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Transformation - Transfer Function State Space

The document discusses how to transform between transfer function and state space representations of systems. It provides methods for transforming from state space to transfer function as well as from transfer function to state space using controllable canonical form and observable canonical form. Examples are included to illustrate the transformation techniques.

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Abinesh Tr
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0% found this document useful (0 votes)
185 views9 pages

Transformation - Transfer Function State Space

The document discusses how to transform between transfer function and state space representations of systems. It provides methods for transforming from state space to transfer function as well as from transfer function to state space using controllable canonical form and observable canonical form. Examples are included to illustrate the transformation techniques.

Uploaded by

Abinesh Tr
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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8/26/2016

Transformation:TransferFunctionStateSpace

Transformation:TransferFunctionStateSpace
Alltransformation Printable

Contents
StateSpacetoTransferFunction
TransferFunctiontoStateSpace
ControllableCanonicalForm
ObservableCanonicalForm
Otherforms
Twoofthemostpowerful(andcommon)waystorepresentsystemsarethetransferfunctionformandthestate
spaceform.Thispagedescribeshowtotransformatransferfunctiontoastatespacerepresentation,andvice
versa.Convertingfromstatespaceformtoatransferfunctionisstraightforwardbecausethetransferfunctionform
isunique.Convertingfromtransferfunctiontostatespaceismoreinvolved,largelybecausetherearemanystate
spaceformstodescribeasystem.

StateSpacetoTransferFunction
Considerthestatespacesystem:

Now,taketheLaplaceTransform(withzeroinitialconditionssincewearefindingatransferfunction):

WewanttosolvefortheratioofY(s)toU(s),soweneedsoremoveQ(s)fromtheoutputequation.Westartby
solvingthestateequationforQ(s)

Thematrix(s)iscalledthestatetransitionmatrix.Nowweputthisintotheoutputequation

Nowwecansolveforthetransferfunction:

Notethatalthoughtherearemanystatespacerepresentationsofagivensystem,allofthoserepresentationswillresultinthesametransfer
function(i.e.,thetransferfunctionofasystemisuniquethestatespacerepresentationisnot).

Example:StateSpacetoTransferFunction
Findthetransferfunctionofthesystemwithstatespacerepresentation

Firstfind(sIA)andthe=(sIA)1(note:thiscalculationisnotobvious.Detailsarehere).Rulesfor
invertinga3x3matrixarehere.

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

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Transformation:TransferFunctionStateSpace

Nowwecanfindthetransferfunction

Tomakethistaskeasier,MatLabhasacommand(ss2tf)forconvertingfromstatespacetotransfer
function.

>>%Firstdefinestatespacesystem
>>A=[010001342]
>>B=[001]
>>C=[510]
>>[n,d]=ss2tf(A,B,C,D)
n=
001.00005.0000
d=
1.00002.00004.00003.0000
>>mySys_tf=tf(n,d)
Transferfunction:
s+5

s^3+2s^2+4s+3

Example:StateSpacetoTransferFunction(Symbolic)
Findthetransferfunctionofthesystemwithstatespacerepresentation

Firstfind(sIA)andthe=(sIA)1(note:thiscalculationisnotobvious.Detailsarehere).

Nowwecanfindthetransferfunction

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

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KeyConcept:TransformingfromStateSpacetoTransferFunction
Givenastatespacerepresentationofasystem

thetransferfunctionisgiveby

andthecharacteristicequation(i.e.,thedenominatorofthetransferfunction)is

TransferFunctiontoStateSpace
Recallthatstatespacemodelsofsystemsarenotuniqueasystemhasmanystatespacerepresentations.
Thereforewewilldevelopafewmethodsforcreatingstatespacemodelsofsystems.
Beforewelookatproceduresforconvertingfromatransferfunctiontoastatespacemodelofasystem,let'sfirst
examinegoingfromadifferentialequationtostatespace.We'lldothisfirstwithasimplesystem,thenmovetoa
morecomplexsystemthatwilldemonstratetheusefulnessofastandardtechnique.
Firstwestartwithanexampledemonstratingasimplewayofconvertingfromasingledifferentialequationto
statespace,followedbyaconversionfromtransferfunctiontostatespace.
Example:DifferentialEquationtoStateSpace(simple)
Considerthedifferentialequationwithnoderivativesontherighthandside.We'lluseathirdorder
equation,thoughtitgeneralizeston thorderintheobviousway.

Forsuchsystems(noderivativesoftheinput)wecanchooseasournstatevariablesthevariableyand
itsfirstn1derivatives(inthiscasethefirsttwoderivatives)

Takingthederivativeswecandevelopourstatespacemodel

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Note:Forannthordersystemthematricesgeneralizeintheobviousway(Ahasonesabovethemaindiagonalandthedifferential
equationconstantsforthelastrow,Bisallzeroswithb0 inthebottomrow,Ciszeroexceptfortheleftmostelementwhichisone,and
Diszero)

RepeatStartingfromTransferFunction
Considerthetransferfunctionwithaconstantnumerator(note:thisisthesamesystemasinthe
precedingexample).We'lluseathirdorderequation,thoughtitgeneralizeston thorderintheobvious
way.

