Transform Transfer Function to

State Space Representation

Manually
by: Kayun Chantarasathaporn
dr.kayun@gmail.com

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Basic Case
(Fixed Numerical Numerator)

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Inverse Laplace used in this task
• Getting from https://youtu.be/kCOVdSxUWzQ

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Transfer Function
𝐶(𝑠) 2
• =
𝑅(𝑠) 𝑠3 −3𝑠 2 −10𝑠+24 Order = 3

R(s) 2 C(s)
𝑠 3 − 3𝑠 2 − 10𝑠 + 24

• Find state space representation of the above transfer function.

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 How to find state space representation from
transfer function • Let
• 𝑥1 = c = y
𝐶(𝑠) 2
• = • Diff 𝑥1 =>
𝑑𝑥1
=>
𝑑𝑦
𝑅(𝑠) 𝑠3 −3𝑠2 −10𝑠+24 𝑑𝑡 𝑑𝑡
• Rewrite it as 𝑥1ሶ
• Cross multiply both sides of the transfer • Because 𝑥1 = c
function • So 𝑥1ሶ = 𝑐ሶ
(s 3 − 3s 2 − 10s + 24)C(s)=2R(s) --- (1) • 𝑥2 = 𝑥1ሶ = 𝑐ሶ
𝑑𝑥2 𝑑 2 𝑥1 𝑑2𝑦
s 3 C(s) − 3s 2 C(s) − 10sC(s) + 24C(s)=2R(s) --- (2) • Diff 𝑥2 => => =>
𝑑𝑡 𝑑𝑡 2 𝑑𝑡 2
• Rewrite it as 𝑥2ሶ
• Find the corresponding differential equation • Because 𝑥2 = 𝑐ሶ
(using inverse Laplace transform by assuming • So 𝑥2ሶ = 𝑐ሷ
all initial conditions as ZERO) • 𝑥3 = 𝑥2ሶ = 𝑐ሷ
𝑑3𝑦 𝑑2𝑦 𝑑𝑦 𝑑𝑥3 𝑑 2 𝑥2 𝑑 3 𝑥1 𝑑3𝑦
− 3 2 − 10 + 24y = 24r --- (3) • Diff 𝑥3 => 𝑑𝑡
=> 2
𝑑𝑡
=> 3
𝑑𝑡
=> 𝑑𝑡 3
𝑑𝑡 3 𝑑𝑡 𝑑𝑡
• Rewrite it as 𝑥3ሶ
• Write in another format • Because 𝑥3 = 𝑐ሷ
𝑐ഺ − 3𝑐ሷ − 10𝑐ሶ + 24𝑐 = 24𝑟 --- (4) • So 𝑥3ሶ =ഺ
𝑐
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How to find state space representation from
transfer function (cont.) • Let
• 𝑥1 = c = y
• (3) and (4) are the same. They were just written in 𝑑𝑥1 𝑑𝑦
different format. • Diff 𝑥1 => =>
𝑑𝑡 𝑑𝑡
𝑑3 𝑦 𝑑2 𝑦 𝑑𝑦 • Rewrite it as 𝑥1ሶ
𝑑𝑡 3
− 3 𝑑𝑡 2− 10 𝑑𝑡 + 24y = 24r --- (3)
• Because 𝑥1 = c
𝑐ഺ − 3𝑐ሷ − 10𝑐ሶ + 24𝑐 = 24𝑟 --- (4)
• So 𝑥1ሶ = 𝑐ሶ
• We can rewrite (4) as • 𝑥2 = 𝑥1ሶ = 𝑐ሶ
𝑐ഺ − 3𝑥3 − 10𝑥2 + 24𝑥1 = 24𝑟 --- (5) 𝑑𝑥2 𝑑 2 𝑥1 𝑑2𝑦
From above, we can notice that • Diff 𝑥2 => => =>
𝑑𝑡 𝑑𝑡 2 𝑑𝑡 2
𝑥1 = c = y • Rewrite it as 𝑥2ሶ
𝑑𝑦 • Because 𝑥2 = 𝑐ሶ
𝑥2 = 𝑐ሶ = 𝑑𝑡 • So 𝑥2ሶ = 𝑐ሷ
𝑑2𝑦
𝑥3 = 𝑐ሷ = 𝑑𝑡 2
• 𝑥3 = 𝑥2ሶ = 𝑐ሷ
𝑑𝑥3 𝑑 2 𝑥2 𝑑 3 𝑥1 𝑑3𝑦
• From (5) we can rewrite as • Diff 𝑥3 => 𝑑𝑡
=> 2
𝑑𝑡
=> 3
𝑑𝑡
=> 𝑑𝑡 3
𝑐ഺ = 3𝑥3 + 10𝑥2 − 24𝑥1 + 24𝑟 --- (6) • Rewrite it as 𝑥3ሶ
• Because 𝑥3 = 𝑐ሷ
• So 𝑥3ሶ =ഺ
𝑐
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How to find state space representation from
transfer function (cont.)
• From previous page, we can notice that
𝑥1 𝑥2 𝑥3 r
𝑥1 = c = y 𝑥ሶ 1 = 𝑥2
𝑑𝑦 𝑥ሶ 1 = 𝑐ሶ
𝑥2 = 𝑐ሶ = 𝑥ሶ 2 = 𝑥3 𝑥1ሶ 0 1 0 0
𝑑𝑡 𝑥ሶ 2 = 𝑐ሷ 𝑥3ሶ = 𝑐ഺ
𝑑2𝑦 𝑥3ሶ = 𝑐ഺ
𝑥3 = 𝑐ሷ = 2 y = 𝑥1
𝑑𝑡
𝑥2ሶ 0 0 1 0
• From (6) we can rewrite as
𝑐ഺ = 3𝑥3 + 10𝑥2 − 24𝑥1 + 24𝑟 --- (6) 𝑥3ሶ -24 10 3 24
or
𝑐ഺ = −24𝑥1 + 10𝑥2 + 3𝑥3 + 24𝑟 --- (7) y 1 0 0

