State Space Representation

State Space Representation
• State space representation is another commonly used method to

essentially do the same thing as what we are doing with the transfer
function.
• The main difference is that we stay in the time domain rather than
going to the complex domain when we talk about the transfer
function of the system.
• How to get the state-space model of a dynamic system
• State-space system representation lays the foundations for modern

control theory.
• It solves many of the limitations of the classical control theory in

which “ transfer functions” were used to asses the behavior of a
closed loop system.
• Let’s consider a mass-spring damper system.
• The governing equation of the mass-spring damper system is
• the input is a force f (t ) given to the mass m.

• Let us consider that the output of the system is the displacement x (t).
• The plant transfer function
• and all the initial conditions are 0 and for this particular mass-spring damper
system, the transfer function is
• What is state space representation?
• The basic idea behind the state space representation is to rewrite an nth order
ODE (Ordinary Differential Equation) as a set of n 1st order ODEs.
• To do that we define what are called state variables?
• For example, let us say in this mass-spring damper system, consider the
displacement x(t) and the speed of the mass ˙x (t ) as state variables of the mass
m.
• State variables are those variables whose knowledge at each and every instant of
time is sufficient to completely characterize the system.
• In this particular mass-spring damper system, the displacement of the mass and
the speed of the mass as the 2 state variables to characterize the system
• How to get the state space representation of the system?
• The first step is to select ‘n’ state variables because, in general, we are dealing
with an nth order system.
• The second step is to write ‘n’ 1st order ODEs, each one characterizing the time
evolution of the n state variables.
• We have n state variables. You essentially write down ‘n’ 1st order ODEs each one
characterizing the time evolution of each state variable.
• Here we have 2 state variables? Because, the value of n is 2 here , so for our
mass-spring damper system the value of n is 2.
• State variables are denoted by the character x.
• Let the first state variable be
• The first state variable , let us take it as the displacement x (t ) and let the second
state variable be the speed ˙x (t )
• If we differentiate the first state variable, we get ˙x (t ).
• But what is ˙x (t )?
• ˙x (t ) dot is going to be equal to ( t ). taking the first derivative of each state
variable.
• The idea is to write these time evolution equations in terms of the state variables
themselves and the inputs.
• What are the state equations?
• State equations are those first order ODEs that talk about or characterize the
time evolution of each state variable.
• we define the state vector

• vectors are denoted by lowercase characters in bold font.
• Let us choose the state vector as a column vector where we arrange the 2 state
variables and .
• Now ˙x, which is a first derivative of the state vector, is
• That is nothing but something multiplying plus something multiplying

the input f (t ).
• In general, what happens is that this column vector (state vector x (t )) is multiplied by a matrix A
which is called as the STATE MATRIX.
• The general state equation for a SISO LTI causal dynamic system is
• State equation tells us how the state vector would evolve with respect to time in
relation to the input that we are providing to the system.
• ˙x (t ), which is the time derivative of x (t ), is related to the state vector itself and
the input provided to the system.
• If we have some initial condition for the state and we give an input to the system,
then what happens to the state variables with time?
• This is what the state equation will tell.
• The state equation is only the first equation in the state space representation
• The second equation is the output equation.
• Let us say we call the output as a value y (t).
• For our example, the output is the displacement x. So, what is x in terms of the
state variable?
• It is . So how can we get from the state vector?
• In this example, output is displacement x, which is the first state variable.
• This can be obtained as a product of a vector and the state vector.
• The general output equation for a SISO LTI causal dynamic system is going to be
• d u(t ) is what is called as a direct transmission term which comes in the output equation.
• ‘n’ is the highest derivative of the output term and ‘m’ is the highest derivative of the input term.
• In this example, m=0 and n= 2. So, we did not get a direct transmission term in the output
equation.
• Almost all textbooks references in controls would write this output equation as
• They will take the output vector to be a row vector.
• It is a matrix operation. We have =[1 0].
• A state-space model describes the behavior of a dynamic system as a
set of first order ordinary differential equations (ODE).
• If a dynamic model is described by a higher order ODE, using state-

space, the same model can be described as a set of coupled first
order ODEs.
• The internal variables of the state-space model are called state

variables and they fully describe the dynamic system and its response
for certain inputs.
• The numbers of state variables of the state-space model is equal with
the highest order of the ODE describing the dynamic system.
A state-space model is formed by:

• state equations
• output equations
• The state equations has the general form:
• The output equations have the general form
• By putting together the state equation and the output equation, we
get the general state-space form:
• In order to be easier to remember the general form of the state-space

model, we can write it without specifying the size of the vectors and
matrices.
• Now let’s go through a couple of examples of dynamic systems

Example 1. Determine the state-space model for a translational body mass
with spring and damper, upon which an input force F acts.
Rotational inertia-spring-
damper system
where:
The system is governed by the following ordinary differential equation

• The first step is to rearrange the equation into a new format
• As you can see, the order of the differential equation is two, therefore
we need to choose two state variables, x1 and x2, each equal
to(position and speed)
• Now, if we differentiate the state variables, we get
• Taking into account the definition of the state variables, the

derivatives can be written as
• Using (1), (2) and (3), we can write our set of first order ordinary
differential equations as
• Dividing the second equation with m and rearranging gives
• If we write the set of equations in matrix format, we’ll get the

following
• Now we can easily identify the state matrix A and the input matrix B

• To identify the output and direct transmission matrices, we need to
decide which is the measurable output.
• Let’s consider that we want to measure the position of the body. For
this we write the output equation as
• If we write the output equation in matrix format, we get
• Which gives the output matrix C and the direct transmission matrix D

• If we need to measure the speed, we have to modify the output
equation accordingly
• the output equation in matrix format, we get
• This will result in the output matrix C being

Example 2. Determine the state-space model for a simple RL circuit
connected to an external voltage source
• The differential equation governing the system is
• Because the differential equation has the order 1, we only need one
state variable
• Replacing (5) in (4), gives
• Dividing with L and rearranging, we get

• In matrix format, the equation is written as
• from which we can extract the state matrix A and input matrix B
• Our measurable variable is the electrical current i, therefore

the output equation is
• If we write the output equation in matrix format, we get
• Which gives the output matrix C and the direct transmission matrix D

State Space Representation

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State Space Representation

• State space representation is another commonly used method to

• State-space system representation lays the foundations for modern

• It solves many of the limitations of the classical control theory in

• the input is a force f (t ) given to the mass m.

• we define the state vector

• That is nothing but something multiplying plus something multiplying

• If a dynamic model is described by a higher order ODE, using state-

• The internal variables of the state-space model are called state

A state-space model is formed by:

• In order to be easier to remember the general form of the state-space

• Now let’s go through a couple of examples of dynamic systems

The system is governed by the following ordinary differential equation

• Now, if we differentiate the state variables, we get

• Taking into account the definition of the state variables, the

• Dividing the second equation with m and rearranging gives

• If we write the set of equations in matrix format, we’ll get the

• Now we can easily identify the state matrix A and the input matrix B

• If we write the output equation in matrix format, we get

• Which gives the output matrix C and the direct transmission matrix D

• the output equation in matrix format, we get

• This will result in the output matrix C being

• Replacing (5) in (4), gives

• Dividing with L and rearranging, we get

• from which we can extract the state matrix A and input matrix B

• Our measurable variable is the electrical current i, therefore

• If we write the output equation in matrix format, we get

• Which gives the output matrix C and the direct transmission matrix D

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