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Conversion Between State Space and Transfer Function PDF
Conversion Between State Space and Transfer Function PDF
X = AX + BU
A
B
- System matrix- n x n
Y = CX + DU
- Output matrix- p x n
- Input matrix- n x m
Q: Is conversion between
the two forms possible?
A: Yes.
Known:
X = AX + BU
Y = CX + DU
sX ( s ) = AX ( s ) + BU ( s )
Y ( s ) = CX ( s ) + DU ( s )
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
( sI A) X ( s ) = BU ( s )
z
( sI A) 1
1
X ( s ) = ( sI A) BU ( s )
z
Y ( s ) = C ( sI A) B + D U ( s )
Example
z
x1 0 1 x1 0
x = 2 3 x + 1 u
2
2 N
A
x1
y = [1 0] + [ 0] u
N x2 N
C
D
z
Y (s)
1
1
= 2
=
U ( s ) s + 3s + 2 ( s + 1)( s + 2)
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
s 0 0 1 0
= [1 0]
+ [ 0]
0 s 2 3 1
1
s 1 0
= [1 0]
1
+
2
3
s
s + 3 1 0
1
= [1 0]
1
2
s
+
+
s
s
3
2
(
)
1
1
1
= 2
=
1
0
[ ] 2
s + 3s + 2
s s + 3s + 2
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Possible representations:
y(s)
1
= n
H (s) =
n 1
+ " + a n 1 s + a n
u ( s ) s + a1 s
y
(n )
+ a1 y
( n 1)
+ " + a n 1 y + a n y = u
dny
d n 1 y
+ a1
+
n
n 1
dt
dt
"
+ an y = u
dy
x2 =
dt
d n 1 y
xn = dt n 1
dy
x1 = dt
2
x = d y
differentiating 2 dt 2
dn y
xn = n
dt
=
# #
xn 1 0
xn an
1
0
0
#
0
an 1
0
0 0
1
0 0
0
1 0
#
#
#
0
0 0
an 2 " "
0 x1 0
" 0
0 x2 0
" 0
0 x3 0
" 0
+ u
#
#
# # 0
0 0
1 xn 1 0
" " a1 xn 1
x1
x
2
x3
y = [1 0 0 " " 0 ]
+ [0]u
#
xn 1
xn
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
10
n integrators
11
Example:
C (s)
s + 7s + 2
T (s) =
= 3
2
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 1 = x 2
x 2 = x 3
x 2 c ,
x 3 c
x 3 = 2 4 x 1 2 6 x 2 9 x 3 + 2 4 r
y = c = x1
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
12
Example:
13
14
15
Example
y1 ( s )
2s + 3
and
= H1 ( s ) = 2
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
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
16
Example contd.
4
5
1
z + z + z = u
3
3
3
Define x1 z , x2 z
1
x 0
x = 5 3 4
1
x 0
+ u
3 x 1 3
1
y = 2 z + 3 z = 2 x + 3 x
1
x
y = [3 2] + [0] u
x
1
17
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.
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
18
r
r
r
y(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 ]
y (s) = d 0u (s) +
r u (s)
r1u ( s ) r2 u ( s )
+
+ " + n
s 1 s 2
s n
Let
r1u ( s )
x
(
s
)
=
1
s 1
r
u
(
s
)
x (s) = n
s n
x1 1 x1 = r1u
xn n xn = rn u
19
x1 1
x 0
2 =
# 0
xn 0
2
0
0
y = [1 1 "
" 0 x1 r1
" 0 x2 r2
+
u
% # # #
" n xn rn
x1
x
1] 2 + [ d 0 ] u
#
xn
20
21
Given
By partial fraction,
y( s)
1
=
u ( s ) ( s + 1)( s + 2)
1
1
y(s) =
u (s)
s +1 s + 2
1
x1 ( s ) =
u (s) ,
s +1
1
x2 ( s ) =
u ( s)
s+2
22
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
x2 = u 2 x2
Output Equation
y = x1 x2
x1 1 0 x1 1
x = 0 2 x + 1 u
2
2 N
A
x1
y = [1 1]
x2
23
y(s)
2
=
u ( s ) ( s 3 )3
Let
x2 ( s )
x1 ( s ) =
s 3
x3 ( s )
x2 ( s ) =
s 3
u (s)
x3 ( s ) =
s 3
x1 3 x1 = x2
x2 3 x2 = x3
x3 3 x3 = u
24
1
1 u (s)
y(s) =
u (s) = 2
s
3
s
3
s
3
( ) ( ) (
)
( s 3)
Output Equation
x3 ( s )
=2
z
Finally
x3 ( s )
x (s)
1
=2 2
= 2 x1 ( s )
( s 3) ( s 3) ( s 3)
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
y = [ 2 0 0] X + [ 0] u
N
25
+ j
j
+
s + ( j ) s + ( + j )
2 s + ( )
s 2 + 2 s + ( 2 + 2 )
x1
2
x2
26
27
28