System Analysis through State Space

Model - GATE Study Material in PDF

In these free GATE Notes, we deal with System Analysis through State Space Model. In
the previous GATE Preparation Notes, we discussed the basics of state space analysis
and its various types in the form of state equations. We will continue with this model,
describing the applications and analysis using the same.
Remember that System Analysis through State Space Model teaches you State Space
Analysis in Control Systems, covering topics like Transfer Function from State Space
Representation, Stability of System, Solution to State Equation, State Transition Matrix,
Properties of State Transition Matrix, Controllability, Observability, Kalman's Test and
Gilbert's Test.
These GATE Study Material can be downloaded in PDF for your GATE EC or GATE EE
preparation. Also useful for other exams like BSNL, DRDO, IES, BARC etc. Before you
begin, you are advised to read up on some articles

Recommended Reading

Introduction to State Space Analysis

Block Diagram Algebra
Signal Flow Graph
Properties of Matrices
Rank of a Matrix
Laplace Transforms

State Model to Transfer Function Conversion

First we will take a look at deriving of transfer function from state equation.
State equation are defined as
x t =Ax t +BU t
1

Taking Laplace transform (Neglecting initial conditions)

s. X s = A X s + B U s
X s sI A = B U s
X s = sI A

!!

.B U s

Another equation is y t = C X s + D U t
Y(s) = C X(s) + D U(s)
Putting X(s) from equation (1)
Y s = C sI A
! !
! !

= C sI A

!!

!!

BU s +DU s

B+D

Matrix multiplication is not commutative, Hence first multiply

sI A !! to B then multiply with C.

We will look at an example to understand better

: A system is described as x t =

1
0

1
1
x t +
u t ,
2
0

y t = 1 2x t
Find the transfer function of the system.

: A =
sI A =
sI A
sI A

1
0

1
;
2

B=

1
;
0

C= 1

s 0
1 1
s + 1 1

=
0
s+2
0 s
0 2
!!

!!

C. sI A

.B

C. sI A

s+2
1
0
s+1

= !! !!"!!

= !! !!"!!

!!

!!

!
s+2
1
1
s+2
= !! !!"!!
0
s+1 0
0

. B = !! !!"!! 1 2
!!!

s+2
0

!!!

. B = !! !!"!! = (!!!)(!!!)

C. sI A

!!

. B = !!!

Stability of the System

Now, if we want to check for the stability of the system given in state space model, then
we do it by applying Routh Hurwitz criteria on the characteristic equation of the system.
The characteristic equation of state space system is
q s = sI A = 0
Here A is the same matrix used in the state equation.
The stability analysis in state space model is exactly same as stability analysis in time
domain. We can use RH criteria to comment on system stability. Roots of characteristic
equation are called Eigen values or closed loop poles of system.

State Transition Matrix

Another way of analysing the state variables is the formation and the properties of state
transition matrix. The state transition matrix is a matrix whose product with the state
vector x at an initial time t0 gives x at a later time. The state transition matrix can be
used to obtain the general solution of linear dynamical systems.
State variable vector is given as x t = A x t + B U t
Taking Laplace Transform, we get
sX s x 0 = A X s + B U s
Here x(0) is the initial position of state variable vector.
X s sI A = x 0 + B U s
X s = sI A

!!

x 0 + sI A

!!

.B .U s

Now, taking inverse Laplace transform we get

x t = !! sI A

!!

x 0 + !! sI A

!!

BU s

Now,
sI A

!!

= sI
!

!!

! !!

1 !

!!

= s !! 1 + ! + !! + (Binomial expansion)
3

sI A

!!

!!

= ! + !! + !! + .

Taking Inverse Laplace transform of above expression, we get

!! sI A

!!

= 1 + At +
!!

! ! !!
!!

+ ..

!!

= e!" e! = 1 + x + !! + !! + . .
t = e!" = !! sI A

!!

This (t) is called the state transition matrix. Here A is the system matrix
Response of the system using state transition matrix is given as
x t = t . x 0 + !! s . B. U s
Where s = sI A

!!

x(0) can also be called as zero input response or natural response while the second
term is zero state response or forced response.
Now the matrix can be expanded as t = e!" = 1 + At +

! ! !!
!!

+ .

The properties of state transition matrix are being listed as follows

1. 0 = e!. ! = 1
2. t = e!" = e!!"
3. !! t = e!"

!!

!!

= t

!!

= e!!" = t

4. t! + t ! = e! !! !!! = e!!! . e!!! = t! . (t ! )

5. t

= nt

Regarding the matrix algebra, it should be noted that the Sum of all principal diagram
elements of a square matrix is equal to sum of Eigen values. Also, determinant of a
matrix is equal to the product of its Eigen values. We will look at an example of state
transition matrix.

: Consider the following matrices, A =

0
6

1
1
; x 0 =
5
0

Find the state transition matrix and zero input response.

4

: s = sI A

s 0
0
1
s 1

=
6 s+5
0 s
6 5

sI A =
sI A

!!

= !! !!"!!

t = L!! sI A
!!

t =L

!!

!!!

!!! !!!
!!

!!! !!!
!

!!! !!!

!!! !!!

t = L!!

s+5 1
6 s

!!!
!!!
6

!
!!!

!!!

!!!
!!!
!
!!!

!!!

3e!!" 2e!!"
6 e!!" e!!"

e!!" e!!"
3e!!" e!!"

Now, zero input response is x t = t . x 0

=

3e!!" 2e!!"
6 e!!" e!!"

ZIR = x t =

e!!" e!!" 1
3e!!" e!!" 0

3e!!" 2e!!"
6 e!!" e!!"

Now, we will discuss about Controllability and Observability tests. These tests are used
to check the strength of state model used in terms of correct no. of state variable used.
In order to do whatever we want with the given dynamic system under control input,
the system must be controllable. While in order to see what is going on in the system
under observation, the system must be observable. Now, the state space model can also
be treated as a system of linear algebraic equations. A solvable system of linear
algebraic equation has a solution if and only if the rank of matrix system is full. Thus the
controllability and observability tests will be connected to the ranks of controllability
and observability matrices respectively.

Controllability
A system is said to be controllable if any initial state of system can be transferred to any
final state in a finite time interval.
Test is performed using A and B matrices. Here A and B are the same matrices used in
the state space equations. Using these two matrices, we form the controllability matrix
Qc given as follows
5

Q! = B

AB

A! B

If det(Qc) 0; System is controllable

det(Qc) = 0; System is not controllable

Observability
A system is said to be observable if every state of system can be exactly determined
from the output over a finite interval of time.
This test is performed using A and C matrices which are same as the ones used in the
state space model. Using these two, we form the observability matrix Q0 as given below
C
CA
!
Q ! = CA.
.
.
If det(Q0) 0; System is observable
det(Q0) = 0; System is not observable.
Here we should keep in mind that Q0 and Qc are always square matrices. Thus in both
these tests, if order of the system is n and rank of matrix is r then number of variables
chosen wrongly in state space system is (n r).
We will now discuss the procedure of controllability and observability tests through an
example.

: A system is defined as
x!
x!
1 0 x!
0
x! = 0 2 x! + 1 U, y = 0 1 x!
Comment on observability and controllability of system.

: Qc = B
A. B=
Q! =

AB

1 0 0
0+0
0
=
=
0 2 1
02
2

0 0
1 2

det Q ! = 0
Hence the system is uncontrollable.
Now, Q ! =

C
CA

C. A= 0 1
Q! =

1 0
= 0 + 0 0 2 = 0 2
0 2

0 1
0 2

det Q ! = 0
Hence the system is not observable.

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