System Modeling Coursework

Class 7-9: State space representation to transfer

function and vice versa

P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: pr.venkat@manipal.edu, prv_i@yahoo.com
Blog: www.godsfavouritechild.wordpress.com
Web address: http://www.esnips.com/web/SystemModelingClassNotes
 WARNING!

• I claim no originality in all these notes. These are the

compilation from various sources for the purpose of
delivering lectures. I humbly acknowledge the
wonderful help provided by the original sources in
this compilation.
• For best results, it is always suggested you read the
source material.

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 2

 Contents

• Why state space modeling

• Basics of state space modeling
• Selection of state variables
• Examples
• State space representation to transfer function
conversion
• Transfer function to state space representation

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 3

 Why state space modeling?

• the ability to easily handle systems with multiple inputs and outputs;
• the system model includes the internal state variables as well as the
output variable;
• the model directly provides a time-domain solution, which ultimately
is the thing of interest;
• the form of the solution is the same as for a single 1st-order
differential equation;
• the effect of initial conditions can be easily incorporated in the
solution
• the matrix/vector modeling is very efficient from a computational
standpoint for computer implementation.

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 4

 Basics of state variable modeling

• The differential equations of lumped linear network is given

by

• This system of first order differential equations is known as

the state equation of the system and x(t) is the state vector
and u(t) is the input vector. The second equation is refered
to as the output equation.
• A is called the state matrix, B is in the input matrix, C is the
output matrix and D the direct transition matrix.

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 5

 Selection of state variables

• Let us consider a differential equation

where y(t) is the plant output and u(t) is the plant

input. A state model for this system is not unique
but depends on the choice of a set of state variables.
A useful set of state variables, referred to as phase
variables, is defined as

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 6

 Selection of state variables
• Taking the derivatives, we have

• Or in the matrix form

• and the output equation is

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 7

 Example 1
• Obtain the state equation in phase variable form for the following
differential equation

• The differential equation is third order, thus there are three state
variables as follows
• and the derivatives are
• or in matrix form

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 8

 Write the state equations of the following!

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 9

 One more!

• For the following transfer function

– Draw the simulation diagram and find the state-space

representation of the above transfer function.

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 10

 Summary

• It is possible to move from transfer function and

state space and back
• Identification of variables are important in that
transformation.
• State space modeling is superior to the transfer
function approach.

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 11

 References

• Automatic control systems – S.N. Verma and

Manke
amongst others…

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 12

 And, before we break…

• Industry, perseverance, frugality make fortune

yield
– Benjamin Franklin

Thanks for listening…

July – December 2008 prv/System Modeling Coursework/MIT-Manipal 13