Conversion Between State Space and Transfer Function PDF

Lecture 9
Conversion Between State Space and

Transfer Function Representations in
Linear Systems I
Dr. Radhakant Padhi
Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
State Space Representation

(noise free linear systems)
z
State Space form
X = AX + BU
A
B
- System matrix- n x n
Y = CX + DU
- Output matrix- p x n
- Feed forward matrix p x m
Transfer Function form
- Input matrix- n x m
Q: Is conversion between
the two forms possible?
A: Yes.
ADVANCED CONTROL SYSTEM DESIGN

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Deriving Transfer Function Model

From Linear State Space Model
z
Known:
X = AX + BU
Y = CX + DU
Taking Laplace transform (with zero initial conditions)
sX ( s ) = AX ( s ) + BU ( s )
Y ( s ) = CX ( s ) + DU ( s )
Deriving Transfer functions from

State Space Description
z
The state equation can be placed in the form
( sI A) X ( s ) = BU ( s )
z
Pre-multiplying both sides by
( sI A) 1
1
X ( s ) = ( sI A) BU ( s )
z
Substituting for X (s) in the output equation,
Y ( s ) = C ( sI A) B + D U ( s )

Transfer Function Matrix T ( s )

Example
z
State space model
x1 0 1 x1 0
x = 2 3 x + 1 u
2
2 N
A
x1
y = [1 0] + [ 0] u
N x2 N
C
D
z
Using the expression for derived transfer function
Y (s)
1
1
= 2
=
U ( s ) s + 3s + 2 ( s + 1)( s + 2)
Example: Detail Algebra

T ( s ) = C ( sI A ) B + D
1
s 0 0 1 0
= [1 0]
+ [ 0]
0 s 2 3 1
1
s 1 0
= [1 0]
1
+
2
3
s
s + 3 1 0
1
= [1 0]

1
2
s
+
+
s
s
3
2
(
)

1
1
1
= 2
=
1
0
[ ] 2
s + 3s + 2
s s + 3s + 2
Deriving State Space Model

From Transfer Function Model
z
The process of converting transfer function to state

space form is NOT unique. There are various
realizations possible.
All realizations are equivalent (i.e. properties do not

change). However, one representation may have some
advantages over others for a particular task.
Possible representations:
First companion form (controllable canonical form)

Jordan canonical form
Alternate first companion form (Toeplitz first companion form)
Second companion form (observable canonical form)
First Companion Form: SISO Case

(Controllable canonical form)
y(s)
1
= n
H (s) =
n 1
+ " + a n 1 s + a n
u ( s ) s + a1 s
y
(n )
+ a1 y
( n 1)
+ " + a n 1 y + a n y = u
dny
d n 1 y
+ a1
+
n
n 1
dt
dt
"
+ an y = u


Choose output y(t ) and its (n 1) derivatives as

x1 = y
dy
x2 =
dt
d n 1 y
xn = dt n 1
dy
x1 = dt
2
x = d y
differentiating 2 dt 2
dn y
xn = n
dt


x1 0
x 0
2
x3 0
=
# #
xn 1 0

xn an
1
0
0
#
0
an 1
0
0 0
1
0 0
0
1 0
#
#
#
0
0 0
an 2 " "
0 x1 0
" 0
0 x2 0
" 0
0 x3 0
" 0
+ u
#
#
# # 0
0 0
1 xn 1 0

" " a1 xn 1
x1
x
2
x3
y = [1 0 0 " " 0 ]
+ [0]u
#
xn 1
xn
10

(Controllable canonical form): Block Diagram
n integrators

11
Example:
(Constant in the Numerator)

3 integrators
C (s)
s + 7s + 2
T (s) =
= 3
2
R ( s ) s + 9 s + 26 s + 24
2
( s 3 + 9 s 2 + 2 6 s + 2 4 )C ( s ) = 2 4 R ( s )
w ith z e ro in itia l c o n d itio n s

c + 9 c + 2 6 c + 2 4 c = 2 4 r
L e t x1 c ,
x 1 = x 2
x 2 = x 3
x 2 c ,
x 3 c
x 3 = 2 4 x 1 2 6 x 2 9 x 3 + 2 4 r
y = c = x1
12
Example:
(Polynomial in the Numerator)

For the block containing denominator
( s 3 + 9 s 2 + 26 s + 24) X 1 ( s ) = 24 R ( s )
x1 = x2
x2 = x3
x3 = 24 x1 26 x2 9 x3 + r
For Numerator Block
C ( s ) = ( s 2 + 7 s + 2) X 1 ( s )
Taking inverse Laplace transform
y = x3 + 7 x2 + 2 x1

13
Example With A Polynomial In

The Numerator
3 integrators

14
Systems Having Single Input but

Multiple Outputs
Generalization of the concepts discussed to

this case is straight forward:
A and B matrices remain same
C and D matrices get modified

15
Example
y1 ( s )
2s + 3
and
= H1 ( s ) = 2
u ( s)
3s + 4 s + 5
y2 ( s )
3s + 2
= H 2 (s) = 2
u (s)
3s + 4 s + 5
y1 ( s ) z ( s ) y1 ( s )
1
=
H1 ( s ) =
= 2
( 2 s + 3)
u ( s ) u ( s ) z ( s ) 3s + 4 s + 5
16
Example contd.
4
5
1

z + z + z = u
3
3
3
Define x1 z , x2 z
1
x 0
x = 5 3 4

1
x 0
+ u
3 x 1 3
1
y = 2 z + 3 z = 2 x + 3 x
1
x
y = [3 2] + [0] u
x
1

17
Example contd.
z ( s ) y2 ( s )
1
H 2 (s) =
= 2
( 3s + 2 )
u ( s ) z ( s ) 3s + 4 s + 5
A and B are the same
y2 = 3 z + 2 z = 3 x2 + 2 x1
x1
y2 = [ 2 3] + [ 0] u
x2
Note: Block diagram representation is fairly straight forward.
The realization requires n integrators.
18
Jordan Canonical Form

