Conversion Between State Space and Transfer Function Representations in Linear Systems - I

Lecture 9
Conversion Between State Space and

Transfer Function Representations in
Linear Systems I
Dr. Radhakant Padhi
Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
ADVANCED CONTROL SYSTEM DESIGN
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
2
St at e Spac e Repr esent at i on
(noi se f r ee l i near syst ems)
z State Space form
z Transfer Function form
A
- System matrix- n x n
- Input matrix- n x m
- Output matrix- p x n
- Feed forward matrix p x m
B
C
D
X AX BU
Y CX DU
= +
= +
`
Q: Is conversion between
the two forms possible?
A: Yes.
3
Der i vi ng Tr ansf er Func t i on Model
Fr om Li near St at e Spac e Model
z Known:
z Taking Laplace transform (with zero initial conditions)
X AX BU
Y CX DU
= +
= +
`
( ) ( ) ( )
( ) ( ) ( )
sX s AX s BU s
Y s CX s DU s
= +
= +
4
Der i vi ng Tr ansf er f unc t i ons f r om
St at e Spac e Desc r i pt i on
z The state equation can be placed in the form
z Pre-multiplying both sides by
z Substituting for X (s) in the output equation,
1
) (

A sI
1
Transfer Function Matrix ( )
( ) ( ) ( )
T s
Y s C sI A B D U s

= +

_
) ( ) ( ) ( s BU s X A sI =
) ( ) ( ) (
1
s BU A sI s X

=
5
Ex ampl e
z State space model
z Using the expression for derived transfer function
[ ]
[ ]
1 1
2 2
1
2
0 1 0
2 3 1
1 0 0
B
A
C D
x x
u
x x
x
y u
x

= +

= +

`
`
_
) 2 )( 1 (
1
2 3
1
) (
) (
2
+ +
=
+ +
=
s s s s s U
s Y
6
Ex ampl e: Det ai l Al gebr a
( ) ( )
[ ] [ ]
[ ]
[ ]
( )
[ ]
1
1
1
2 2
0 0 1 0
1 0 0
0 2 3 1
1 0
1 0
2 3 1
3 1 0
1
1 0
2 1 3 2
1
1 1
1 0
3 2 3 2
T s C sI A B D
s
s
s
s
s
s s s
s s s s s
= +

= +

=

+

+

=

+ +

= =

+ + + +

7
Der i vi ng St at e Spac e Model
Fr om Tr ansf er Func t i on Model
z The process of converting transfer function to state
space form is NOT unique. There are various
realizations possible.
z All realizations are equivalent (i.e. properties do not
change). However, one representation may have some
advantages over others for a particular task.
z Possible representations:
First companion form (controllable canonical form)
Jordan canonical form
Alternate first companion form (Toeplitz first companion form)
Second companion form (observable canonical form)
8
Fi r st Compani on For m: SI SO Case
(Cont r ol l abl e c anoni c al f or m)
( ) ( )
1
1 1
1
1 1
1
1
1
( ) 1
( )
( )
n n
n n
n n
n n
n n
n
n n
y s
H s
u s s a s a s a
y a y a y a y u
d y d y
a a y u
dt dt

= =

+ + + +

+ + + + =
+ + + =

9
1 1
2
2
2
2
1
1
Choose output ( ) and its ( 1) derivatives as
differentiating

n
n
n
n
n
n
y t n
dy
x x y
dt
dy
x d y
x
dt
dt
d y
x d y
x
dt
dt

= =

=

=

=

=

`
`
.
.
`
10
[ ]
1 1
2 2
3 3
1 1
1 2 1
1
2
3
1
0 1 0 0 0 0 0 0
0 0 1 0 0 0 0 0
0 0 0 1 0 0 0 0
0
0 0 0 0 0 0 0 1 0
1
1 0 0 0
n n
n n n n n
n
x x
x x
x x
u
x x
x a a a a x
x
x
x
y
x
x

