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"Control Systems Engineering": Text Book: Chapter 3 (NN 6 Ed)
"Control Systems Engineering": Text Book: Chapter 3 (NN 6 Ed)
"Control Systems Engineering": Text Book: Chapter 3 (NN 6 Ed)
1
Converting a Transfer Function to
State Space
2
Dynamic Equations Transfer Function
Y ( s) b0
n
U ( s ) s an 1s n 1 a1s a0
= x3
= x4
3
x1
x
2 State vector
x
x 3
xn 1
phase-variable form of
xn
the state equations
Y ( s) b0
n
U ( s) s an 1s n 1 a1s a0 4
Example 3.4 Converting a Transfer Function with
Constant Term in Numerator
PROBLEM: Find the state-space representation in phase-variable form
for the system shown in the figure
SOLUTION:
By cross-multiplying we get
5
Choosing the state variables as successive derivatives
x1 c
x c
2
x 3 c
x 2 (t ) x 1 (t )
7
Transfer Function with a polynomial in numerator
Order of the numerator is less than
that of the denominator
8
Transfer Function with a polynomial in numerator
9
The second transfer function may expressed as
x1 x2
or x 2 x3
10
b2
C(t)
b1
r(t) x 3 x3 x2 x1
1/a3 b0
- -- 0 1 0
a2/a3 A 0 0 1
a1/a3 a0 a3 a1 a3 a2 a3
a0/a3
0
B 0
1 / a3
C b0 b1 b2
11
Converting from State Space to a
Transfer Function
12
The state and output equations are given
as
Substituting for X(s) in Eq (2)
13
Example 3.6 State-Space Representation to Transfer
Function
SOLUTION:
The transfer function matrix
is:
14
15
Home Assignment
Convert the given transfer
function for the mechanical
translational system to the
state-space representation
in phase-variable form.
Draw equivalent block
diagram showing the phase
variables.