Forsuchsystems(noderivativesoftheinput)wecanchooseasournstatevariablesthevariableyand
itsfirstn1derivatives(inthiscasethefirsttwoderivatives)

Takingthederivativeswecandevelopourstatespacemodel(whichisexactlythesameaswhenwe
startedfromthedifferentialequation)

Note:Forannthordersystemthematricesgeneralizeintheobviousway(Ahasonesabovethemaindiagonalandthecoefficientsof
thedenominatorpolynomialforthelastrow,Bisallzeroswithb0 (thenumeratorcoefficient)inthebottomrow,Ciszeroexceptforthe
leftmostelementwhichisone,andDiszero)

Ifwetrythismethodonaslightlymorecomplicatedsystem,wefindthatitinitiallyfails(thoughwecansucceed
withalittlecleverness).
Example:DifferentialEquationtoStateSpace(harder)
Considerthedifferentialequationwithasinglederivativeontherighthandside.

Wecantrythesamemethodasbefore:

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Themethodhasfailedbecausethereisaderivativeoftheinputontherighthand,andthatisnot
allowedinastatespacemodel.
Fortunatelywecansolveourproblembyrevisingourchoiceofstatevariables.

Nowwhenwetakethederivativesweget:

Thesecondandthirdequationsarenotcorrect,because isnotoneofthestatevariables.However
wecanmakeuseofthefact:

Thesecondstatevariableequationthenbecomes

Inthethirdstatevariableequationwehavesuccessfullyremovedthederivativeoftheinputfromtheright
sideofthethirdequation,andwecangetridofthetermusingthesamesubstitutionweusedforthe
secondstatevariable.

Theprocessdescribedinthepreviousexamplecanbegeneralizedtosystemswithhigherorderinputderivatives
butunfortunatelygetsincreasinglydifficultastheorderofthederivativeincreases.Whentheorderofderivativesis
equalonbothsides,theprocessbecomesmuchmoredifficult(andthevariable"D"isnolongerequaltozero).
Clearlymorestraightforwardtechniquesarenecessary.Twoareoutlinedbelow,onegeneratesastatespace
methodknownasthe"controllablecanonicalform"andtheothergeneratesthe"observablecanonicalform(the
meaningofthesetermsderivesfromControlTheorybutarenotimportanttous).

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

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ControllableCanonicalForm(CCF)
Probablythemoststraightforwardmethodforconvertingfromthetransferfunctionofasystemtoastatespace
modelistogenerateamodelin"controllablecanonicalform."ThistermcomesfromControlTheorybutitsexact
meaningisnotimportanttous.Toseehowthismethodofgeneratingastatespacemodelworks,considerthethird
orderdifferentialtransferfunction:

WestartbymultiplyingbyZ(s)/Z(s)andthensolvingforY(s)andU(s)intermsofZ(s).Wealsoconvertbacktoa
differentialequation.

Wecannowchoosezanditsfirsttwoderivativesasourstatevariables

Nowwejustneedtoformtheoutput

Fromtheseresultswecaneasilyformthestatespacemodel:

Inthiscase,theorderofthenumeratorofthetransferfunctionwaslessthanthatofthedenominator.Iftheyare
equal,theprocessissomewhatmorecomplex.Aresultthatworksinallcasesisgivenbelowthedetailsarehere.
Forageneralnthordertransferfunction:

thecontrollablecanonicalstatespacemodelformis

KeyConcept:TransferfunctiontoStateSpace(CCF)
Forageneraln thordertransferfunction:

thecontrollablecanonicalstatespacemodelformis

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

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ObservableCanonicalForm(OCF)
Anothercommonlyusedstatevariableformisthe"observablecanonicalform."ThistermcomesfromControl
Theorybutitsexactmeaningisnotimportanttous.Tounderstandhowthismethodworksconsiderathirdorder
systemwithtransferfunction:

Wecanconvertthistoadifferentialequationandsolveforthehighestorderderivativeofy:

Nowweintegratetwice(thereasonforthiswillbeapparentsoon),andcollecttermsaccordingtoorderofthe
integral:

Choosetheoutputasourfirststatevariable

Lookingattherighthandsideofthedifferentialequationwenotethaty=q1andwecallthetwointegraltermsq2:

so

Thisisourfirststatevariableequation.
Nowlet'sexamineq2anditsderivative:

Againwenotethaty=q1andwecalltheintegraltermsq3:

so

Thisisoursecondstatevariableequation.
Nowlet'sexamineq3anditsderivative:

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Transformation:TransferFunctionStateSpace

Thisisourthird,andlast,statevariableequation.
Ourstatespacemodelnowbecomes:

Inthiscase,theorderofthenumeratorofthetransferfunctionwaslessthanthatofthedenominator.Iftheyare
equal,theprocessissomewhatmorecomplex.Aresultthatworksinallcasesisgivenbelowthedetailsarehere.
Forageneralnthordertransferfunction:

theobservablecanonicalstatespacemodelformis

KeyConcept:TransferfunctiontoStateSpace(OCF)
Forageneraln thordertransferfunction:

theobservablecanonicalstatespacemodelformis

Otherforms
Therearemanyotherformsthatarepossible.ForexampleMATLABusesavariantofthecontrollability
canonicalforminits"ss2tf"function.

References

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

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Transformation:TransferFunctionStateSpace
Copyright2005to2015ErikCheeverThispagemaybefreelyusedforeducationalpurposes.
Comments?Questions?Suggestions?Corrections?
ErikCheeverDepartmentofEngineeringSwarthmoreCollege

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

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