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How to find state space representation from
transfer function (cont.)
𝑥1 𝑥2 𝑥3 r 𝑥1ሶ 0 1 0 𝑥1 0
• 𝑥2ሶ = 0 0 1 𝑥2 + 0 r
𝑥1ሶ 0 1 0 0 𝑥3ሶ −24 10 3 𝑥3 24

𝑥2ሶ 0 0 1 0
𝑥1
𝑥3ሶ -24 10 3 24
• y= 1 0 0 𝑥2
y 1 0 0 𝑥3

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 How to find state space representation from
transfer function (cont.)
𝑥1ሶ 0 1 0 𝑥1 0
• 𝑥2ሶ = 0 0 1 𝑥2 + 0 r Xሶ = AX + BU
𝑥3ሶ −24 10 3 𝑥3 24
𝑥1 0
• y= 1 0 0 𝑥2 𝑦 = CX + DU
𝑥3
A: system matrix 0 1 0 0
X: state vector
B: input matrix
• Xሶ = 0 0 1 X+ 0 r
U: input vector −24 10 3 24
y: output vector
C: output matrix
D: feed-forward matrix • y= 1 0 0X
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Intermediate Case
(Polynomial Equation Numerator)

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Transfer Function
𝐶(𝑠) 5𝑠+10
• =
𝑅(𝑠) 𝑠4 +2𝑠 3 +𝑠2 +5𝑠+10 Order = 4

R(s) 5𝑠 + 10 C(s)
𝑠 4 + 2𝑠 3 + 𝑠 2 + 5𝑠 + 10

• Find state space representation of the above transfer function.

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How to find state space representation from
transfer function (Polynomial Numerator)
• Separate the system to 2 cascaded blocks

