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Burak Demirel
February 2, 2013
where u is the control input and y is the output. We can write this equation as
Later, we shall present state-space representation of the system defined by (1) and (2)
in controllable canonical form, observable canonical form, and diagonal canonical form.
Note that the controllable canonical form is important in dicsussing the pole-placement
approach to the control system design.
1
1.2 Observable Canonical Form
We consider the following state-space representation, being called an observable canon-
ical form, as
x1 0 0 . . . 0 an x1 bn an b0
x2 1 0 . . . 0 an1 x2
bn1 an1 b0
x3 0 1 . . . 0 an2 x3
= + bn2 an2 b0
u (5)
.. .. .. . . .. .. ..
. . . . . . . ...
xn 0 0 . . . 1 a1 xn b1 a1 b0
x1
x2
y = 0 0 0 . . . 1 x3 + b0 u
(6)
..
.
xn
2
2 Numerical Examples
Example 1: Obtain the transfer function of the system defined by the following state-
space equations:
x1 0 1 0 x1 0
x2 = 0 0 1 x2 + 0 u , (11)
x3 6 11 6 x3 1
x1
y = 1 0 0 x2 . (12)
x3
Y (s) 1
G(s) = = 3 .
U (s) s + 6s2 + 11s + 6
Example 2: Find the state-space representation of the following transfer function sys-
tem (13) in the diagonal canonical form.
2s + 3
G(s) = . (13)
s2 + 5s + 6
Solution: Partial fraction expansion of (13) is
2s + 3 A B
= + .
s2 + 5s + 6 s+2 s+3
Hence, we get A = 1 and B = 3. We now have two distinct poles. For this, we can
write the transfer function (13) in the following form:
x1 2 0 x1 1
= + u (14)
x2 0 3 x2 1
x1
y = 1 3 (15)
x2
Example 3: Obtain the state-space representation of the transfer function system (16)
in the controllable canonical form.
s2 + 3s + 3
G(s) = (16)
s2 + 2s + 1
3
Solution: From the transfer function (16), we obtain the following parameters: b0 = 1,
b1 = 3, b2 = 3, a1 = 2, and a2 = 1. The resulting state-space model in controllable
canonical form is obtained as
x1 0 1 x1 0
= + u, (17)
x2 1 2 x2 1
x1
y= 2 1 +u. (18)
x2
Example 4: Consider the following state equations:
x1 = x2 (t) , (19)
x2 = x3 (t) , (20)
x3 = 6x1 (t) 11x2 (t) 6x3 (t) + 6u(t) , (21)
y = x1 (t) , (22)
x1 =x2 (t) ,
x2 =x3 (t) ,
d3
x3 = y(t) = 6y(t) 11y(t) 6y(t) + 6u(t)
dt3
= 6x3 (t) 11x2 (t) 6x1 (t) + 6u(t) .
4
and determine the observable canonical form.
Solution: Using the state equations (23), (24), (25), and (26), we write the following
high order differential equation:
d3 d2 d d2 d
3
y(t) + 2
y(t) + 5 y(t) + 3y(t) = 4 2
u(t) + u(t) + 2u(t) .
dt dt dt dt dt
We introduce x1 (t) = y(t) in the equation, and collect all terms without differentiation
on the right hand side, we get
d3 d2 d d2 d
3
x 1 (t) + 2
x1 (t) + x 1 (t) 2
u(t) u(t) = 3x1 (t) + 2u(t) ,
dt dt dt dt dt
i.e.,
" #
d d2 d d
x1 (t) + x1 (t) + x1 (t) u(t) u(t) = 3x1 (t) + 2u(t) .
dt dt2 dt dt
Now introduce the expression within the paranthesis as a new state variable
d2 d d
x2 (t) = x1 (t) + x1 (t) + 5x1 (t) 4 u(t) u(t) ,
dt2 dt dt
i.e.,
x2 (t) = 3x1 (t) + 2u(t) . (27)
Repeating this precedure yields
" #
d d
x1 (t) + x1 (t) 4u(t) = x2 (t) 5x1 (t) + u(t) , (28)
dt dt
and we introduce
d
x3 (t) = x1 (t) + x1 (t) 4u(t) ,
dt
i.e.,
x1 (t) = x3 (t) x1 (t) + 4u(t) . (29)
From (27), (28), and (29), we define the state-space form of
1 0 1 4
x(t) = 3 0 0 x(t) + 2 u(t) ,
5 1 0 1
y(t) = 1 0 0 x(t) .
3 References
1. Katsuhiko Ogata, Modern Control Engineering, 4th Ed., Prentice Hall Inc., New
Jersey, 2002.
2. KTH Reglerteknik, Reglerteknik Allman Kurs, Del 2, 2007.