Lecture 4 Modeling (iii) canonical forms

4.1 Phase-variable canonical form

4.2 Controllable canonical form
4.3 Observable canonical form
4.4 Diagonal & J ordan canonical form
Modern Control Systems 2
Dynamical equation
Differential equation
or Transfer function
n
n n n
s s s
s G
s U
s Y
o o o + + + +
= =

2
2
1
1
1
) (
) (
) (
) ( ) (
) ( ) (
1
1
1
t u t y
dt
t y d
dt
t y d
n
n
n
n
n
= + + +

o o
) ( ) ( ) (
) ( ) ( ) (
t Du t Cx t y
t Bu t Ax t x
+ =
+ =
Modern Control Systems 3
Phase-variable canonical form
) 1 (
3
2
1

=
' '
=
'
=
=
n
n
y x
y x
y x
y x
let

1
1 1 2 2 1 1
) 2 (
2
) 1 (
1
) (
3 2
2 1
x y
u x x x x
u y y y y x
x x
x x
n n n n
n
n n n
n
=
+ =
+ = =
=
=


o o o o
o o o

| |
(
(
(
(

=
(
(
(
(

+
(
(
(
(

(
(
(
(

=
(
(
(
(

n
n n n n
x
x
x
y
u
x
x
x
x
x
x

2
1
2
1
1 1
2
1
0 0 1
1
0
0
0 1 0 0
0 0 1 0
o o o
) ( ) (
) ( ) (
1
1
1
t u t y
dt
t y d
dt
t y d
n
n
n
n
n
= + + +

o o
Modern Control Systems 4

1
o
2
o
n
o
1
x y =
2
x y = '
n
n
x y =
) 1 (
) ( n
y
1
) 2 (

=
n
n
x y

) (t u


) 0 ( y
) 0 (
) 1 ( n
y
) 0 (
) 3 ( n
y
Modern Control Systems 5
y
u
s
1
s
1
s
1
s
1
1 1
1
o
2
o
3
o
1

n
o
n
o

1
x
2 1
x x =
s
x ) 0 (
1
n
x
1 n
x
s
x
n
) 0 (
2 n
x
s
x
s X s s X
s X x s sX t x t x
) 0 (
) ( ) (
) ( ) 0 ( ) ( ) ( ) (
1
2
1
1
2 1 1 2 1
+ =
= =

Modern Control Systems 6

Example 1
u
x
x
x
x
x
x
(
(
(

+
(
(
(

(
(
(

=
(
(
(

1
0
0
5 1 2
1 0 0
0 1 0
3
2
1
3
2
1

u y
dt
dy
dt
y d
dt
y d
= + + + 2 5
2
2
3
3
y x x
y x x
y x
let
' '
= =
'
= =
=
2 3
1 2
1

y
u
s
1
s
1
1 1
5
1
3
x
s
x ) 0 (
2
1
x
s
x ) 0 (
1
2
x
s
1
2
3
x
s
x ) 0 (
3
Modern Control Systems 7
controllable canonical form
n
n n n
n
n n
s s s
s s
s G
s U
s Y
o o o
| | |
+ + + +
+ + +
= =

2
2
1
1
2
2
1
1
) (
) (
) (
v
y
u
v
n
n n n
s s s u
v
o o o + + + +
=

2
2
1
1
1
n
n n
s s
v
y
| | | + + + =

2
2
1
1
u v v v
n
n n n
= + + + +

o o o
2
2
1
1
n
n n
v v y | | | + + + =

2
2
1
1
Modern Control Systems 8

1
o
2
o
n
o
1
x v =
2
x v = '
) (n
v

) (t u


n
|
1 n
|
1
|
dt
d
dt
d
dt
d

Modern Control Systems 9
) 1 (
3
2
1

=
' '
=
'
=
=
n
nc
c
c
c
v x
v x
v x
v x
let

nc c n c n
nc c n c n nc
c c
c c
x x x y
u x x x x
x x
x x
1 2 1 1
1 2 1 1
3 2
2 1
| | |
o o o
+ + + =
+ =
=
=

| |
(
(
(
(

=
(
(
(
(

+
(
(
(
(

(
(
(
(

=
(
(
(
(

nc
c
c
n n
nc
c
c
n n nc
c
c
x
x
x
y
u
x
x
x
x
x
x

2
1
1 1
2
1
1 1
2
1
1
0
0
0 1 0 0
0 0 1 0
| | |
o o o
n
n n n
n
n n
s s s
s s
s G
s U
s Y
o o o
| | |
+ + + +
+ + +
= =

