B3 - Transfer Functions &

State Space Models

• Transfer Functions to State Space Models
• Transfer Function Matrix from state space
models
Analogue Diagrams From Transfer Functions

1
s
G
- 1 + GH
a

Pause the video now and

when you have the transfer
function resume the video to
check your answer
Analogue Diagrams From Transfer Functions

1 1
s s
- -
a

b Pause the video now and

when you have the overall
transfer function resume the
video to check your answer

?
Analogue Diagrams From Transfer Functions

1 1 1
s s s
- - -
a

1
s3 + as 2 + bs + c
Analogue Diagrams From Transfer Functions

0.2s + 0.3
G(s) = 3
s + 0.4s 2 + 0.5s + 0.6
0.2s 0.3
= +
s3 + 0.4s 2 + 0.5s + 0.6 s3 + 0.4s 2 + 0.5s + 0.6
 0.2s + 0.3
G(s) =
s3 + 0.4s 2 + 0.5s + 0.6
0.2s 0.3
= 3 + 3
s + 0.4s + 0.5s + 0.6 s + 0.4s 2 + 0.5s + 0.6
2

1 1 1
s s s
- - -
0.4

0.5

0.6

1
s3 + 0.4s 2 + 0.5s + 0.6
 0.2s + 0.3
G(s) = 3
s + 0.4s 2 + 0.5s + 0.6
0.2s 0.3
= 3 + 3
s + 0.4s + 0.5s + 0.6 s + 0.4s 2 + 0.5s + 0.6
2

1 1 1
0.3
s s s
- - -
0.4

0.5

0.6

0.3
s3 + 0.4s 2 + 0.5s + 0.6
 0.2s + 0.3
G(s) =
s3 + 0.4s 2 + 0.5s + 0.6
0.2s 0.3
= 3 + 3
s + 0.4s + 0.5s + 0.6 s + 0.4s 2 + 0.5s + 0.6
2

1 1 1
s s s
- - -
0.4

0.5

0.6

1
s3 + 0.4s 2 + 0.5s + 0.6
 0.2s + 0.3
G(s) =
s3 + 0.4s 2 + 0.5s + 0.6
0.2s 0.3
= 3 + 3
s + 0.4s + 0.5s + 0.6 s + 0.4s 2 + 0.5s + 0.6
2

1 1 1
s s s
- - -
0.4

0.5

0.6

s
s3 + 0.4s 2 + 0.5s + 0.6
 0.2s + 0.3
G(s) =
s3 + 0.4s 2 + 0.5s + 0.6
0.2s 0.3
= 3 + 3
s + 0.4s + 0.5s + 0.6 s + 0.4s 2 + 0.5s + 0.6
2

0.2

1 1 1
s s s
- - -
0.4

0.5

0.6

0.2s
s3 + 0.4s 2 + 0.5s + 0.6
 0.2s + 0.3
G(s) =
s3 + 0.4s 2 + 0.5s + 0.6
0.2s 0.3
= 3 + 3
s + 0.4s + 0.5s + 0.6 s + 0.4s 2 + 0.5s + 0.6
2

0.2

+
1 1 1 +
s 0.3
s s
- - -
0.4

0.5

0.6
 Analogue Diagrams to State Space Models
1. Arrange the diagram so that it only contains integrators,
scalars, and summers.
2. Let the output of each integrator be a state variable. (NB the
number of state variables is equal to the number of
integrators.)
3. The input to each integrator will be the first derivative of the
output of the integrator
4. Write down the state space model with blanks in the A, B, C,
and D matrices
5. By inspection of the diagram fill in the blank spaces in the
matrices.
 0.2

+
1 1 1 +
s 0.3
s s
- - -
0.4 x3 x2 x1
0.5

0.6

 x1     x1   
x  =   x  +   u
 2   2   
 x 3     x 3   

 y =  x Pause the video now and

when you think you have the
state space model resume the
video to check your answers
 State Space Model to Transfer
Function Matrix
The relationship between the systems inputs and outputs is

Y(s) = G(s)U(s)
where
G(s) = C(sI - A)-1B + D

Proof in section
1.5 of course notes
on StudyNet
 State Space Model to Transfer
Function Matrix
The relationship between the systems inputs and outputs is

Y(s) = G(s)U(s)
where
G(s) = C(sI - A)-1B + D

Note −1 adj ( sI − A)
( sI − A) =
det ( sI − A)
Example : Find the Transfer Function for a system modelled by;

 x1   0 1 0   x1  0 
x  =  0   x  + 0  u
  
0 1
 2   2
 x 3   −0.6 −0.5 −0.4   x 3  1 

 y = 0.3 0.2 0 x

Solution:

G(s) = C(sI - A)-1B + D

 x1   0 1 0   x1  0 
x  =  0   x  + 0  u
  
0 1
 2   2
 x 3   −0.6 −0.5 −0.4   x 3  1 

 y = 0.3 0.2 0 x

 s 0 0  0 1 0 
sI − A = 0 s 0  −  0 0 1 
   
0 0 s   −0.6 −0.5 −0.4 
 s −1 0 
= 0 s −1 
 
0.6 0.5 s + 0.4 
 a 11 a 12   a 22 −a 12  a 11 a 12 
adj  = det  = a 11a 22 − a 12 a 21
a 21 a 22  −a 21 a 11  a 21 a 22 

