Control Theory 2B (Control of Multivariable systems)

LECTURE 1: STATE-SPACE REPRESENTATIONS IN CANONICAL FORMS

Author: Sonia GHRAB

Cursus: EENG4-Robotics
UE: Robotics and Automation Engineering
Version: 1.0
Date: 30/11/2022

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 1. INTRODUCTION

Continuous-Time System
representation and Modeling

Differential Transfer State-space

Equation Function Representation

• The system’s model takes

• Transfer function can only
be used for linear systems
• A realtion between the
output and the input
into consideration the
system’s internal dynamics
and it is not only a relation
between the Input and Output
(this point will be treated in
details in Lecture 2)

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 Disturbances

𝑑1 … 𝑑𝑟

𝑢1 𝑦1
𝑢2
Inputs System Outputs
⋮
⋮
𝑢𝑚 𝑦𝑝

Figure 1: System composed by 𝑚 inputs, 𝑝 outputs

and impacted by 𝑟 disturbances

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 Example: Representation of the Mass-Spring-Damper System

The Representation method The mathematical model

• Differential Equation 𝑚𝑦+𝑏𝑦+𝑘𝑦 =𝑢

1
𝑘 𝐾
• Transfer Function 𝐺 𝑠 = =
𝑏 𝑚 2ζ 1
1 + 𝑠 + 𝑠2 1 + 𝜔 𝑠 + 𝜔 𝑠
𝑘 𝑘 0 0
0 1 𝑥 0
𝑥1 1
• State-Space representation = −𝑘 −𝑏 𝑥 + 1 𝑢
𝑥2 2
𝑚 𝑚 𝑚

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• Consider a lineartime-invariant system defined by the following differential equation

𝒏
𝒚 + 𝒂𝟏 𝒚(𝒏−𝟏) + ⋯ + 𝒂𝒏−𝟏 𝒚 + 𝒂𝒏 𝒚 = 𝒃𝟎 𝒖 𝒎
+ 𝒃𝟏 𝒖 𝒎−𝟏
+ ⋯ + 𝒃𝒎−𝟏 𝒖 + 𝒃𝒎 𝒖 (1)

𝒏≥𝒎  Causal systems (physical or nonanticipative system)

where 𝑢 is the input and 𝑦 is the output
• The coefficients 𝑏0 , 𝑏1 , 𝑏2 , … , 𝑏𝑚 and 𝑎1 , 𝑎2 , … , 𝑎𝑛 are assumed to be constants

• Pay attention the coefficient that multiplies 𝒚(𝒏) should be equal to 1

• If the initial conditions are equal to zero, this Equation (1) can be also written as

𝑌(𝑠) 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚

= (2)
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛
• In what follows we will determine the state-space representations in canonical
forms of any linear time-invariant system which is expressed in the form of
Equations (1) or (2)
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Remark

• Before proceeding in the determination of any state-space representation in the

canonical form you have to make sure that:
• The coefficient which multiplies the higher power in the denominator
expression of Equation (2) (in our case, it is the coefficient that multiplies the
term "𝒔𝒏" ) should be always equal to 1 (one)
• If it is not the case, some modifications should be made in the Transfer Function
(TF) of the considered system so that the new expression of the TF should be
exactly written in the same form as the expression (2)

𝑌(𝑠) 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚

=
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛

𝟏 × 𝒔𝒏
Here the coefficient that multiplies the term 𝑠 𝑛 is equal to 1

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 State -Space Representations (SSR)
in canonical forms

• Diagonal
canonical form
Controllable Observable
• Jordan
canonical form canonical form
canonical form

• The transfer Function of a system is unique however the State space

representation is not Unique

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 • In the following three cases will be considered to develop the
Controllable Canonical form

Case 1: Proper transfer Function

• The considered system is described by a Transfer function where the degree
of numerator is equal to the degree of denominator (case where 𝒎 = 𝒏))

