Tutorial 3 - Transfer Functions and Canonical Forms: X X X X e X X
Tutorial 3 - Transfer Functions and Canonical Forms: X X X X e X X
Tutorial 3 - Transfer Functions and Canonical Forms: X X X X e X X
2
1
-6
-5
u
2
o
x
1
2
o
x x =
1
x
y
University of Portsmouth, Department of Electronic and Computer Engineering
B307 Discrete and Modern Control Systems Design - Lecture 9/Tutorial 3
Branislav Vuksanovic
Note - Simulation diagram should contain three integrators.
4. This is not a canonical form of the state-space representation but the simulation diagram
can still be constructed, although it will be slightly more complex. Simulation diagrams of a
higher order systems can get very complex if the form of the state space representation is
not canonical.
University of Portsmouth, Department of Electronic and Computer Engineering
B307 Discrete and Modern Control Systems Design - Lecture 9/Tutorial 3
Branislav Vuksanovic
5.
a)
controller-canonical form is characterised with matrices:
0 1
2 3
=
A ,
0
1
=
B , [ ] 1 2 = C
state variable decoupled form:
1 0
0 2
=
A ,
1
1
=
B , [ ] 1 3 = C
b)
c-c form:
0 1 0
0 0 1
8 14 7
=
A ,
0
0
1
=
B ,
[ ] 8 5 0 = C
s-v-d form:
1 0 0
0 2 0
0 0 4
=
A ,
1
1
1
=
B , [ ] 1 1 2 = C
c)
c-c form:
0 1 0
0 0 1
2 5 4
=
A ,
0
0
1
=
B , [ ] 3 0 1 = C
putting the system in the state variable decoupled form is not possible since
the root s=-1 of characteristic equation 0 s = I A is of second order.