(Non-repeated roots)
H (s) =
r
r
r
y(s)
= d0 + 1 + 2 + " + n
u (s)
s 1 s 2
s n
All the poles of the transfer function are distinct, i.e. no repeated poles
ri 's are called "residues" of the reduced transfer function [ H ( s ) b0 ]
y (s) = d 0u (s) +
r u (s)
r1u ( s ) r2 u ( s )
+
+ " + n
s 1 s 2
s n
Let
r1u ( s )
x
(
s
)
=
1
s 1
r
u
(
s
)
x (s) = n
s n
x1 1 x1 = r1u

xn n xn = rn u

19

x1 1
x 0
2 =
# 0

xn 0
2
0
0
y = [1 1 "
" 0 x1 r1
" 0 x2 r2
+
u
% # # #

" n xn rn
x1
x
1] 2 + [ d 0 ] u
#

xn

20
(Non-repeated roots): Block Diagram

21
Jordan Canonical Form: Example

Given
By partial fraction,
y( s)
1
=
u ( s ) ( s + 1)( s + 2)
1
1
y(s) =
u (s)
s +1 s + 2
Define two transfer functions
1
x1 ( s ) =
u (s) ,
s +1
1
x2 ( s ) =
u ( s)
s+2

22

This leads to
u ( s ) = x1 ( s )( s + 1), u ( s ) = x2 ( s )( s + 2)
Differential equations corresponding to the x1 , x2
x1 = u x1
x2 = u 2 x2
Output Equation
y = x1 x2
x1 1 0 x1 1
x = 0 2 x + 1 u
2
2 N
A
x1
y = [1 1]
x2

23

Repeated Roots
Following the same procedure

H (s) =
y(s)
2
=
u ( s ) ( s 3 )3
Let
x2 ( s )
x1 ( s ) =
s 3
x3 ( s )
x2 ( s ) =
s 3
u (s)
x3 ( s ) =
s 3
x1 3 x1 = x2
x2 3 x2 = x3
x3 3 x3 = u

24

Repeated Roots
z
1
1 u (s)
y(s) =
u (s) = 2
s
3
s
3
s
3
( ) ( ) (
)
( s 3)
Output Equation
x3 ( s )
=2
z
Finally
x3 ( s )
x (s)
1
=2 2
= 2 x1 ( s )
( s 3) ( s 3) ( s 3)
x1 3 1 0 x1 0
x = 0 3 1 x + 0 u
2
2
x3 0 0 3 x3 1
N
N N
X
y = [ 2 0 0] X + [ 0] u
N


25
Jordan Canonical Form:
What if complex conjugate roots?

Roots always exist in complex conjugate pairs!
H1,2 =
=
+ j
j
+
s + ( j ) s + ( + j )
2 s + ( )
The system can be realized

partially in other forms
(like First companion form)
s 2 + 2 s + ( 2 + 2 )
First companion form:

0
1 x1 0
x1
+ u
=
2
2
x2 ( + ) 2 x2 1
y1,2 = 2 ( )
x1
2
x2

26

27

28

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Lecture 9

Conversion Between State Space and

State Space Representation

State Space form

- Feed forward matrix p x m

Transfer Function form

ADVANCED CONTROL SYSTEM DESIGN

Deriving Transfer Function Model

Taking Laplace transform (with zero initial conditions)

Deriving Transfer functions from

The state equation can be placed in the form

Pre-multiplying both sides by

Substituting for X (s) in the output equation,

Transfer Function Matrix T ( s )

State space model

Using the expression for derived transfer function

Example: Detail Algebra

Deriving State Space Model

The process of converting transfer function to state

All realizations are equivalent (i.e. properties do not

First companion form (controllable canonical form)

First Companion Form: SISO Case

ADVANCED CONTROL SYSTEM DESIGN

First Companion Form: SISO Case

Choose output y(t ) and its (n 1) derivatives as

ADVANCED CONTROL SYSTEM DESIGN

First Companion Form: SISO Case

First Companion Form: SISO Case

ADVANCED CONTROL SYSTEM DESIGN

(Constant in the Numerator)

(Polynomial in the Numerator)

ADVANCED CONTROL SYSTEM DESIGN

Example With A Polynomial In

ADVANCED CONTROL SYSTEM DESIGN

Systems Having Single Input but

Generalization of the concepts discussed to

ADVANCED CONTROL SYSTEM DESIGN

ADVANCED CONTROL SYSTEM DESIGN

Jordan Canonical Form

ADVANCED CONTROL SYSTEM DESIGN

Jordan Canonical Form

ADVANCED CONTROL SYSTEM DESIGN

Jordan Canonical Form

(Non-repeated roots): Block Diagram

ADVANCED CONTROL SYSTEM DESIGN

Jordan Canonical Form: Example

Define two transfer functions

ADVANCED CONTROL SYSTEM DESIGN

Jordan Canonical Form: Example

ADVANCED CONTROL SYSTEM DESIGN

Jordan Canonical Form: Example

Following the same procedure

ADVANCED CONTROL SYSTEM DESIGN

Jordan Canonical Form: Example

ADVANCED CONTROL SYSTEM DESIGN

Jordan Canonical Form:

What if complex conjugate roots?

The system can be realized

First companion form:

ADVANCED CONTROL SYSTEM DESIGN

ADVANCED CONTROL SYSTEM DESIGN

ADVANCED CONTROL SYSTEM DESIGN

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