DIGITAL

CONTROL
SYSTEM
Dr. Sufyan Ali
Memon
Department of Electrical
Engineering,
Assistant Professor

Solution for Continuous-Time

State Space Equation
Lec#3
Date:06-10--2016

Contents
Homogeneous Equation:
Non- Homogeneous Equation:
Solving State Equation for CT Control System
Examples

Types of State Equations of CT Control System:

Homogeneous Equation:
Let us consider first the homogeneous
form of state equation, where u (t) = 0 ,
or
For example: dischargingEquation:
a charged
Non-homogeneous
capacitor
Now let us consider the forced system,
where
u (t) 0, then
For example: total response of the
system

Solution of State Equations Homogeneous

Homogeneous Equation:
Let us consider first the homogeneous form of Eq.
where u (t) = 0 , or
Taking the Laplace transform of this equation to yield

(1)

Solution of State Equations Homogeneous

Let us now invert the Laplace transform of Eq. (1) to
yield

or
where

(2)

Solution of State Equations Non-Homogeneous

Non homogeneous Equation:

Now let us consider the forced system, where u (t)
0, then
Taking laplace transform

Taking inverse laplace transform

Solution of State Equations Non-Homogeneous

(3)
The first term of Eq. (3) is the same as given for the homogeneous
problem in Eq. (2), and can be rewritten in terms of state
transition matrix and the state initial condition as: (t) x (0) .
The second term is the product of two s-domain matrices (s) and
u (s). It is well-known that the inverse of two functions in sdomains is equal to convolution of their corresponding timedomain functions, i.e.; if F1 (s) and F2 (s) are two functions in sdomain, then the following relationship is satisfied:

Solution of State Equations NonHomogeneous

By taking
and

Therefore, Eq. (3) becomes

Solution of State Equations Non-Homogeneous

(4)
In

the above Eq. (4), the solution has been considered at

some time t, given initial conditions at time t = 0. Now let
us write the expression for an arbitrary starting time , such
as:
(5)
y(t) = cx(t)

Example #1
A
linear time-invariant
homogeneous equation

system

is

characterized

x&1
0 1 x1
x& 6 5 x

2
2

The initial state is

1
x(0)
1

Find the state transition matrix .

Hint:

by

the

Solution: Here,

0 1
A

6 5
1 0 0
sI A s

0 1 6
sI A

6 s5

( s ) sI A

s 1
1
5 6 s 5

s 2 5s 6 ( s 2)( s 3)

s 1

6
s

s 5 1
1
6 s

( s 2)( s 3)

(s)

s5
( s 2)( s 3)
6
( s 2)( s 3)

( s 2)( s 3) 11 ( s ) 12 ( s )

(
s
)

(
s
)
21
22

( s 2)( s 3)

Taking Inverse Laplace transform

11 (t ) 12 (t )
(t )

(
t
)

(
t
)
22
21

where

11 ( s )

s5
A
B

( s 2)( s 3) s 2 s 3

A [( s 2)11 ( s )]s 2 ( s 2)

s5

(
s

3
)

3
s 2

s5
( s 2)( s 3)

s 2

s5
B [( s 3)11 ( s )]s 3 ( s 3)

(
s

2
)(
s

3
)

s5
3
2
11 ( s )

( s 2)( s 3) ( s 2) ( s 3)

s 3

11 (t ) 3e 2t 2e 3t
Similarly, solving

1
1
1
12 ( s )

( s 2)( s 3) s 2 s 3

12 (t ) e 2t e 3t

6
6
6
21 ( s )

( s 2)( s 3) s 2 s 3

21 (t ) 6e 3t 6e 2t

s5

(
s

2
)

2
s 3

22 ( s )

s
2
3

( s 2)( s 3) s 2 s 3

22 (t ) 3e 3t 2e 2t

3e 2t 2e 3t
(t ) 3t
2t
6
e

6
e

e 2t e 3t

3e 3t 2e 2t

Applying initial conditions, the system zero input response can be calculated by

3e 2t 2e 3t
x (t ) (t ) x (0) 3t
2 t
6
e

6
e

3e 2t 2e 3t
3t
2 t
6e 6e

e 2t e 3t 1
3t
2 t
3e 2e 0

Example #2
A
linear time-invariant system is characterized by following state
space equation.

x&
0 1 x1 0
1
x& 4 5 x 1 u

2
2

The initial state is

1
x(0)
1

Find (a) the state transition matrix , Zero input response, (b) Zero
state response, and (c) the total response of the given system.

Solution of State Equations

Or in matrix form

Solution of State Equations