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A first order system is one that is governed by a differential equation that consists of
only a variable and its first derivative.

In this example we will consider a truck pulling a trailer. The truck exerts an external
force pulling the trailer, the trailer also experiences rolling resistance and wind
resistance, which can be combined as one friction force on the trailer.

Figure 1 - System setup: Truck pulling a trailer

This example problem can be modeled as a sliding block where the friction acts as a
velocity dependant force, with a coefficient B.

Figure 2 - System model: Sliding block with friction

This is a first order system because the only variables in this system are the velocity,
and the first derivative of the velocity, acceleration.
Carnegie Mellon University | University of Michigan

Mechanical Engineering Department

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A first order system is one that is governed by a differential equation that consists of
only a variable and its first derivative.

In this example we will consider a truck pulling a trailer. The truck exerts an external
force pulling the trailer, the trailer also experiences rolling resistance and wind
resistance, which can be combined as one friction force on the trailer.

Figure 1 - System setup: Truck pulling a trailer

This example problem can be modeled as a sliding block where the friction acts as a
velocity dependant force, with a coefficient b.

Figure 2 - System setup: Sliding block with friction

FREE BODY DIAGRAM

In order to draw a free body diagram of the above figure we must separately consider
each and every force acting on the body and then draw them all onto the diagram.

Force Mathematical Expression Direction

Applied Force f(t) (positive) Toward the Right
Friction Force b v (negative) Toward the Left
Inertial Force m v' (negative) Toward the Left

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Drawing the vectors in the table above yields the following free body diagram.

Figure 3 - Free body diagram: Sliding block with friction

GOVERNING EQUATION

Summing all of the forces on the body together in a mathematical equation yields the
governing equation for this system.

According to Newton’s Laws, the sum of the forces acting on a body is equal to the
mass times the acceleration. In this example there are two forces acting on the body,
the applied force acting on the block, f(t), and the friction of the block on the stationary
surface, quantified as b v pulling to the left, resisting the applied force. The summation
of those two equal the mass times the acceleration.

Using Newton's law:

Sum of all Forces = m v' = f(t) - b v

so

f(t) - m v' - b v = 0
Carnegie Mellon University | University of Michigan

Mechanical Engineering Department

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In this example we will once again consider a truck pulling a trailer where the friction
and wind resistance acts as a velocity dependant force, with a coefficient B.

The state space model of this first order system in the form

v’ = A v + B u

y =Cv+Du where y is the output equation

can be found using the following steps.

Identifying energy storage elements

Selecting states

Identifying trivial state equations

Determining other state equations using element laws and interconnections

Vector-matrix form

IDENTIFY ENERGY STORAGE ELEMENTS

In order to determine your state variable, you must identify energy storage elements.

In this case we have 3 forces acting on the body, the applied force, the friction force,
and the inertial force.

Energy Storage Element Energy Storage Relation State Variables

Inertia ½ Mv 2 v

SELECTING STATES

So we can see from this table that the only state variable in our first order
system is v.

IDENTIFYING TRIVIAL STATE EQUATIONS

This first order system does not have any trivial state equations.

DETERMINING OTHER STATE EQUATIONS USING ELEMENT LAWS AND

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INTERCONNECTIONS

The equation gathered from the free body equation was

mv' + bv – f(t) = 0

Rearranging we get:

v' = -b/m v + f(t)/m

and the output we are seeking is for the state variable, v, so:

y=v

Now we have the derivative of the state variable in terms of the state variable
and other known quantities.

PUTTING INTO VECTOR-MATRIX FORM

Now to put the equation above into the form:

v' = Av + Bf(t)

y = Cv + Df(t)

so

A = -b/m

B = 1/m

C=1

D=0

HOW TO INPUT THE STATE SPACE MODEL INTO MATLAB

We will now enter this state space model into MATLAB. Because MATLAB cannot
manipulate symbolic variables, we will now assign numerical values to each variable.

m = 20,000kg

b = 500kg/s

>> m = 20000;

>> b = 500;

>> A = -b/m;

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>> B = 1/m;

>> C = 1;

>> D = 0;

>> first_ss = ss(A, B, C, D);

EXTRACTING A, B, C, D MATRICES FROM A STATE SPACE MODEL

In order to extract the A, B, C, and D matrices from a previously defined state space
model, use MATLAB's ssdata command.

>> [A, B, C, D] = ssdata(first_ss)

A =

-0.0250

B =

5.0000e-005

C =

D =

STEP RESPONSE USING THE STATE SPACE MODEL

Now that we have the state space model entered into MATLAB we can use MATLAB
to do many useful calculations including determining the step response. In this case
we will plot the unit step response, taking the input to be 1 unit.

>> u = 1;

>> step(u * first_ss)

The MATLAB output will be the following plot of the step response:

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IMPULSE RESPONSE USING THE STATE SPACE MODEL

MATLAB can also plot the impulse response of a state space model.

>> impulse(u * first_ss)

The MATLAB output will be the following plot of the impulse response:

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BODE PLOT USING THE STATE SPACE MODEL

MATLAB’s bode command plots the frequency response of a system as a bode plot.

>> bode(first_ss)

The MATLAB output will be the following bode plot:

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TRANSFER FUNCTION FROM STATE SPACE

To find the transfer function of the system from the state space model use MATLAB's
ss2tf command:

>> [num,den] = ss2tf(A, B, C, D)

The MATLAB output will be:

num =

1.0e-004 *

0 0.5000

den =

1.0000 0.0250

In order to find the transfer function itself instead of the numerator and denominator
from the state space model, use the following command:

>> first_tf = tf(first_ss)

MATLAB will assign the transfer function under the name first_tf, and output the
following:

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Transfer function:
5e-005
---------
s + 0.025

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