4Time-Domain (State Space) Approach
This chapter reviews the basic concepts pertaining to state-space approach for the analysis and design of feedback control systems. The state-space approach has the advantage of working in time domain, and also allowing optimal design of controllers without worrying about stability, and even robustness (to certain degree). It is also well extendable to multivariable systems. Concepts such as linear state feedback, state estimation, and linear quadratic optimal control designs are discussed.
4.1 State Space Representation and Properties
State of a system at time 
is defined as the minimum amount of information that, together with the input 
for all 
uniquely determine the system.
State-space representation of an LTI system is
where 
, 
, 
, and ...
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