Lecture 10 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
A - System matrix- n x n
X = AX + BU B - Input matrix- n x m
Y = CX + DU C - Output matrix- p x n
z Transfer Function form D - Feed forward matrix p x m
Q: Is conversion between
the two forms possible?
A: Yes.
ADVANCED CONTROL SYSTEM DESIGN 2

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Deriving Transfer Function Model
From Linear State Space Model
z Known:
X = AX + BU
Y = CX + DU
z 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 )1
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 B
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
1
s 0 0 1 0
= [1 0] + [ 0]
0 s 2 3 1
1
s 1 0
= [1 0] 1
2 s + 3
1 s + 3 1 0
= [1 0] 1
s ( s + 3 ) + 2 2 s
1 1 1
= 2 [ ] 2
1 0 =
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.
z All realizations are equivalent (i.e. properties do not
change). However, one representation may have some
advantages over others for a particular task.
z 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
H (s) = = n n 1
u ( s ) s + a1 s + " + a n 1 s + a n
(n ) ( n 1)
y + a1 y + " + a n 1 y + a n y = u
dny d n 1 y
n
+ a1 n 1
+ " + an y = u
dt dt

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

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

x1 0 1 0 0 0 " 0 0 x1 0
x 0 0 1 0 0 " 0 0 x2 0
2
x3 0 0 0 1 0 " 0 0 x3 0
= + u
# # # # # # # # # # 0
xn 1 0 0 0 0 0 0 0 1 xn 1 0

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

xn
(Controllable canonical form): Block Diagram
n integrators

Example:
(Constant in the Numerator)
3 integrators
C (s) s + 7s + 2 2
T (s) = = 3
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 2 c , x 3 c
x 1 = x 2
x 2 = x 3
x 3 = 2 4 x 1 2 6 x 2 9 x 3 + 2 4 r
y = c = x1

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

Example With A Polynomial In
The Numerator
3 integrators

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

Example
y1 ( s ) 2s + 3
= H1 ( s ) = 2 and
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

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

2
3 x 1 3
2
y = 2 z + 3 z = 2 x + 3 x
1 2 1
x
y = [3 2] + [0] u1
x
1
2

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.
Jordan Canonical Form
(Non-repeated roots)
y(s) r r r
H (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 ]
r1u ( s ) r2 u ( s ) r u (s)
y (s) = d 0u (s) + + + " + n
s 1 s 2 s n
Let
r1u ( s )
1x ( s ) = x1 1 x1 = r1u
s 1
#
#
#
x (s) = n r u ( s )
n
s n xn n xn = rn u


x1 1 0 " 0 x1 r1
x 0 2
" 0 x2 r2
2 = + u
# 0 0 % # # #

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

xn
(Non-repeated roots): Block Diagram

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

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 x1 1 0 x1 1
x = 0 2 x + 1 u
x2 = u 2 x2 2
2 N
A B
Output Equation
x1
y = x1 x2 y = [1 1]
x2
Repeated Roots
Following the same procedure

y(s) 2
H (s) = =
u ( s ) ( s 3 )3
Let
x2 ( s )
x1 ( s ) = x1 3 x1 = x2
s 3
x3 ( s )
x2 ( s ) = x2 3 x2 = x3
s 3
u (s)
x3 ( s ) = x3 3 x3 = u
s 3
Repeated Roots
2 1 1 u (s)
z Output Equation y(s) = u (s) = 2
( s 3)
3
( ) ( ) (
s 3 s 3 s 3 )

x3 ( s )
1 x3 ( s ) x (s)
=2 =2 2 = 2 x1 ( s )
( s 3) ( s 3) ( s 3)
z Finally 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 A X B
y = [ 2 0 0] X + [ 0] u

N
C D

Jordan Canonical Form:
What if complex conjugate roots?
Roots always exist in complex conjugate pairs!
+ j j
H1,2 = + The system can be realized
s + ( j ) s + ( + j ) partially in other forms
2 s + ( ) (like First companion form)
=
s 2 + 2 s + ( 2 + 2 )
First companion form:
x1 0 1 x1 0
= + u
x2 ( + ) 2 x2 1
2 2
x1
y1,2 = 2 ( ) 2
x2

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Lecture 9

Conversion Between State Space and

Dr. Radhakant Padhi

z Transfer Function form D - Feed forward matrix p x m

ADVANCED CONTROL SYSTEM DESIGN 2

ADVANCED CONTROL SYSTEM DESIGN 3

z The state equation can be placed in the form

Transfer Function Matrix T ( s )

z Using the expression for derived transfer function

ADVANCED CONTROL SYSTEM DESIGN 8

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

ADVANCED CONTROL SYSTEM DESIGN 9

ADVANCED CONTROL SYSTEM DESIGN 11

ADVANCED CONTROL SYSTEM DESIGN 12

For the block containing denominator

ADVANCED CONTROL SYSTEM DESIGN 13

ADVANCED CONTROL SYSTEM DESIGN 14

Generalization of the concepts discussed to

A and B matrices remain same

C and D matrices get modified

ADVANCED CONTROL SYSTEM DESIGN 15

ADVANCED CONTROL SYSTEM DESIGN 16

ADVANCED CONTROL SYSTEM DESIGN 17

ADVANCED CONTROL SYSTEM DESIGN 19

ADVANCED CONTROL SYSTEM DESIGN 21

ADVANCED CONTROL SYSTEM DESIGN 22

Differential equations corresponding to the x1 , x2

Following the same procedure

ADVANCED CONTROL SYSTEM DESIGN 25

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