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%% %%homework #3 %modal Canonical Form

The document contains 4 sections that provide state-space representations of systems in different canonical forms: 1) A modal canonical form system with 4 states. 2) A cascade form system with 4 states. 3) An observer form system with 4 states. 4) A controller form system with 4 states.

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Carlos Ramírez
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14 views

%% %%homework #3 %modal Canonical Form

The document contains 4 sections that provide state-space representations of systems in different canonical forms: 1) A modal canonical form system with 4 states. 2) A cascade form system with 4 states. 3) An observer form system with 4 states. 4) A controller form system with 4 states.

Uploaded by

Carlos Ramírez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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%%

%%Homework #3
%Modal Canonical Form
clear all
clc
Am=[-2 0 0 0;0 -4 0 0;0 0 0 1;0 0 -25 0]
Bm=[1;1;0;1]
Cm=[-(1/58) -(3/82) 0.819 0.0538]
Dm=[0]
Gm=ss(Am,Bm,Cm,Dm)
%%
%Cascade Form
Ac=[5i (1-5i) -1 1;0 -5i -1 1;0 0 -4 1;0 0 0 -2]
Bc=[0;0;0;1]
Cc=[1 0 0 0]
Dc=[0]
Gc=ss(Ac,Bc,Cc,Dc)
%%
%Observer Form
Ao=[-6 1 0 0; -33 0 1 0;-150 0 0 1;-200 0 0 0]
Bo=[4;1;0;1]
Co=[1 0 0 0]
Do=[0]
Go=ss(Ao,Bo,Cc,Dc)
%%
%Controller Form
Acr=[0 1 0 0;0 0 1 0;0 0 0 1;-200 -150 -33 -6]
Bcr=[0;0;0;1]
Ccr=[-599 -450 -98 -14]
Dcr=[0]
Gcr=ss(Acr,Bcr,Ccr,Dcr)
%%

Results in Command Window:

REAL MODAL CANONICAL FORM:


Am =
-2

0 -4

0 -25

Bm =
1
1
0
1
Cm =
-0.0172 -0.0366 0.8190 0.0538
Dm =
0
Gm =
a=
x1 x2 x3 x4
x1 -2 0 0 0
x2 0 -4 0 0
x3 0 0 0 1
x4 0 0 -25 0
b=
u1
x1 1
x2 1
x3 0
x4 1

c=
x1

x2

x3

y1 -0.01724 -0.03659

x4
0.819 0.0538

d=
u1
y1 0
Continuous-time state-space model.

CASCADE FORM
Ac =
0.0000 + 5.0000i 1.0000 - 5.0000i -1.0000 + 0.0000i 1.0000 + 0.0000i
0.0000 + 0.0000i 0.0000 - 5.0000i -1.0000 + 0.0000i 1.0000 + 0.0000i
0.0000 + 0.0000i 0.0000 + 0.0000i -4.0000 + 0.0000i 1.0000 + 0.0000i
0.0000 + 0.0000i 0.0000 + 0.0000i 0.0000 + 0.0000i -2.0000 + 0.0000i
Bc =
0
0
0
1
Cc =
1

Dc =
0
Gc =
a=
x1 x2 x3 x4
x1 0+5i 1-5i -1
x2

0 0-5i -1

x3

0 -4

1
1
1

x4

0 -2

b=
u1
x1 0
x2 0
x3 0
x4 1
c=
x1 x2 x3 x4
y1 1 0 0 0
d=
u1
y1 0
Continuous-time state-space model.

OBSERVER FORM
Ao =
-6

-33

-150

-200

Bo =
4
1
0
1
Co =
1
Do =
0

Go =
a=
x1 x2 x3 x4
x1 -6

x2 -33

x3 -150

x4 -200

b=
u1
x1 4
x2 1
x3 0
x4 1
c=
x1 x2 x3 x4
y1 1 0 0 0
d=
u1
y1 0
Continuous-time state-space model.

CONTROLLER FORM
Acr =
0

-200 -150 -33 -6

Bcr =
0
0
0
1
Ccr =
-599 -450 -98 -14
Dcr =
0
Gcr =
a=
x1 x2 x3 x4
x1

x2

x3

x4 -200 -150 -33 -6


b=
u1
x1 0
x2 0
x3 0
x4 1
c=
x1 x2 x3 x4
y1 -599 -450 -98 -14
d=
u1
y1 0
Continuous-time state-space model.

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