𝒀(𝒔) 𝒃𝟎 𝒔𝒏 + 𝒃𝟏 𝒔𝒏−𝟏 + ⋯ + 𝒃𝒏−𝟏 𝒔 + 𝒃𝒏

= 𝒏 (3)
𝑼(𝒔) 𝒔 + 𝒂𝟏 𝒔𝒏−𝟏 + ⋯ + 𝒂𝒏−𝟏 𝒔 + 𝒂𝒏
Case 2: Strictly Proper transfer Function
• The considered system is described by a Transfer function where the degree of
numerator is strictly inferior than the degree of denominator (case where 𝒎 < 𝒏)
(the maximum that 𝑚 can take is 𝑛 − 1)
𝒀(𝒔) 𝒃𝟎 𝒔𝒎 + 𝒃𝟏 𝒔𝒎−𝟏 + ⋯ + 𝒃𝒎−𝟏 𝒔 + 𝒃𝒎
= (4)
Case 3: 𝑼(𝒔) 𝒔𝒏 + 𝒂𝟏 𝒔𝒏−𝟏 + ⋯ + 𝒂𝒏−𝟏 𝒔 + 𝒂𝒏
• The considred system is described by a transfer function with a simple numerator
of the following form
𝒀(𝒔) 𝒃𝒎
𝑯 𝒔 = = 𝒏 (5)
𝑼(𝒔) 𝒔 + 𝒂𝟏 𝒔𝒏−𝟏 + ⋯ + 𝒂𝒏−𝟏 𝒔 + 𝒂𝒏

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 2. CANONICAL FORMS
2.1. CONTROLLABLE CANONICAL FORM
2.1.1. CASE OF PROPER TRANSFER FUNCTION
• Consider the system which is described by the transfer function (3) (Case
of proper transfer function), it can be put in the state-space
representation which is called a controllable canonical form
𝑨𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆 𝑩𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆
State Equation

(6)

Output Equation 𝑥1
𝑥2
𝑦 = 𝑏𝑛 − 𝑎𝑛 𝑏0 | 𝑏𝑛−1 − 𝑎𝑛−1 𝑏0 ⋯ ⋯| 𝑏1 − 𝑎1 𝑏0 ⋮ + 𝑏0 𝑢 (7)
𝑥𝑛
𝑪𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆 𝑫𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆

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 SEE THE DEMONSTRATION IN THE APPENDIX A

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• Using the state equation (6) as well as the output equation (7) (the
controllable canonical form ) then we can plot the block diagram

Figure 1 : Block diagram representation of the system defined by the Controllable

Canonical Form (case of proper TF)

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 2.1. CONTROLLABLE CANONICAL FORM
2.1.2. CASE OF STRICTLY PROPER TRANSFER FUNCTION

• Consider the system which is described by the transfer function (4) (Case
of strictly proper transfer function), it can be put in the state-space
representation which is called a controllable canonical form
𝒀(𝒔) 𝒃𝟎 𝒔𝒎 + 𝒃𝟏 𝒔𝒎−𝟏 + ⋯ + 𝒃𝒎−𝟏 𝒔 + 𝒃𝒎
=
𝑼(𝒔) 𝒔𝒏 + 𝒂𝟏 𝒔𝒏−𝟏 + ⋯ + 𝒂𝒏−𝟏 𝒔 + 𝒂𝒏

State Equation 𝒙𝟏 𝒙𝟏
𝟎 𝟏 ⋯ 𝟎 𝟎
𝒙𝟐 𝒙𝟐 𝟎
⋮ 𝟎 𝟏 𝟎 𝒙𝟑 + 𝟎 𝒖
⋮ =
⋮ ⋮ 𝟎 𝟏 ⋮
⋮ ⋮
−𝒂𝒏 −𝒂𝒏−𝟏 ⋯ −𝒂𝟏 𝒙
𝒙𝒏 𝒏 𝟏

Output Equation 𝒙𝟏
𝒙𝟐
𝒚 𝒕 = 𝒃𝒎 𝒃𝒎−𝟏 ⋯ 𝒃𝟏 𝒃𝟎 ⋮ + 𝟎 ×𝒖
⋮
𝒙𝒏
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 SEE THE DEMONSTRATION IN THE APPENDIX B

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 2.1. CONTROLLABLE CANONICAL FORM
2.1.3. CASE OF A TRANSFER FUNCTION WITH SIMPLE NUMERATOR

• Consider the system which is described by the transfer function (5) (Case
of a transfer function with simple numerator, it can be put in the state-
space representation which is called a controllable canonical form

𝒀(𝒔) 𝒃𝒎
𝑯 𝒔 = = 𝒏
𝑼(𝒔) 𝒔 + 𝒂𝟏 𝒔𝒏−𝟏 + ⋯ + 𝒂𝒏−𝟏 𝒔 + 𝒂𝒏

State Equation 𝒙𝟏 𝒙𝟏
𝟎 𝟏 ⋯ 𝟎 𝟎
𝒙𝟐 𝒙𝟐 𝟎
⋮ 𝟎 𝟏 𝟎 𝒙𝟑 + 𝟎 𝒖
⋮ =
⋮ ⋮ 𝟎 𝟏 ⋮
⋮ ⋮
−𝒂𝒏 −𝒂𝒏−𝟏 ⋯ −𝒂𝟏 𝒙
𝒙𝒏 𝒏 𝟏