R(s) C(s)
5𝑠 + 10
𝑠 4 + 2𝑠 3 + 𝑠 2 + 5𝑠 + 10

state variable F
R(s) 1
F(s) C(s)
5s+10
𝑠 4 + 2𝑠 3 + 𝑠 2 + 5𝑠 + 10

Denominator Numerator
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 How to find state space representation from transfer
function (Polynomial Numerator) • Let
• 𝑥 =f
• Getting state equation 1
• Diff 𝑥1 =>
𝑑𝑥1
<=
𝑑𝑓
𝑑𝑡 𝑑𝑡
𝐹(𝑠) 1 • Rewrite it as 𝑥1ሶ
• =
𝑅(𝑠) 𝑠 4 +2𝑠 3 +𝑠 2 +5𝑠+10 • 𝑥2 =𝑥1ሶ
• Cross multiply both sides of the transfer function • Diff 𝑥2 =>
𝑑𝑥2
𝑑𝑡
<=
𝑑2 𝑓
𝑑𝑡 2
(𝑠 4 +2𝑠 3 + 𝑠 2 + 5𝑠 + 10) 𝐹(s)=R(s) --- (1) • Rewrite it as 𝑥2ሶ
𝑠 4 𝐹(s) + 2𝑠 3 𝐹(s) + 𝑠 2 𝐹(s) + 5𝑠𝐹(s) + 10𝐹(s) =R(s) --- (2) • Because 𝑥2 = 𝑥1ሶ
• So 𝑥2ሶ = 𝑥1ሷ
• Find the corresponding differential equation (using • 𝑥3 = 𝑥2ሶ = 𝑥1ሷ
inverse Laplace transform by assuming all initial 𝑑𝑥 𝑑3 𝑓
conditions as ZERO) • Diff 𝑥3 => 3
𝑑𝑡
<= 3
𝑑𝑡
𝑑4 𝑓 𝑑3 𝑓 𝑑2 𝑓 𝑑𝑓 • Rewrite it as 𝑥3ሶ
+ 2 3 + +5 + 10f = r --- (3)
𝑑𝑡 4 𝑑𝑡 𝑑𝑡 2 𝑑𝑡 • Because 𝑥3 = 𝑥2ሶ = 𝑥1ሷ
• Write in another format • So 𝑥3ሶ =𝑥2ሷ = 𝑥ഺ1
𝑥1ሶ 4 + 2𝑥ഺ1 + 𝑥1ሷ + 5𝑥1ሶ + 10𝑥1 = 𝑟 --- (4) • 𝑥4 = 𝑥3ሶ =𝑥2ሷ = 𝑥ഺ1
𝑑4 𝑓
𝑥1ሶ 4 = −2𝑥ഺ1 − 𝑥1ሷ − 5𝑥1ሶ − 10𝑥1 + 𝑟 --- (5) • Diff 𝑥4 =>
𝑑𝑥4
<=
𝑑𝑡 𝑑𝑡 4
𝑥1ሶ 4 = −2𝑥4 − 𝑥3 − 5𝑥2 − 10𝑥1 + 𝑟 --- (6) • Rewrite it as 𝑥4ሶ
𝑥4ሶ = −2𝑥4 − 𝑥3 − 5𝑥2 − 10𝑥1 + 𝑟 --- (7) • Because 𝑥4 = 𝑥3ሶ =𝑥2ሷ = 𝑥ഺ1
• So 𝑥4ሶ =𝑥3ሷ = 𝑥ഺ2 = 𝑥131ሶ 4
How to find state space representation from transfer
function (Polynomial Numerator) (cont.)
• From previous page, we can notice that • Getting state equation
𝐹𝑟𝑜𝑚 𝑥1 …
𝑥2 =𝑥1ሶ 𝑥1 𝑥2 𝑥3 𝑥4 r
𝑥3 = 𝑥2ሶ = 𝑥1ሷ
𝑥4 = 𝑥3ሶ =𝑥2ሷ = 𝑥ഺ1 𝑥1ሶ 0 1 0 0 0
f = 𝑥1
• From (7) which is 𝑥2ሶ 0 0 1 0 0
𝑥4ሶ = −2𝑥4 − 𝑥3 − 5𝑥2 − 10𝑥1 + 𝑟 --- (7)
𝑥3ሶ 0 0 0 1 0
we can rewrite as
𝑥4ሶ = −10𝑥1 − 5𝑥2 − 𝑥3 − 2𝑥4 + 𝑟 --- (7) 𝑥4ሶ -10 -5 -1 -2 1

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How to find state space representation from transfer function
(Polynomial Numerator)
• Getting output equation
𝐶(𝑠) 5𝑠+10
• =
𝐹(𝑠) 1
• Cross multiply both sides of the transfer function
(5𝑠 + 10) 𝐹 (s) = C(s) --- (1) • Let
5𝑠𝐹(s) + 10𝐹 (s) = C(s) --- (2) • 𝑥1 = f
𝑑𝑥1 𝑑𝑓
• Find the corresponding differential equation (using inverse • Diff 𝑥1 => <=
Laplace transform by assuming all initial conditions as ZERO) 𝑑𝑡 𝑑𝑡
𝑑𝑓 • Rewrite it as 𝑥1ሶ
5 + 10f = c --- (3)
𝑑𝑡
• 𝑥2 =𝑥1ሶ
• Let substitute 'c' with 'y' as it is often use in state space
𝑑𝑓
5 𝑑𝑡 + 10f = y --- (4)
• Write in another format
5𝑥1ሶ + 10𝑥1 = 𝑦 --- (5) 𝑦 10 5 0 0
𝑦 = 5𝑥1ሶ + 10𝑥1 --- (6)
𝑦 = 5𝑥2 + 10𝑥1 --- (7)
𝑦 = 10𝑥1 + 5𝑥2 + 0𝑥3 + 0𝑥4 --- (8)
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 How to find state space representation from transfer
function (Polynomial Numerator) (cont.)
• Getting state equation
𝑥1 𝑥2 𝑥3 𝑥4 r
𝑥1ሶ 0 1 0 0 𝑥1 0
𝑥1ሶ 0 1 0 0 0 𝑥2ሶ 0 0 1 0 𝑥2 0
• = 𝑥3 + r
𝑥3ሶ 0 0 0 1 0
𝑥2ሶ 0 0 1 0 0 𝑥4ሶ −10 −5 −1 −2 𝑥4 1

𝑥3ሶ 0 0 0 1 0 • Getting output equation

𝑥1
𝑥4ሶ -10 -5 -1 -2 1 𝑥2
• y = 10 5 0 0 𝑥
3
𝑦 10 5 0 0 𝑥4

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 How to find state space representation from
transfer function (Polynomial Numerator) (cont.)

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Source: https://youtu.be/zcIFm7IbEmY
How to find state space representation from
transfer function (Polynomial Numerator) (cont.)
• Getting state equation ('u' in this case is 'r')

𝑥1ሶ 0 1 0 0 𝑥1 0
𝑥2ሶ 0 0 1 0 𝑥2 0
= 𝑥3 + r
𝑥3ሶ 0 0 0 1 0
𝑥4ሶ −10 −5 −1 −2 𝑥4 1

• Getting output equation

𝑥1
𝑥2
y = 10 5 0 0 𝑥
3
𝑥4

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Transform Transfer Function to
State Space Representation
Manually
by: Kayun Chantarasathaporn
dr.kayun@gmail.com

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