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    ECE 550 Lecture 16 PDF

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    adambose1990

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    ECE 550 LECTURE 16 We hove investigated the controllable and observ- able cenenical-forms as realipations of the pro per rational function Gta). We new teen oun atten= tion ¢o the Jordan canonical-farm and its ability to reoline: a proper rational function 8(s). Letus start with on example. Assume that DCs) con- sists of three distinet roots A,, a, and Ag such thet Dislcan be factored as follows: Dos) 2 Cs-2,22C8~ a Ce-a4) oO) Now, let's alse assume that 3s) can be expanded by partial frachons, te. Gan ® There ere two possible block diagrams conne~ spending te Js). The first a given by ECE 550 LECTURE 16 gtleverese. ede .. © The alrermative block diagram 1s given by ECE 550 LECTURE Ie Note that beth equation @ and equation) are ireedver ble Jordan- form realisations of 3(s). ECE 550 LECTURE 16 There difference les tn how the state variables are astigned, sce the te block diograms. Let's now discuss the case where Nésdand BCs) have non-trivial common Sacters. In thie case, either the contrellable on observable. dy namical equation realizations can be Found, but the real - tRotion can never be both controllable and observable. Let +, ce) NG * Bish + Byte +B, XO) TE we opply the controllable canonical ~ Form realization procedure te NCs)/D(5), we obtan the following ECE 550 LECTURE IG ooo “° Ceo ieee ol A] 0 0 oO ++: © Oe ee ee we ed Since we were able te put the dynamical equation ta the contreilable canenical- form, the trancfer fonction 2 controllable. We mutt new determine if this observable. Let Cs-a) be acommon facter of N&s} and DCs) se that eee ® DOVE ATH a ATE Ha A tae Define the following aX t constant vector Ece 550 LECTURE 16 Then, equation @ con be written as eaz0 a) where eis defined 1 equation @ above. Using equatien®), one can catily show thot ear -@ Hence, the tdentity ca 20 wmples that cA's 0 for #2 1, 2,12, nat. We con write this as 12 10 own @® Since 4 1s a non-eere vector, equatiin Dimples that the observability matmn of equetion (3) has wank less than n. Hence, equatien@ is net ebservable. Mf we would have first placed the syrtem inte the observable cononical- form, the the reselting realizahen weeld net be controllable. ( ECE 550 LECTURE IG Let us new consider the contreilable Jordan- Form realisation of &(s?. We will begin with the 4x p strictly proper rational-fenction Ses). We will assume that S62) has only one pole A, and that the multiplicity of that pele 1s equal te 3 We begin by expanding &cs) sn partial Fractions as Follows: s iM, +o, + M Cia) Conte al Gere ceo) where M,,M,,and My are qx p constant matrices Let pM denote the ronk of Mand let TCM) de- note a set of Mnearly independent rows that generate all the cows of M. Thos, we compute. the Following : THI * Cbg, Bear oy Bae, 3 a{™)=E 2\ me. Beir Pens Pe cn mye ben, EcE 550 LECTURE Ie We can readily see that r, fr, Sr, ép. Let's write My 1h terms of the Iineorly independent ee Mi eyby, te, by te te b. * Leven ste ]] fe bee, The qX ! column vectors 6,4 ¢2, hence the qx r, matex C! can be computed as Follows: the rows of the rx p matrix BY are all Lnearly independent, thus the nxn, matere BL CBE)" is non-singular, Note that ¥ denotes the complen-conjugate transpose of the matrix. Hence, frem equation have thet ct SM Ges ec et (et )n de ® Eck 550 LECTURE I@ Similerly, we can express Mz and My as follows: Ma? Dea Sie, Coenen” Ece 550 LECTURE 16 h Note thot the set fey en, Gin Sore Unearly independent, but the setof column vectors in equation 1) as wellas the set of column vectors tn equation mag not be Incarly independent. We mag now begin to construct the block diagram. Let's stort with te i Zea Ma = Gaye Den Pet cakes too teva ban, 1 = Note thet there are rj chains of blocks inthe diagram above and thet each chain eoceals ot theee kosie blecks with transfer function Vies-nd. Let ve now proceed logically and ac- semble the block diagram of EcE 550 LECTURE Ie Geonvs Mit Tone Me -. @® The firet o, chains are the same as there im the bleck diagram above, except that additional cutpets ore added to generate ia Deca bart cinder #77 + Can ben, | @ ! which 13 the remainder of Te-nvt M* | which te ob- toined by intredveing Cron ehans of blocks, each chan consisting of two blocks as shown abeve. —ce 550 LECTURE 16 I The finel atep se to add "cond MB. Tn doing to, we note that the first r, Jerdan blocks are of dimension 8, which 12 the multiplicity of the pele associated with M, 3; the second Cron) blocks are of dimension 2, and the last Cry-r,) blocks are of dimencion 1. Thus, the total number of blocks is ry. ECE 550 LECTURE Il In this realization, the vectors bay Pesy-, Pury are chosen tobe linear independent. Hence, the dynamical equation is controllable. The vectors c ¢, ve, wrSiny 2S Ceara? not chosen to be I:nearly independent , and se the dynamical equation ie not necessanily sb- servable. Let's take an example. Consider the ratienal- fonction matrix stastel 1 8852-2 » 1 Gio? Gi] s+ sel “Mag -2 shadese1 cee: st-s-2 | Note thet 66s) has only one pole at 920. Start by expanding G(s) as Follows : f LECTURE 16 ECE 550 — oe 5 a ) qe at ua -1% + «a a en

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