Output Equation
𝒙𝟏
𝒙𝟐
𝒚 𝒕 = 𝒃𝒎 𝟎 ⋯ 𝟎 ⋮ + 𝟎𝒖
𝒙𝒏

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 SEE THE DEMONSTRATION IN THE APPENDIX C

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 2. CANONICAL FORMS
2.2. OBSERVABLE FORM

• Let ‘s consider the system described by the transfer function (3). It can be
put in the following state-space representation which is called an observable
canonical form (here only the case of proper TF was treated).
State Equation 𝑨𝒐𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒍𝒆 𝑩𝒐𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒍𝒆

𝑥1 0 0 ⋯ 0 −𝑎𝑛 𝑥1 𝑏𝑛 − 𝑎𝑛 𝑏0
𝑥2 1 0 ⋯ 0 −𝑎𝑛−1 𝑥2 𝑏𝑛−1 − 𝑎𝑛−1 𝑏0 (8)
⋮ = 0 1 0 ⋮ ⋮ ⋮ + ⋮ 𝑢
⋮ ⋮ 0 ⋱ 0 −𝑎2 ⋮ ⋮
𝑥𝑛 0 ⋯ 0 1 −𝑎1 𝑥𝑛 𝑏1 − 𝑎1 𝑏0

𝑥1
Output Equation 𝑥2
(9)
𝑦 = 0 ⋯ ⋯ 0 1 ⋮ + 𝑏0 𝑢
⋮
𝑥𝑛
𝑪𝒐𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒍𝒆 𝑫𝒐𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒍𝒆

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 Remark 1
From the equations (8)-(9), we can deduce the following

𝑨𝒐𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒍𝒆 = 𝑨𝑻𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆

𝑩𝒐𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒍𝒆 = 𝑪𝑻𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆

𝑪𝒐𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒍𝒆 = 𝑩𝑻𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆

𝑫𝒐𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒍𝒆 = 𝑫𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆

• Here only the case of proper transfer function has been developed.
• Using the Remark 1, the other cases can be simply deduced from the controllable
Canonical form)
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 2. CANONICAL FORMS
2.3. DIAGONAL FORM

• Consider the transfer-function system defined by Equation (2). Here we

consider the case where the denominator polynomial involves only distinct
roots
• For the distinct-roots case, the Equation (2) can be written as

𝑌(𝑠) 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚

=
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛

𝑌(𝑠) 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚

=
𝑈(𝑠) 𝑠 + 𝑝1 𝑠 + 𝑝2 ⋯ 𝑠 + 𝑝𝑛
The partial-fraction expansion of this last equation becomes

𝑌(𝑠) 𝑐1 𝑐2 𝑐𝑛
= 𝑏0 + + + ⋯+ (10)
𝑈(𝑠) 𝑠 + 𝑝1 𝑠 + 𝑝2 𝑠 + 𝑝𝑛

• If 𝑚 = 𝑛, then 𝑏0 is constant
• If 𝑚 < 𝑛, then 𝑏0 = 0

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 The diagonal canonical form of the state-space representation of this system is
given by

𝑥1 −𝑝1 0 ⋯ 0 𝑥1 1
𝑥2 0 −𝑝2 ⋯ 0 𝑥2 1 (11)
= ⋱ ⋮ + 𝑢
⋮ ⋮ ⋮ ⋮ ⋮
𝑥𝑛 0 0 ⋯ −𝑝𝑛 𝑥𝑛 1

𝑥1
⋯ 𝑐𝑛 𝑥2
𝑦 = 𝑐1 𝑐2
⋮ + 𝑏0 𝑢 (12)
𝑥𝑛

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 2. CANONICAL FORMS
2.4. JORDAN FORM

We consider the case where the denominator polynomial of Equation (2)

involves multiple roots

For this case, the preceding diagonal canonical form must be modified into
the Jordan canonical form

Suppose, for example, that the 𝒑𝒊 ′s are different from one another, except
that the first three 𝒑𝒊 ’s are equal, or 𝑝1 = 𝑝2 = 𝑝3 . Then the factored form of
𝑌(𝑠)
becomes
𝑈(𝑠)

𝒀(𝒔) 𝒃𝟎 𝒔𝒎 + 𝒃𝟏 𝒔𝒎−𝟏 + ⋯ + 𝒃𝒎−𝟏 𝒔 + 𝒃𝒎

=
𝑼(𝒔) 𝒔 + 𝒑𝟏 𝟑 𝒔 + 𝒑𝟒 𝒔 + 𝒑𝟓 ⋯ 𝒔 + 𝒑𝒏

The partial-fraction expansion of this last equation becomes

𝑌(𝑠) 𝑐1 𝑐2 𝑐3 𝑐4 𝑐𝑛
= 𝑏0 + 3+ 𝑠+𝑝 2 + 𝑠 + 𝑝 + 𝑠 + 𝑝 + ⋯+ 𝑠 + 𝑝
𝑈(𝑠) 𝑠 + 𝑝1 1 1 4 𝑛

