Transfer Function to State Space

and vice versa

Zain Shami
Deriving Transfer Function Model from
State Space Model
• We know that
𝑋 = 𝐴𝑋 + 𝐵𝑈
𝑌 = 𝐶𝑋 + 𝐷𝑈
• Taking Laplace transform of the state equation
we get
𝑠𝑋(𝑠) = 𝐴𝑋(𝑠) + 𝐵𝑈(𝑠)
• Rearranging we get
𝑠𝑋(𝑠) − 𝐴𝑋(𝑠) = 𝐵𝑈(𝑠)
(𝑠𝐼 − 𝐴)𝑋(𝑠) = 𝐵𝑈(𝑠)
𝑋(𝑠) = 𝑠𝐼 − 𝐴 −1 𝐵𝑈(𝑠)
Deriving Transfer Function Model from
State Space Model (Continued)
• Substitution 𝑋(𝑠) = 𝑠𝐼 − 𝐴 −1 𝐵𝑈(𝑠) in
output equation we get
𝑌 𝑠 = [𝐶 𝑠𝐼 − 𝐴 −1 𝐵 + 𝐷]𝑈(𝑠)
𝑇 𝑠 = [𝐶 𝑠𝐼 − 𝐴 −1 𝐵 + 𝐷]
 Example no. 1
𝑥1 0 1 𝑥1 0
= + 𝑢
𝑥2 −2 −3 𝑥2 1
𝑥1
𝑦 = [1 0] 𝑥 + 0 𝑢
2
• 𝑇 𝑠 = [𝐶 𝑠𝐼 − 𝐴 −1 𝐵 + 𝐷]
𝑠 0 0 1 −1 0
• = 1 0( − ) +0
0 𝑠 −2 −3 1
𝑠 −1 −1 0
• = 1 0( ) +0
2 𝑠+3 1
1 𝑠+3 1 0
• = 1 0( ) +0
𝑠 𝑠+3 +2 −2 𝑠 1
1 1 1
• = 2 1 0 = 2
𝑠 +3𝑠+2 𝑠 𝑠 +3𝑠+2
 Example no. 2
• Find the transfer function T(s)=Y(s)/U(s)
 Example no. 3
• Find the transfer function T(s)=Y(s)/U(s)
 Deriving State Space Model from
Transfer Function Model
𝑦(𝑠) 1
• 𝐻 𝑠 = = 𝑛 𝑛−1
𝑢(𝑠) 𝑠 +𝑎𝑠 +⋯+𝑎𝑛−1 𝑠+𝑎𝑛
• 𝑦 (𝑛) + 𝑎1 𝑦 (𝑛−1) + ⋯ + 𝑎𝑛−1 𝑦 + 𝑎𝑛 𝑦 =𝑢
𝑑𝑛𝑦 𝑑 𝑛−1 𝑦
• + 𝑎1 𝑛−1 + ⋯ + 𝑎𝑛 𝑦 = 𝑢
𝑑𝑡 𝑛 𝑑𝑡
• 𝑥1 = 𝑦, 𝑥2 = 𝑦 = 𝑥1 , 𝑥3 = 𝑦 = 𝑥2 , ……….
 Example no. 1
• Convert the following transfer function model
into state space model
 Example no. 2
• Convert the following transfer function model
into state space model
 Example no. 3
• Convert the following transfer function model
into state space model