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 & Jordan canonical form
 Differential equation
Dynamical equation
or Transfer function

d n y (t ) d n1 y (t )
n
 1 n 1
    n y (t )  u (t )
dt dt
Y ( s) 1
 G ( s)  n
U (s) s  1 s n1   2 s n2     n

x (t )  Ax(t )  Bu (t )
y (t )  Cx(t )  Du (t )

Modern Control Systems 2

 Phase-variable canonical form

x1  y x 1  x2
x 2  x3
x2  y 

let x3  y
x n  y ( n )  1 y ( n 1)   2 y ( n  2 )     n y  u

   n x1   n 1 x2     2 xn 1  1 xn  u
xn  y ( n 1) y  x1
 x 1   0 1 0 0   x1  0
 x   0 0 1 0   x2  0
 2    u
          
      
 x n     n   n 1    1   x n  1
 x1 
x  d n y (t ) d n1 y (t )
y  1 0  0 2  n
 1 n 1
    n y (t )  u (t )
  dt dt
 
 xn 
Modern Control Systems 3
 y ( n 1) (0) y ( n  3 ) ( 0) y (0)
y ( n 1)  xn

u (t ) y (n ) y   x2 y  x1
∫ ∫ ∫ … ∫
＋
＋
y ( n  2)  xn 1
 1

2

n

Modern Control Systems 4

 xn (0) x1 (0)
s s

1 x n 1 1 1 1
u 1 x n
s
x
s n2 s
x 1  x2
s 1 y
 x1
 1
2

3

  n 1

n
x 1 (t )  x2 (t )  sX 1 ( s )  x1 (0)  X 2 ( s)
1 x1 (0)
 X 1 ( s)  s X 2 ( s) 
s
Modern Control Systems 5
Example 1 d3y d 2 y dy
3
 5 2   2y  u
dt dt dt

x1  y  x 1   0 1 0   x1  0
 x    0   x   0  u
let x2  x 1  y    2 0 1  2   
x3  x 2  y  x 3   2  1  5  x3  1

x3 (0) x 2 ( 0) x1 (0)
s s s

1 1 1
x2 x1
u 1 x 3
s
x3
s s 1 y

5
1
2
Modern Control Systems 6
 controllable canonical form

y
Y ( s) 1s n 1   2 s n  2     n v
 G ( s)  n
U ( s) s  1s n 1   2 s n  2     n
v
u
v 1
 n v n  1v n 1   2 v n  2     n  u
u s  1s n 1   2 s n  2     n

y
 1s n 1   2 s n  2     n y  1v n 1   2 v n  2     n
v

Modern Control Systems 7

 d d 1
dt dt
…

 ＋

d
 n 1
dt
u (t ) v (n ) v  x2 v  x1
∫ ∫ ∫ … ∫ n
＋
＋
 1

2

n

Modern Control Systems 8

 x1c  v x 1c  x2c
x2 c  v  x 2c  x3c
let x3c  v 
 x nc   n x1c   n 1 x2 c    1 xnc  u
xnc  v ( n 1) y   n x1c   n 1 x2c    1 xnc

 x 1c   0 1 0 0   x1c  0
 x   0 0 1 0   x2 c  0
 2c     u
           
      
 x nc     n   n 1   1   xnc  1
 x1c 
x 
Y ( s) 1s n 1   2 s n  2     n
y   n  n 1  1  2 c   G ( s)  n
  U (s) s  1s n 1   2 s n  2     n
 
 xnc 

Modern Control Systems 9

 1
2

 n 1

xnc x( n 1) c
u (t ) y (n )
x1c y
x2 c
∫ ∫ ∫ … ∫ n +
＋
＋

 1

2

n

Modern Control Systems 10

Example 2

4s 3  25s 2  45s  34 s 2  5s  2
G ( s)  3 2
 2 3
2s  12s  20s  16 2 s  12s 2  20s  16

Answer 2

 x 1   0 1 0   x1  0
 x    0 0 1   x    0  u (t )
   2    
2

 x 3   8  10  6  x3  1

 x1 
 
y  1 2.5 0.5 x2   2u (t )
 x3 
Modern Control Systems 11
 observable canonical form

Y (s) 1s n 1   2 s n  2     n
 G( s)  n n 1 n2
 0
U (s) s  1s   2 s     n
1s 1   2 s 2     n s  n
 1 2 n
 0
1  1s   2 s     n s

y  1s 1 y   2 s 2 y     n s  n y  1s 1u   2 s 2u     n s  nu   0u

x 1o   n xno   nu
x 2o  x1o   n 1 xno   n 1u
x 3o  x2 o   n  2 xno   n  2u

x nc  x( n 1) o  1 xno  1u
y  xno   nu
Modern Control Systems 12
u (t )

n  n 1 … 1 0

y (t )
y (n ) x1o x2 o xno
+ ∫ + ∫ … + ∫ +

2 n
 1 …

Modern Control Systems 13

 Y (s) 1s n 1   2 s n  2     n
 G( s)  n n 1 n2
 0
U ( s) s  1s   2 s     n

 x 1o  0 0 0   n   x1o    n 
 x  1 0 0   n 1   x2 o    n 1 
 2o     u
   1        
      
 x no  0 0   1   xno   1 
 x1c 
x 
y  0 0  1 2 c    0u
 
 
 xnc 
Modern Control Systems 14
Example 3

4s 3  25s 2  45s  34 s 2  5s  2
G ( s)  3 2
 2 3
2s  12s  20s  16 2 s  12s 2  20s  16

 x 1  0 0  8   x1   1 
 x   1 0  10  x   2.5u (t )
 2   2   
 x 3  0 1  6   x3  0.5
 x1 
y  0 0 1 x2   2u (t )
 x3 
Remark T
A0  Ac
T
B0  Cc
T
C0  Bc Modern Control Systems 15
 Diagonal & Jordan canonical form

e1 e2 en
G(s)   
s  1 s  2 s  n

 x 1  1 0 0 0   x1   b1 
 x   0 2 0 0   x2  b2 
 2    u
    0        
ei  bi ci       
 x n   0 0  n   xn  bn 
 x1 
x 
y  c1 c2  cn  2 
 
 
 xn 
Modern Control Systems 16
 b1 +  c1

1

u (t ) b2 +  c2
y (t )

2 +


bn +  cn

n

Modern Control Systems 17

  x 1  1 1 0   x1  0
 x   0 1 1 0   x  0 
 2   2   
 x 3   0 0 1   x3  1
 x   2 1   x  0 
 4     4    u
 x 5   0 2   x5  1
 x 6   0 3   x6  1
      
      
       
e11 e12 e13 e21 e22 e3
G ( s)      
( s  1 ) 3 ( s  1 ) 2 ( s  1 ) ( s  2 ) 2 ( s  2 ) s  3 x1 
x  Jordan block
 2
 x3 
x 
y  e11 e12 e13 e21 e22 e3  4 
 x5 
 x6 
 
 
Modern Control Systems    18
Example 4
1 0 1 0.5 0.5
G ( s)  3
 2
  
( s  1) ( s  1) ( s  1) s s  2

 x 1   1 1 0   x1  0
 x   0  1 1 0   x  0 
 2   2   
 x 3   0 0 1   x3  1
 x    0   x   1  u
 4   4   
 x 5   0  2  x5  1
      
      
      
 x1 
x 
 2
 x3 
y   1 0  1 0.5 0.5 x4 
 
 x5 
 
Modern Control Systems 19
 
 