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 A state-space representation of this system in the Jordan canonical form is
given by

(13)

𝑥1
𝑥2 (14)
𝑦 = 𝑐1 𝑐2 ⋯ 𝑐𝑛
⋮ + 𝑏0 𝑢
𝑥𝑛

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 Example

Consider the system given by

𝑌(𝑠) 𝑠+3
= 2
𝑈(𝑠) 𝑠 + 3𝑠 + 2

Obtain state-space representations in the controllable canonical form,

observable canonical form, and diagonal canonical form

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 Solution

Controllable Canonical
Form

Observable Canonical
Form

Diagonal Canonical Form

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 3. TRANSFORMATION OF THE SYSTEM MODELS WITH MATLAB

In this section we will consider the transformation of the system model from
transfer function to state space, and vice versa
3.1. TRANSFORMATION FROM TRANSFER FUNCTION TO STATE SPACE
Let us write the closed-loop transfer function as

Once we have this transfer-function expression, the MATLAB command

will give a state-space representation

𝑨, 𝑩, 𝑪, 𝑫 = 𝒕𝒇𝟐𝒔𝒔(𝒏𝒖𝒎, 𝒅𝒆𝒏)

Remark
It is important to note that the state-space representation for any system is not
unique There are many state space representations for the same system. The
MATLAB command gives one possible state-space representation

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 Example: State-Space Formulation of Transfer-Function Systems

Consider the transfer-function system

(15)

There are many possible state-space representations for this system. One
possible state-space representation is

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 Another possible state-space representation (among infinitely many alternatives)
is

(16)

(17)

MATLAB transforms the transfer function given by Equation (15) into the
state-space representation given by Equations (16) and (17).
For the example considered here, MATLAB Program (see Figure 2) will
produce matrices A, B, C, and D

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 Figure 2
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 3.2. TRANSFORMATION FROM STATE SPACE TO TRANSFER FUNCTION

To obtain the transfer function from state-space equations, use the following
command

𝒏𝒖𝒎, 𝒅𝒆𝒏 = 𝒔𝒔𝟐𝒕𝒇(𝑨, 𝑩, 𝑪, 𝑫, 𝒊𝒖)

"𝒊𝒖" must be specified for systems with more than one input

For example, if the system has three inputs (𝒖𝟏 , 𝒖𝟐 , 𝒖𝟑 ), then iu must
be either 1, 2, or 3, where 1 implies 𝒖𝟏 , 2 implies 𝒖𝟐 , and 3 implies 𝒖𝟑

If the system has only one input, then use either

𝑛𝑢𝑚, 𝑑𝑒𝑛 = 𝑠𝑠2𝑡𝑓(𝐴, 𝐵, 𝐶, 𝐷)

Or

𝑛𝑢𝑚, 𝑑𝑒𝑛 = 𝑠𝑠2𝑡𝑓(𝐴, 𝐵, 𝐶, 𝐷, 𝟏)

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 Case of a MIMO system

Consider a system with multiple inputs and multiple outputs. When the system
has more than one output, the command

𝑵𝑼𝑴, 𝑑𝑒𝑛 = 𝑠𝑠2𝑡𝑓(𝐴, 𝐵, 𝐶, 𝐷, 𝑖𝑢)

produces transfer functions for all outputs to each input. (The numerator
coefficients are returned to matrix NUM with as many rows as there are outputs.)

Example
Consider the system defined by

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This system involves two inputs and two outputs: Four transfer functions
𝑌 (𝑠) 𝑌 (𝑠) 𝑌 (𝑠) 𝑌 (𝑠)
are involved: 𝑈1 (𝑠) , 𝑈21 (𝑠) , 𝑈2 (𝑠) , 𝑎𝑛𝑑 𝑈2 (𝑠)
1 1 2
(When considering input 𝒖𝟏 , we assume that input 𝒖𝟐 is zero and vice
versa)

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 This is the MATLAB representation of
the following four transfer functions

For the first input

𝑼𝟏 (𝒔)

For the second input 𝑼𝟐 (𝒔)

Figure 3
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 3.3. CORRELATION BETWEEN STATE-SPACE REPRESENTATION (SSR)
AND TRANSFER FUNCTION (TF)