T
 a 22 a 23  a 21 a 23  a 21 a 22  
 det a − det 
a 32  
det 
 32 a 33  a 31 a 33  a 31
a 11 a 12 a 13   
 a 12 a 13  a 11 a 13  a 11 a 12  
adj a 21 a 22 a 23  = − det a det  − det 
  a 33  a 31 a 33  a 31 a 32  
a 31 a 32 a 33   32

 det a 12 a 13  a 11
− det 
a 13  a 11
det 
a 12  
 a   a 22  
 22 a 23  a 21 a 23  a 21

a11 a12 a13 

  a 22 a 23  a 21 a 23  a 21 a 22 
det a 21 a 22 a 23 = a11 det   − a12 det a  + a13 det a 
   32 33 
a a  31 33 
a  31 a 32 
a 31 a 32 a 33 
  s −1 0 
sI − A =  0 s −1 
 
0.6 0.5 s + 0.4 

T
  s −1   0 −1   0 s  
 det 0.5 s + 0.4  − det 0.6 s + 0.4  det 0.6 
      0.5 
  −1 0   s 0   s −1  
adj ( sI − A ) =  − det   det   − det   
 0.5 s + 0.4  0.6 s + 0.4  0.6 0.5 
 −1 0  −1 
 det  −
s 0  s 
  s −1 det 0 −1 det 0 
s  
    
 T
  s −1   0 −1   0 s  
 det 
+  − det 0.6 s + 0.4  det 0.6 0.5 

  0.5 s 0.4    
  −1 0   s 0   s −1  
adj ( sI − A ) =  − det   det   − det   
 0.5 s + 0.4  0.6 s + 0.4  0.6 0.5 
 −1 0  −1 
 det  s 0 
− det 
s 
   det  
  s −1 0 −1 0 s  

T
s + 0.4s + 0.5
2
−0.6 −0.6s 
 
adj ( sI − A ) =  (s + 0.4) s 2 + 0.4s −(0.5s + 0.6) 
 1 s s 2

 
 T
  s −1   0 −1   0 s  
 det 
+  − det 0.6 s + 0.4  det 0.6 0.5 

  0.5 s 0.4    
  −1 0   s 0   s −1  
adj ( sI − A ) =  − det   det   − det   
 0.5 s + 0.4  0.6 s + 0.4  0.6 0.5 
 −1 0  −1 
 det  s 0 
− det 
s 
   det  
  s −1 0 −1 0 s  

T
s + 0.4s + 0.5
2
−0.6 −0.6s 
 
adj ( sI − A ) =  (s + 0.4) s 2 + 0.4s −(0.5s + 0.6) 
 1 s s 2

 
 T
  s −1   0 −1   0 s  
 det 
+  − det 0.6 s + 0.4  det 0.6 0.5 

  0.5 s 0.4    
  −1 0   s 0   s −1  
adj ( sI − A ) =  − det   det   − det   
 0.5 s + 0.4  0.6 s + 0.4  0.6 0.5 
 −1 0  −1 
 det  s 0 
− det 
s 
   det  
  s −1 0 −1 0 s  

T
s + 0.4s + 0.5
2
−0.6 −0.6s 
 
adj ( sI − A ) =  (s + 0.4) s 2 + 0.4s −(0.5s + 0.6) 
 1 s s 2

 
 T
2
s + 0.4s + 0.5 −0.6 −0.6s 
 
adj ( sI − A ) =  (s + 0.4) s + 0.4s −(0.5s + 0.6) 
2

 1 s s 2

 

s 2 + 0.4s + 0.5 (s + 0.4) 1

 
adj ( sI − A ) =  −0.6 s + 0.4s
2
s
 −0.6s − (0.5s + 0.6) s 2

 
 s 2 + 0.4s + 0.5 (s + 0.4) 1  0   1 
    
adj ( sI − A ) B =  −0.6 s + 0.4s
2
s 0 = s
   
 −0.6s − (0.5s + 0.6) s 2
 1  s 2 
 

1
Cadj ( sI − A ) B = 0.3 0.2 0  s  = (0.3 + 0.2s) 
 
s 2 
  s −1 0 
det(sI − A) = det  0 s −1 
 
0.6 0.5 s + 0.4 

 s −1   0 −1   0 s 
= s  det   − (−1)  det   + 0  det  
0.5 s + 0.4  0.6 s + 0.4  0.6 0.5

= s(s 2 + 0.4s + 0.5) + 0.6

= s3 + 0.4s 2 + 0.5s + 0.6

  x1   0 1 0   x1  0 
x  =  0   x  + 0  u
  
0 1
 2   2
 x 3   −0.6 −0.5 −0.4   x 3  1 

 y = 0.3 0.2 0 x

Cadj ( sI − A ) B 0.3 + 0.2s

G(s) = = 3
det ( sI − A ) s + 0.4s 2 + 0.5s + 0.6
Semicolon = new line
 Summary of Lecture
• The equation for the Transfer Function Matrix is
C(sI - A)-1B + D
• In practice D rarely exists