STATE TRANSITION MATRIX

• They take the form which is similar to ODE of first order if given the
initial condition as

• This is a nonhomogeneous equation whose solution can be obtained by first multiplying

 at
throughout by the integrating factor IF e
CONT….
• The first term of the solution, which corresponds to the solution of the unforced system, is
a complementary function, while the convolution integral constituting the second term,
which is dependent on the forcing function u(t), is a particular integral.
• The same solution would be obtained if x (t) , A and B were matrices i.e

• This method is known as convolution integral method

Properties of state transition matrix
CONT….
EXAMPLE
Obtain the time response of the following systems

 x1   1 0   x1   1 u
   1 1   x2  1
 x2 
Where u(t) is a unit step occurring at t=0 and x(0)  1 0
T

Soln
Solve for et =Φ(t) =
 e t
o
 t 
te et 
hence our convolution eqn above modifies to
t
x(t )  (t ) [ x(0)    ( )Bu d ]
0

And  e  0  1  e  
 ( ) Bu       
1    
 e e    e (1   ) 
1
CONT….
Whose integral is  t  
 e
•
 
t   1  e 
t
e  0
0 e (1   )    t    t 
 e  (1   )   te 
 
0 
• If we substitute back into the modified eqn we get

 et 0   1  1  e  t  
x(t )   t t   
  t  
te e   0   te  
 2et  1
 t 
 2te 
STATE MATRIX SOLUTION BY LAPLACE METHOD
• From the state equation given earlier
• If we transform both sides we get
sX ( s )  x(0)  AX ( s )  BU ( s )
( sI  A) X ( s )  x(0)  BU ( s )
X ( s )  {( sI  A) 1}x(0)  [( sI  A) 1 ]BU ( s )
x(t )  1
{( sI  A) 1}x(0)  [( sI  A) 1 ]BU ( s ) 
x(t )  (t ) x(0)  1[( s ) BU ( s ) ]
CONT….
• Example

A spring , mass and damper system shown below is has the equations .

Given that the m=1 kg C= 3 Ns/m K= 1 N/m , U= unit step and x(0)=(1 0)T , evaluate the
time response for the sytem
CONT….
• Soln

The inverse is

Leading to by partial fractions

Taking the inverse yields Φ(t) as

Which if substituted back to our last eqn we have for the complementary function
CONT….

 x1 (t )   2e  t  e 2t 
 x (t )    2 t 
 2   2(e  e )  ………………(i)
t

• For the particular integral part we have

1
[( s ) BU ( s ) ]
CONT….
• Whose inverse Laplace transform is

……..(ii)
Collecting (i) and (ii) together

 t 2t 1 t 1 2t   1 t 1 2t 

 1   2e  e   e  e    e  e 
x
x    2 2

 2

2
 2 t 2 t t 2 t t 2 t 
 2e  2e  e  e   e  3e 
CONT….