• Consider a LTI system described by the folowing State-Space Representation

𝑋(𝑡) = 𝐴 𝑋(𝑡) + 𝐵 𝑈(𝑡)
𝑌(𝑡) = 𝐶 𝑋(𝑡) + 𝐷 𝑈(𝑡)
• By Applying the Laplace transform to the State-Space Representation (SSR), by
assuming that the Initial Conditions are zero then we have

𝑠𝑋 𝑠 =𝐴𝑋 𝑠 +𝐵𝑈 𝑠
𝑌 𝑠 = 𝐶 𝑋 𝑠 + 𝐷 𝑈(𝑠)

• Using these equations we can write the following

𝑠 𝐼𝑛×𝑛 − 𝐴 𝑋 𝑠 = 𝐵 𝑈 𝑠

• Assuming that the matrix 𝑠 𝐼𝑛×𝑛 − 𝐴 is invertible then we can write

𝑿 𝒔 = 𝒔 𝑰𝒏×𝒏 − 𝑨 −𝟏 𝑩 𝑼(𝒔)

ecam.fr 32
 • In the output equation 𝑌 𝑠 , We replace 𝑋(𝑠) by its expression, then we get

𝑌 𝑠 =𝐶𝑿 𝒔 +𝐷𝑈 𝑠
𝑌 𝑠 = 𝐶 𝒔 𝑰 − 𝑨 −𝟏 𝑩 𝑼 𝒔 + 𝐷 𝑈 𝑠
𝑌 𝑠 = 𝐶 𝑠 𝐼 − 𝐴 −1 𝐵 + 𝐷 𝑈(𝑠)

• The correlation between the SSR and TF can be deduced using the following formula

𝒀(𝒔) −𝟏 𝑩 + 𝑫
=𝑪 𝒔𝑰−𝑨
𝑼(𝒔)

ecam.fr 33
 APPENDIX A:
DEMONSTRATION OF THE CONTROLLABLE CANONICAL FORM
CASE OF PROPER TRANSFER FUNCTION

ecam.fr 34
 Exercise (Demonstration of the controllable canonical form)
Consider the transfer function system defined by (case of proper TF)

Question: Derive the following controllable canonical form of the state-space

representation for this transfer-function system

ecam.fr 35
 Solution

𝑌(𝑠) 𝑏0 𝑠 𝑛 + 𝑏1 𝑠 𝑛−1 + ⋯ + 𝑏𝑛 𝛼1 𝑠 𝑛−1 + 𝛼2 𝑠 𝑛−2 + ⋯ + 𝛼𝑛

= 𝑛 = 𝑏0 + (E.1)
𝑈(𝑠) 𝑠 + 𝑎1 𝑠 𝑛−1 + ⋯ +𝑎𝑛 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ +𝑎𝑛

𝑌(𝑠) 𝑏0 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛 + 𝛼1 𝑠 𝑛−1 + 𝛼2 𝑠 𝑛−2 + ⋯ 𝛼𝑛

=
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛

𝑌(𝑠) 𝑏0 𝑠 𝑛 + 𝑏0 𝑎1 + 𝛼1 𝑠 𝑛−1 + 𝑏0 𝑎2 + 𝛼2 𝑠 𝑛−2 + ⋯ + 𝑏0 𝑎𝑛 + 𝛼𝑛

=
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛

By identifying the numerator of both equations (the expressions highlighted in

pink) we can determine the values of 𝛼1 , 𝛼2 , … , 𝛼𝑛

𝑏1 = 𝑏0 𝑎1 + 𝛼1 𝛼1 = 𝑏1 − 𝑏0 𝑎1
𝑏2 = 𝑏0 𝑎2 + 𝛼2 𝛼2 = 𝑏2 − 𝑏0 𝑎2
⋮ ⋮ (E.2)
⋮ ⋮
𝑏𝑛 = 𝑏0 𝑎𝑛 + 𝛼𝑛 𝛼𝑛 = 𝑏𝑛 − 𝑏0 𝑎𝑛

ecam.fr 36
 we can substitute 𝛼1 , 𝛼2 , … , 𝛼𝑛 by their expressions (E.2) into the equation
(E.1), we get

𝑌(𝑠) 𝑏1 − 𝑏0 𝑎1 𝑠 𝑛−1 + 𝑏2 − 𝑏0 𝑎2 𝑠 𝑛−2 + ⋯ + 𝑏𝑛 − 𝑏0 𝑎𝑛

= 𝑏0 + (E.3)
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ +𝑎𝑛
(E.3) can be also written as follows
𝑌(𝑠) 𝑏1 − 𝑏0 𝑎1 𝑠 𝑛−1 + 𝑏2 − 𝑏0 𝑎2 𝑠 𝑛−2 + ⋯ + 𝑏𝑛 − 𝑏0 𝑎𝑛
− 𝑏0 =
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ +𝑎𝑛

