1.

State Variables

Topics
.
.
. . . Classification of Systems
State Variable Concepts Transfer Function Matrices Full-State Feedback vs. Classical Control Simulation Diagrams and State Variables

Ref.: Chapter 1, sections 1.1,1.2,1.4,1.5.

Fall200

Classification of Systems
System:

net)

System

yet)

Lumped System: one in which the output is expressible as a function of the input, and its total derivatives and integrals.

Distributed System: the output is a function of net), its partial derivatives and integrals over specified paths, e.g.,

0 .c:

II) 1j 13 ti) g. ~ ~ .c: ] CI]

g 0

Other Classifications
Deterministic systems: output is unique for all given inputs

Stochastic systems: input and output have known statistical properties

Continuous: yet) is a function of a continuous variable t Discrete: t is allowed to take on discrete values only

Concept of State
The state of a system at time to is described by a
set of state variables x (to)

such that together with net), t > to' the behavior of the system is uniquely determined for t > to.
Examples

At any given time the state of the system is described by an n-dimensional vector
Xl(t) X2 (t)
.

Xn (t)

State Variable Descriptions

Fact: An n-th order differential equation can be represented by a set of n first-order differential equations,

d ny(t) dt n

a
n-l

dn-l

yet)

... + a
1

dy(t)
dt

dtn-l

+ aoy(t)

= u(t)

Define state variables Xi (t), i

Xl (t) =yet)
X2(t) =XI(t) =

1,2,...n, as

state variables (cant): In matrix form,

Xl(t) X2(t)
-

.
Xn(t)

y( t) =

Transfer Function Matrix

Take the Laplace Transform of
i(t) y(t)
= =

Ax (t) Cx(t)

B u (t)
Ans. Y(s)=C(sI-ArIBU(s)

and find an expression for yes).

When does (sI - A)-l exist?

Ans. IsI-AI"O

Why State Variables?

Consider output feedback only: U(s)
lis lis

yes)

K Where are the closed-loop poles?

Ans. 81.2 =cf:.jrx

Now consider full-state feedback U(s) l/s l/s yes)

K2 KI

Where are the closed-loop poles now?

Conclusions With full-state feedback, the poles may be arbitrarily placed in the complex plane.

The ability to do this will depend on the concept of

Also, we may not be able to measure all the states -

Sill ulati on Diagrams

In the previous block diagram, a state variable was assigned to the output of each integrator.

Example
Finda state variable
yes)
U( s) -

representation of
1

S 2 + 2s

+ 1

IS

Solution The equivalent differential equation description .

Choose state variables as Xl(t) = yet)

and x2(t)

Xl(t)

Solve for the highest order derivative ofy(t),

Example (cont)

Represent the state equations on a simulation diagram.

1/s

=--f

A state variable is assigned to the output of each

in te gra tor.

Ans.

[~]'[~1 ~2][:H~].
Y' [1

0][:]

Example
Factor the transferfunction in the previous example, construct a simulation diagram and find an alternate state variable representation of

the system.

Ans.

~:J=

[~l

~JJ [;].
0][::]

Y=[!

Example (cont)

. .

This is the Factored Transfer Function Method

State variable representations are not unique.

. Note that the roles of Xl(t) and X2(t) could

have been reversed (to obtain another representati on).