MODELING IN THE

TIME DOMAIN
Chapter 3 of Nise, Control Systems Engineering, 5th Edition

ENSC 383 Chapter 3 1

Chapter’s objectives 2

• Learn how to find a mathematical model

(“state space representation”) for linear,
time-invariant physical systems
• Learn how to convert between transfer
function (Ch. 2) and state-space models

Terminology:
Chapter 2 Chapter 3
Frequency-domain Time-domain technique
technique
Transfer function approach State space approach
Classical control Modern control

ENSC 383 Chapter 3

Why the need for state space models? 3

• Transfer function models are limited to systems with LTI differential

equations; state space models are not!

– State space models can handle systems with backlash, saturation,

nonzero initial conditions, and other nonlinearities.
– State space models can be used for time-varying systems, e.g., a
missile with varying fuel level.

• Multi-input, multi-output systems have the same representation as

single-input, single-output systems in the state space format – this is
not the case with transfer functions.

• The state-space approach can be used for all systems modeled by

the classical approach.

ENSC 383 Chapter 3

System and state variables 4

ENSC 383 Chapter 3

State vector and equations 5

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State equation and output equation 6

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Finding state-space models 7

• When finding the state-space model of a system,

select the state vector keeping in mind that:
• A minimum number of state variables must be selected as
components of the state vector.
• The components of the state vector (i.e., this minimum
number of state variables) must be linearly independent.
• Question: How do we determine this minimum
number of state variables to select?

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Minimum number of state variables 8

• An example of the case where more state variables

than required can be chosen is shown next.

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Minimum number of state variables 9

Example: A mass-damper system

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Minimum number of state variables 10

Example: A mass-damper system

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 11

Electrical system state space model

• Example: Find the state space model for this circuit if
iR(t) is the output.

• Hints:
• Two energy-storage elements (inductor and capacitor), thus
a 2nd-order system
dv di
• C c  ic , L L  vL  choose vC and iL as state variables
dt dt
• Therefore, we are looking for
vc    vc   
 i     i     v(t )
 L   L   
vc 
iR      [ ]v(t )
 iL 
ENSC 383 Chapter 3 11
 12

Electrical system state space model

ENSC 383 Chapter 3 12

 13

Electrical system state space model

ENSC 383 Chapter 3 13

Chapter’s objectives
14

• Learn how to find a mathematical model

(“state space representation”) for linear,
time invariant physical systems
• Learn how to convert between
transfer function (Ch. 2) and state-
space models

ENSC 383 Chapter 3 14

Transfer function → state space 15

1. Convert the transfer function to differential equation.

2. Select the output and

its derivatives as state
variables; such state
variables will be called
phase variables:

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Transfer function → state space 16

• Therefore, the state equations in the matrix form:

ENSC 383 Chapter 3

Example: Transfer function → state space
17

• Find the state space representation in phase variable

form for (numerator a constant).

Solution: Convert to differential equation form:

Select state variables as successive derivative of

output:
(phase variables). Therefore:

ENSC 383 Chapter 3

Example: Transfer function → state space
18

• Draw the block diagram relating the input r(t) to the output y(t)
via the phase variables for the following:

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Transfer function → state space 19

ENSC 383 Chapter 3

 Example: Transfer function → state space
20

• Determine the state How about

space representation for this?
Solution:

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State space → transfer function 21

Laplace transform with zero

initial conditions

• Example: Convert to a transfer function

Solution:

ENSC 383 Chapter 3