𝑌 𝑠 − 𝑏0 𝑈(𝑠) 𝑏1 − 𝑏0 𝑎1 𝑠 𝑛−1 + 𝑏2 − 𝑏0 𝑎2 𝑠 𝑛−2 + ⋯ + 𝑏𝑛 − 𝑏0 𝑎𝑛

= (E.4)
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ +𝑎𝑛

Let’s suppose that

𝑌1 𝑠 = 𝑌 𝑠 − 𝑏0 𝑈(𝑠)
(E.5)
Replacing (E.5) into (E.4) we get

𝒀𝟏 𝒔 𝑏1 − 𝑏0 𝑎1 𝑠 𝑛−1 + 𝑏2 − 𝑏0 𝑎2 𝑠 𝑛−2 + ⋯ + 𝑏𝑛 − 𝑏0 𝑎𝑛
= (E.6)
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ +𝑎𝑛

ecam.fr 37
We can write the following
𝑌1 (𝑠) 𝑌1 (𝑠) 𝑊(𝑠)
= ×
𝑈(𝑠) 𝑊(𝑠) 𝑈(𝑠)
𝑊(𝑠)
Where is defined as follows
𝑈(𝑠)

𝑾 𝒔 1
= 𝑛
𝑈(𝑠) 𝑠 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛 (E.7)

𝑌1 (𝑠)
And is defined as follows
𝑊(𝑠)

𝑌1 (𝑠)
= 𝑏1 − 𝑏0 𝑎1 𝑠 𝑛−1 + 𝑏2 − 𝑏0 𝑎2 𝑠 𝑛−2 + ⋯ 𝑏𝑛 − 𝑏0 𝑎𝑛
𝑊(𝑠) (E.8)

ecam.fr 38
• From (E.7) we have
𝑠 𝑛 𝑊 𝑠 + 𝑎1 𝑠 𝑛−1 𝑊 𝑠 + ⋯ 𝑎𝑛 𝑊 𝑠 = 𝑈(𝑠)

• Applying the Laplace inverse with initial conditions equal to zeros we get

𝑤 𝑛 𝑡 + 𝑎1 𝑤 𝑛−1 𝑡 + ⋯ + 𝑎𝑛 𝑤(𝑡) = 𝑢(𝑡)

• Therefore
𝒏 𝒏−𝟏 (E.9)
𝒘 𝒕 = −𝒂𝟏 𝒘 𝒕 − ⋯ − 𝒂𝒏 𝒘 𝒕 + 𝒖(𝒕)

• Let’s consider that the state vector 𝑿 is

𝑤 𝑤
𝑤 𝑤
𝑋= 𝑤 𝑋= 𝑤
⋮ ⋮
𝑤 (𝑛−1) 𝑤 (𝑛)

ecam.fr 39
 Using (E.9) we can deduce the following
𝒏 𝒏−𝟏
𝒘 𝒕 = −𝒂𝟏 𝒘 𝒕 − ⋯ − 𝒂𝒏 𝒘 𝒕 + 𝒖(𝒕)

𝑤 𝟎 𝟏 𝟎⋯ 𝟎 𝑤 𝟎
𝑤 𝟎 𝟎 𝟏⋯ 𝟎 𝑤 𝟎
𝑤 = ⋮ ⋮ 𝟎⋱ ⋮ 𝑤 + ⋮ 𝑢
⋮ ⋮ ⋮ ⋮ 𝟎 𝟏 ⋮ 𝟎
𝑤 (𝑛) −𝒂𝒏 −𝒂𝒏−𝟏 ⋯ … −𝒂𝟏 𝑤 (𝑛−1) 𝟏

𝑩𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆
𝑨𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆

• Applying the Laplace inverse to (E.8) (the IC are equal to zeros)

𝑦1 𝑡 = 𝑏1 − 𝑏0 𝑎1 𝑤 𝑛−1 𝑡 + 𝑏2 − 𝑏0 𝑎2 𝑤 𝑛−2 𝑡 + ⋯ 𝑏𝑛 − 𝑏0 𝑎𝑛 𝑤(𝑡) (E.10)

• Applying the Laplace inverse to (E.5) and then Substituting it into (E.10)
we obtain
𝑦 𝑡 − 𝑏0 𝑢(𝑡) = 𝑏1 − 𝑏0 𝑎1 𝑤 𝑛−1 𝑡 + 𝑏2 − 𝑏0 𝑎2 𝑤 𝑛−2 𝑡 + ⋯ 𝑏𝑛 − 𝑏0 𝑎𝑛 𝑤(𝑡)

ecam.fr 40
Which can be also written as follows

𝒚 𝒕 = 𝒃𝟎 𝒖 𝒕 + 𝒃𝟏 − 𝒃𝟎 𝒂𝟏 𝒘 𝒏−𝟏 𝒕 + 𝒃𝟐 − 𝒃𝟎 𝒂𝟐 𝒘 𝒏−𝟐
𝒕 + ⋯ 𝒃𝒏 − 𝒃𝟎 𝒂𝒏 𝒘(𝒕)