2
2
1
1
2
2
1
1
) (
) (
) (
Modern Control Systems 10

1
o
2
o
n
o
c
x
1
c
x
2
nc
x
) ( n
y

) (t u


n
|
y
c n
x
) 1 (
1 n
|
+
1
|
2
|

Modern Control Systems 11

Example 2
16 20 12 2
2 5
2
16 20 12 2
34 45 25 4
) (
2 3
2
2 3
2 3
+ + +
+ +
+ =
+ + +
+ + +
=
s s s
s s
s s s
s s s
s G
| | ) ( 2 5 . 0 5 . 2 1
) (
1
0
0
6 10 8
1 0 0
0 1 0
3
2
1
3
2
1
3
2
1
t u
x
x
x
y
t u
x
x
x
x
x
x
+
(
(
(

=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

Answer 2
Modern Control Systems 12
observable canonical form
0
2
2
1
1
2
2
1
1
) (
) (
) (
|
o o o
| | |
+
+ + + +
+ + +
= =


n
n n n
n
n n
s s s
s s
s G
s U
s Y

0
2
2
1
1
2
2
1
1
1
|
o o o
| | |
+
+ + + +
+ + +
=


n
n
n
n
s s s
s s s

u u s u s u s y s y s y s y
n
n
n
n 0
2
2
1
1
2
2
1
1
| | | | o o o + + + + + =


u x y
u x x x
u x x x
u x x x
u x x
n no
no o n nc
n no n o o
n no n o o
n no n o
|
| o
| o
| o
| o
+ =
+ =
+ =
+ =
+ =

1 1 ) 1 (
2 2 2 3
1 1 1 2
1

Modern Control Systems 13

1
o 2
o n
o
+
no
x
) ( n
y

) (t u
n
|
+ +
+
1 n
|
1
| 0
|


o
x
1 o
x
2
) (t y
Modern Control Systems 14
| | u
x
x
x
y
u
x
x
x
x
x
x
nc
c
c
n
n
no
o
o
n
n
no
o
o
0
2
1
1
1 2
1
1
1 2
1
1 0 0
0 0
1
0 0 1
0 0 0
|
|
|
|
o
o
o
+
(
(
(
(

=
(
(
(
(

+
(
(
(
(

(
(
(
(

=
(
(
(
(

0
2
2
1
1
2
2
1
1
) (
) (
) (
|
o o o
| | |
+
+ + + +
+ + +
= =


n
n n n
n
n n
s s s
s s
s G
s U
s Y

Modern Control Systems 15

16 20 12 2
2 5
2
16 20 12 2
34 45 25 4
) (
2 3
2
2 3
2 3
+ + +
+ +
+ =
+ + +
+ + +
=
s s s
s s
s s s
s s s
s G
Example 3
| | ) ( 2 1 0 0
) (
5 . 0
5 . 2
1
6 1 0
10 0 1
8 0 0
3
2
1
3
2
1
3
2
1
t u
x
x
x
y
t u
x
x
x
x
x
x
+
(
(
(

=
(
(
(

+
(
(
(

(
(
(

=
(
(
(

Remark
T
c
T
c
T
c
B C
C B
A A
=
=
=
0
0
0
Modern Control Systems 16
Diagonal & Jordan canonical form
n
n
s
e
s
e
s
e
s G

+ +

=
2
2
1
1
) (
| |
(
(
(
(

=
(
(
(
(

+
(
(
(
(

(
(
(
(

=
(
(
(
(

n
n
n n n n
x
x
x
c c c y
u
b
b
b
x
x
x
x
x
x

2
1
2 1
2
1
2
1
2
1
2
1
0 0
0
0 0 0
0 0 0

i i i
c b e =
Modern Control Systems 17
1

}
1
c
1
b
+
2

}
2
c
2
b
+
n

}
n
c
n
b
+
+

) (t u
) (t y
Modern Control Systems 18
| |
(
(
(
(
(
(
(
(
(
(

=
(
(
(
(
(
(
(
(
(
(

+
(
(
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
(
(

=
(
(
(
(
(
(
(
(
(
(

6
5
4
3
2
1
3 22 21 13 12 11
6
5
4
3
2
1
3
2
2
1
1
1
6
5
4
3
2
1
1
1
0
1
0
0
0
0
1
0
0 0
1 0
0 1
x
x
x
x
x
x
e e e e e e y
u
x
x
x
x
x
x
x
x
x
x
x
x

Jordan block
3
3
2
22
2
2
21
1
13
2
1
12
3
1
11
) ( ) ( ) ( ) ( ) (
) (

+

=
s
e
s
e
s
e
s
e
s
e
s
e
s G
Modern Control Systems 19
2
5 . 0 5 . 0
) 1 (
1
) 1 (
0
) 1 (
1
) (
2 3
+
+ +
+

+
+
+
+

=
s s s s s
s G
Example 4
| |
(
(
(
(
(
(
(
(

=
(
(
(
(
(
(
(
(

+
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(

=
(
(
(
(
(
(
(
(

5
4
3
2
1
5
4
3
2
1
5
4
3
2
1
5 . 0 5 . 0 1 0 1
1
1
1
0
0
2 0
0
0
1 0 0
1 1 0
0 1 1
x
x
x
x
x
y
u
x
x
x
x
x
x
x
x
x
x