Practical 9

STATE SPACE MODELS
ECE325
Why State Space Models
•  The state space model represents a

physical system as n first order
differential
• equations. This form is better suited for computer
simulation than an nth order input- output
differential equation.
Basics
 Vector matrix format generally is given by:
where y is the output equation, and x is the

state vector
PARTS OF A STATE SPACE
REPRESENTATION
 State Variables: a subset of system variables
which if known at an initial time t0 along with
subsequent
inputs are determined for all time t>t0+
 State Equations: n linearly independent first
order differential equations relating the first
derivatives of the state variables to functions of the
state variables and the inputs.
 Output equations: algebraic equations relating
the state variables to the system outputs.
EXAMPL
E
 The equation gathered from the free body diagram
is:mx" + bx' + kx - f(t) = 0
 Substituting the definitions of the states into the
equation results in:
mv' + bv + kx - f(t) = 0
 Solving for v' gives the state equation:
v' = (-b/m) v + (-k/m) x + f(t)/m

 The desired output is for the position, x, so:
y=x
Cont…
 Now the derivatives of the state variables are

in terms of the state variables, the inputs,
and constants.
x' = v
v' = (-k/m) x + (-b/m) v + f(t)/m
y=x
PUTTING INTO VECTOR-
MATRIX FORM
 Ourstate vector consists of two variables, x
and v so our vector-matrix will be in the form:
Explanation
•  The first row of A and the first row of B

are the coefficients of the first state
equation for x'.
Likewise the second row of A and the
second row of B are the coefficients of the
second state equation for v'. C and
D are the coefficients of the output
equation for y.
EXACT
REPRESENTATION
HOW TO INPUT THE STATE
SPACE MODEL INTO
 In
MATLAB
order to enter a state space model into MATLAB,
enter the coefficient matrices A, B, C, and D into
MATLAB. The syntax for defining a state space
model in MATLAB is:
statespace = ss(A, B, C, D)
where A, B, C, and D are from the standard vector-

matrix form of a state space model.
Example
 For the sake of example, lets take m = 2, b = 5, and k = 3.
 >> m = 2;
 >> b = 5;
 >> k = 3;
 >> A = [ 0 1 ; -k/m -b/m ];
 >> B = [ 0 ; 1/m ];
 >> C = [ 1 0 ];
 >> D = 0;
 >> statespace_ss = ss(A, B, C, D)
Output
 This assigns the state space model under
the name statespace_ss and output the
following:
a =
x1 x2
x1 0 1
x2 -1.5
-2.5
Cont…
 b=
u1
x1 0
x2
0.5
c=
x1 x2
y1 1 0
Cont…
d =
u1
y1 0
Contin
uous-
time
model.
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(statespace)
where statespace is the name of the state

space system.
State-Space Modeling with
MATLAB
16
State-Space Modeling with MATLAB
 MATLAB uses the controllable canonical form by default when converting from
a state space model to a transfer function. Referring to the first example
problem, we use MATLAB to create a transfer function model and then convert
it to find the state space model matrices:
17
Implement the formula on
MATLAB
 Note that this does not match the result we obtained in the first example. See
below for further explanation. No we create an LTI state space model of the
system using the matrices found above:
19
 we can generate the observable and controllable models as follows:
20
Example
 >> [A, B, C, D] = ssdata(statespace_ss)
 The MATLAB output will be:
A =

 -2.5000 -0.3750
4.0000 0
Cont…
B=
0.2500
0
C=
0.5
000
D=
STEP RESPONSE USING THE
STATE SPACE MODEL
 Once the state space model is entered into MATLAB it is easy
to calculate the response to a step input. To calculate the
response to a unit step input, use:
 step(statespace)
 where statespace is the name of the state space system.
 For steps with magnitude other than one, calculate the step
response using:
 step(u * statespace)
 where u is the magnitude of the step and statespace is the
name of the state space system.
Controllability, Observability and Stability of
Discrete Time Systems
• Controllability deals with the possibility of forcing the system to
a particular state by appli-cation of a control input. If a state is
uncontrollable then no input will be able to control that state.
• On the other hand whether or not the initial states can be
observed from the output is determined using observability
property.
• Thus if a state is not observable then the controller will not be
able to determine its behavior from the system output and
hence not be able to use that state to stabilize the system.
• https://www.youtube.com/watch?v=BYvTEfNAi38
• https://www.quora.com/What-are-the-differences-between-controll
ability-and-observability
• Note that this is a basic explanation of these concepts. Most importantly a state variable (x or y in the
answer) does not need to be directly actuated to be controllable, whereas it also does not need to be
directly measured to be observable. The heart of the issue is that, for a state variable to be controllable the
actuators must be able to influence it, whereas for it to be observable, it must be inferable from the
sensors. More generally, for a system to be controllable, the actuators must be able to influence its state
(i.e., all state variables), whereas for it to be observable, its state must be inferable from the sensors.
• Controllability and observability of state space
model
1. g = ctrb(sys) /g gives a controllability matrix of
state space model sys/
You can find rank of g by using command rank(g)
and comment on the controllability of system
2. g1 = obsv(sys) /g1 gives observability matrix of
state space model sys/
Assignment
Implement all the commands on
this system

Practical 9

Uploaded by

Copyright:

Available Formats

Practical 9

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Practical 9

Uploaded by

Copyright:

Available Formats

STATE SPACE MODELS

•  The state space model represents a

 Vector matrix format generally is given by:

where y is the output equation, and x is the

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

 Now the derivatives of the state variables are

•  The first row of A and the first row of B

where A, B, C, and D are from the standard vector-

where statespace is the name of the state

You might also like