𝑤
𝑤
𝑦 𝑡 = 𝒃𝒏 − 𝒃𝟎 𝒂𝒏 𝒃𝒏−𝟏 − 𝒃𝟎 𝒂𝒏−𝟏 ⋯⋯ 𝒃𝟏 − 𝒃𝟎 𝒂𝟏 𝑤 + 𝒃𝟎 𝑢(𝑡)
⋮
𝑤 (𝑛−1)

𝑫𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆
𝑪𝒄𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒂𝒃𝒍𝒆

ecam.fr 41
 APPENDIX B:
DEMONSTRATION OF THE CONTROLLABLE CANONICAL FORM
CASE OF STRICTLY PROPER TRANSFER FUNCTION

ecam.fr 42
Let’s consider the system

𝒀(𝒔) 𝒃𝟎 𝒔𝒎 + 𝒃𝟏 𝒔𝒎−𝟏 + ⋯ + 𝒃𝒎−𝟏 𝒔 + 𝒃𝒎

=
𝑼(𝒔) 𝒔𝒏 + 𝒂𝟏 𝒔𝒏−𝟏 + ⋯ + 𝒂𝒏−𝟏 𝒔 + 𝒂𝒏

We can write the following

𝑌(𝑠) 𝑌1 (𝑠) 𝑊(𝑠)
= × (A.1)
𝑈(𝑠) 𝑊(𝑠) 𝑈(𝑠)
𝑊(𝑠)
Where is defined as follows
𝑈(𝑠)

𝑾 𝒔 1
= (A.2)
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛
𝑌(𝑠)
And is defined as follows
𝑊(𝑠)
𝑌(𝑠) (A.3)
= 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚
𝑊(𝑠)

ecam.fr 43
• From (A.2) we have
𝑠 𝑛 𝑊 𝑠 + 𝑎1 𝑠 𝑛−1 𝑊 𝑠 + ⋯ 𝑎𝑛 𝑊 𝑠 = 𝑈(𝑠)

• Applying the Laplace inverse with initial conditions equal to zeros we get

𝑤 𝑛 𝑡 + 𝑎1 𝑤 𝑛−1 𝑡 + ⋯ + 𝑎𝑛 𝑤(𝑡) = 𝑢(𝑡)

• Therefore
𝒏 𝒏−𝟏 (A.4)
𝒘 𝒕 = −𝒂𝟏 𝒘 𝒕 − ⋯ − 𝒂𝒏 𝒘 𝒕 + 𝒖(𝒕)

• Let’s consider that the state vector 𝑿 is

𝑤 𝑤
𝑤 𝑤
𝑋= 𝑤 𝑋= 𝑤 (A.5)
⋮ ⋮
𝑤 (𝑛−1) 𝑤 (𝑛)

ecam.fr 44
 Using (A.4) and (A.5) then we can write
𝒘 ⋯ 𝒘 𝟎
𝟎 𝟏 𝟎
𝒘 𝟏 𝒘 𝟎
⋮ 𝟎 𝟎 𝒘
𝒘 = + 𝟎 𝒖
⋮ ⋮ 𝟎 𝟏 (A.7)
⋮ ⋮ ⋮
−𝒂𝒏 −𝒂𝒏−𝟏 ⋯ −𝒂𝟏
𝒘(𝒏) 𝒘(𝒏−𝟏) 𝟏
Using (A.3) we can write
𝑌 𝑠 = 𝑏0 𝑠 𝑚 𝑊 𝑠 + 𝑏1 𝑠 𝑚−1 𝑊 𝑠 + ⋯ + 𝑏𝑚−1 𝑠 𝑊 𝑠 + 𝑏𝑚 𝑊(𝑠) (A.8)
Case 1: If 𝑚 = 𝑛 − 1 (we treat here the stricly propoer TF, then the max that 𝑚
can take is 𝑛 − 1 then (A.8) will be equal to