= +

=
`
`
`
. . . . . . . . . .
`
`

.
[ ]
0
n
u

+

11
n integrators
(Cont r ol l abl e c anoni c al f or m): Bl oc k Di agr am
12
Ex ampl e:
(Const ant i n t he Numer at or )
2
3 2
( ) 7 2
( )
( ) 9 26 24
C s s s
T s
R s s s s
+ +
= =
+ + +
3 2
1 2 3
1 2
2 3
3 1 2 3
1
( 9 26 24) ( ) 24 ( )
with zero initial conditions
9 26 24 24
Let , ,
24 26 9 24
s s s C s R s
c c c c r
x c x c x c
x x
x x
x x x x r
y c x
+ + + =
+ + + =
=
=
= +
= =
``` `` `
` `` = = =
`
`
`
3 integrators
13
Ex ampl e:
(Pol ynomi al i n t he Numer at or )
3 2
1
1 2
2 3
3 1 2 3
2
1
3 2 1
For the block containing denominator
( 9 26 24) ( ) 24 ( )
24 26 9
For Numerator Block
( ) ( 7 2) ( )
Taking inverse Laplace transform
7 2
s s s X s R s
x x
x x
x x x x r
C s s s X s
y x x x
+ + + =
=
=
= +
= + +
= + +
`
`
`
14
Ex ampl e Wi t h A Pol ynomi al I n
The Numer at or
3 integrators
15
Syst ems Havi ng Si ngl e I nput but
Mul t i pl e Out put s
Generalization of the concepts discussed to
this case is straight forward:
A and B matrices remain same
C and D matrices get modified
16
Ex ampl e
1
1
2
2
2
2
( ) 2 3
( ) and
( ) 3 4 5
( ) 3 2
( )
( ) 3 4 5
y s s
H s
u s s s
y s s
H s
u s s s
+
= =
+ +
+
= =
+ +
( )
1 1
1
2
( ) ( ) ( ) 1
( ) 2 3
( ) ( ) ( ) 3 4 5
y s y s z s
H s s
u s u s z s s s

= = = +

+ +

17
Ex ampl e c ont d.
u
x
x
x
x
3 1
0
3 4 3 5
1 0
2
1
2
1
`
`
[ ] [ ]u
x
x
y
x x z z y
0 2 3
3 2 3 2
2
1
1
1 2 1
+
=
+ = + = `
1 2
4 5 1
Define ,
3 3 3
z z z u x z x z + + = `` ` ` = =
18
Ex ampl e c ont d.
( )
2
2
2
( ) ( ) 1
( ) 3 2
( ) ( ) 3 4 5
y s z s
H s s
u s z s s s

= = +

+ +

[ ] [ ]
2 2 1
1
2
2
and are the same
3 2 3 2
2 3 0
A B
y z z x x
x
y u
x
= + = +

= +

`
Note: Block diagram representation is fairly straight forward.
The realization requires n integrators.
19
J or dan Canoni c al For m
(Non-r epeat ed r oot s)
[ ]
1 2
0
1 2
0
1
0
( )
( )
( )
All the poles of the transfer function are distinct, i.e. no repeated poles
' s are called "residues" of the reduced transfer function ( )
( )
( ) ( )
n
n
i
r r r y s
H s d
u s s s s
r H s b
ru s
y s d u s

= = + + + +

= +
2
1 2
1
1
1 1 1 1
1
( ) ( )
Let
( )
( )
( )
( )
n
n
n
n
n n n n
n
r u s r u s
s s s
ru s
x s
x x ru
s
r u s
x s
x x r u
s

+ + +

=
=

=
=

`
.
.
.
`
20
[ ] [ ]
1 1 1 1
2 2 2 2
1
2
0
0 0
0 0
0 0
0 0
1 1 1
n n n n
n
x x r
x x r
u
x x r
x
x
y d u
x

= +

= +

`

`

. . . .
`

.
21
(Non-r epeat ed r oot s): Bl oc k Di agr am
22
J or dan Canoni c al For m: Ex ampl e
Given
By partial fraction,
Define two transfer functions
( ) 1
( ) ( 1)( 2)
y s
u s s s
=
+ +
1 1
( ) ( )
1 2
y s u s
s s

=

+ +

1 2
1 1
( ) ( ) , ( ) ( )
1 2
x s u s x s u s
s s
= =
+ +
23
This leads to
Differential equations corresponding to the x
1
, x
2
Output Equation
1 1
2 2
2
x u x
x u x
=
=
`
`
2 1
x x y =
1 2
( ) ( )( 1), ( ) ( )( 2) u s x s s u s x s s = + = +
1 1
2 2
1 0 1
0 2 1
B
A
x x
u
x x

= +

`
`
_
[ ]
1
2
1 1
x
y
x

=

24
Repeat ed Root s
( )
3
2
1 1 1 2
3
2 2 2 3
3 3 3
Following the same procedure
( ) 2
( )
( )
3
Let
( )
( ) 3
3
( )
( ) 3
3
( )
( ) 3
3
y s
H s
u s
s
x s
x s x x x
s
x s
x s x x x
s
u s
x s x x u
s
= =
= =
= =
= =
`
`
`
25
Repeat ed Root s
z Output Equation
z Finally
( )
( ) ( ) ( )
( ) ( ) ( )
3
3
( )
3 2
1
2 1 1 ( )
( ) ( ) 2
3 3 3
3
( ) ( ) 1
2 2 2 ( )
3 3 3
x s
u s
y s u s
s s s
s
x s x s
x s
s s s

= =

= = =

_

[ ] [ ]
1 1
2 2
3 3
3 1 0 0
0 3 1 0
0 0 3 1
2 0 0 0
X B
X A
D
C
x x
x x u
x x
y X u

= +

= +
`
`
`
`
_
_
26
J or dan Canoni c al For m:
What i f c ompl ex c onj ugat e r oot s?
( ) ( )
( )
( )
1,2
2 2 2
Roots always exist in complex conjugate pairs!
2
2
j j
H
s j s j
s
s s

+
= +
+ + +
+

=
+ + +
( )
( )
1
1
2 2
2
2
1
1,2
2
First companion form:
0 1
0
2 1
2 2
x x
u
x x
x
y
x

= +

+

=

`
`
The system can be realized
partially in other forms
(like First companion form)
27
28

Conversion Between State Space and Transfer Function Representations in Linear Systems - I

Încărcat de

Informații document

Descriere originală:

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Conversion Between State Space and Transfer Function Representations in Linear Systems - I

Încărcat de

Drepturi de autor:

Formate disponibile

Lecture 9

Conversion Between State Space and

ADVANCED CONTROL SYSTEM DESIGN

S-ar putea să vă placă și