Transfer Function

• Take Laplace assuming zero initial conditions:

• Solving for X(s), we get:

• Put the value of X(s) in Y(s)

 Converting from State Space to a Transfer Function

• Finally we get
Answer
 Converting

Transfer Function

To

State Space
 Converting a Transfer Function to State Space

• Select a set of variables, called phase variables

• Where each subsequent state variable is defined to be the derivative
of the previous state variable

• Consider:

• A convenient way to choose state variables is to choose the output,

y(t), and its (n-1) derivatives as state variables

• This choice is called Phase Variable Choice

 Converting a Transfer Function to State Space

• Choosing the state variable, xi, we get:

And differentiating both sides yield

• Finally the state equations are evaluated as
• Take Inverse Laplace Transform, assuming zero
initial conditions

• Now, choose the state variables as successive

derivatives:

• Differentiating both sides and making use of all

above relations, we obtain the state equations.
• Since the output is c = x1, the combined state and
output equations are:
Figure 3.10
a. Transfer function; b. Equivalent block diagram showing phase-variables.
Note: y(t) = c(t)
Figure 3.11
Decomposing a Transfer Function
Figure 3.12
a. Transfer function; b. decomposed transfer function; c. equivalent block diagram. Note: y(t) = c(t)