• Applying the Laplace inverse to (A.8) with initial conditions equal to zeros we get
𝑑𝑤 (𝑚) (𝑡) 𝑑𝑤 (𝑚−1) (𝑡) 𝑑𝑤 𝑡
𝑦 𝑡 = 𝑏0 + 𝑏1 + ⋯ + 𝑏𝑚−1 + 𝑏𝑚 𝑤(𝑡) (A.9)
𝑑𝑡 𝑚 𝑑𝑡 𝑚−1 𝑑𝑡

ecam.fr 45
 𝑑𝑤 (𝑚) (𝑡) 𝑑𝑤 (𝑚−1) (𝑡) 𝑑𝑤 𝑡
𝑦 𝑡 = 𝑏0 + 𝑏1 + ⋯ + 𝑏𝑚−1 + 𝑏𝑚 𝑤(𝑡)
𝑑𝑡 𝑚 𝑑𝑡 𝑚−1 𝑑𝑡

• Knowing that 𝑚 = 𝑛 − 1 then we can write

𝑑𝑤 (𝑛−1) (𝑡) 𝑑𝑤 (𝑛−2) (𝑡) 𝑑𝑤 𝑡

𝑦 𝑡 = 𝑏0 + 𝑏1 + ⋯ + 𝑏𝑚−1 + 𝑏𝑚 𝑤(𝑡) (A.10)
𝑑𝑡 𝑛−1 𝑑𝑡 𝑛−2 𝑑𝑡

• Using (A.10) we can write

𝒘(𝒕)
𝒘(𝒕)
𝒚 𝒕 = 𝒃𝒎 𝒃𝒎−𝟏 ⋯ 𝒃𝟏 𝒃𝟎 ⋮ +𝟎 ×𝒖 (A.11)
⋮
𝒘(𝒏−𝟏)

ecam.fr 46
 APPENDIX C:
DEMONSTRATION OF THE CONTROLLABLE CANONICAL FORM
CASE OF A TRANSFER FUNCTION WITH A SIMPLE
NUMERATOR

ecam.fr 47
• Let’s consider the following system
𝒀(𝒔) 𝒃𝒎
𝑯 𝒔 = = 𝒏
𝑼(𝒔) 𝒔 + 𝒂𝟏 𝒔𝒏−𝟏 + ⋯ + 𝒂𝒏−𝟏 𝒔 + 𝒂𝒏

We can write the following

𝑌(𝑠) 𝑌1 (𝑠) 𝑊(𝑠)
= × (B.1)
𝑈(𝑠) 𝑊(𝑠) 𝑈(𝑠)
𝑊(𝑠)
Where is defined as follows
𝑈(𝑠)

𝑾 𝒔 1
= (B.2)
𝑈(𝑠) 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛
𝑌(𝑠)
And is defined as follows
𝑊(𝑠)
𝑌(𝑠) (B.3)
= 𝑏𝑚
𝑊(𝑠)

ecam.fr 48
• From (B.2) we have
𝑠 𝑛 𝑊 𝑠 + 𝑎1 𝑠 𝑛−1 𝑊 𝑠 + ⋯ 𝑎𝑛 𝑊 𝑠 = 𝑈(𝑠)

• Applying the Laplace inverse with initial conditions equal to zeros we get

𝑤 𝑛 𝑡 + 𝑎1 𝑤 𝑛−1 𝑡 + ⋯ + 𝑎𝑛 𝑤(𝑡) = 𝑢(𝑡)

• Therefore
𝒏 𝒏−𝟏 (B.4)
𝒘 𝒕 = −𝒂𝟏 𝒘 𝒕 − ⋯ − 𝒂𝒏 𝒘 𝒕 + 𝒖(𝒕)

• Let’s consider that the state vector 𝑿 is

𝑤 𝑤
𝑤 𝑤
𝑋= 𝑤 𝑋= 𝑤 (B.5)
⋮ ⋮
𝑤 (𝑛−1) 𝑤 (𝑛)

ecam.fr 49
 Using (B.4) and (B.5) then we can write
𝒘 ⋯ 𝒘 𝟎
𝟎 𝟏 𝟎
𝒘 𝟏 𝒘 𝟎
⋮ 𝟎 𝟎 𝒘
𝒘 = + 𝟎 𝒖
⋮ ⋮ 𝟎 𝟏 (B.7)
⋮ ⋮ ⋮
−𝒂𝒏 −𝒂𝒏−𝟏 ⋯ −𝒂𝟏
𝒘(𝒏) 𝒘(𝒏−𝟏) 𝟏
Using (B.3) we can write
𝑌 𝑠 = 𝑏𝑚 𝑊(𝑠) (B.8)
• Applying the Laplace inverse to (A.8) we get
𝑦 𝑡 = 𝑏𝑚 𝑤(𝑡)
(B.9)
𝒘
𝒘
𝒚 𝒕 = 𝒃𝒎 𝟎 ⋯ 𝟎 + 𝟎𝒖
⋮
𝒘(𝒏−𝟏)
ecam.fr 50