6/7/2021

‫اﻛﺎدﯾﻣﯾﺔ اﻟﺷروق‬
‫اﻟﻣﻌﮭد اﻟﻌﺎﻟﻰ ﻟﻠﮭﻧدﺳﺔ‬
‫ﻗﺳم اﻟﻘوى واﻵﻻت اﻟﻛﮭرﺑﯾﺔ‬

Automatic Control System

EPM 362
By

Dr. / Ahmed Mohamed Abdelbaset

E-mail: [email protected]

Lecture 3

1
 6/7/2021

2-Modal Forms
2.1 Diagonal Canonical Form.
Consider the transfer function system defined by the following Equation .
( ) + + ⋯+ +
=
( ) + + ⋯+ +
Here we consider the case where the denominator polynomial involves only distinct
roots. For the distinct-roots case, The equation can be written as

( ) + + ⋯+ +
=
( ) + + ⋯⋯⋯( + )

( )
= + + +⋯ ⋯+
( )

2.1 Diagonal Canonical Form.

The diagonal canonical form of the state-space representation of this system is given by

̇ − 0 ⋯ 0 0 1
̇ 0 − ⋯ 0 0 1
⋮ = ⋮ ⋮ ⋮ ⋯ ⋮ ⋮ + ⋮
̇ 0 0 ⋯ − 0 1
̇ 0 0 ⋯ 0 − 1

= … ⋮ +

2
 6/7/2021

2.1 Diagonal Canonical Form.

Block diagram representation of the diagonal canonical form

Example: Consider the system given by

( ) +3
=
( ) +3 +2

Obtain state-space representations in diagonal canonical form.

3
 6/7/2021

Diagonal Canonical Form (Example)

( ) +3
=
( ) +3 +2
• Let us Rewrite the given transfer function in following form
( ) 0 + +3
= =0
( ) +3 +2
( ) ( )
= + + =0+ +
( ) + + ( ) +1 +2

̇ − 0 1
= + = +
̇ 0 − 1

̇ − = −
= +
̇ −

Diagonal Canonical Form (Example)

Block diagram

4
 6/7/2021

State Space Representation For Controllable

Canonical Form

 Phase Variable Canonical form

• The method of phase variables possess mathematical advantage over other
representations.

• This type of representation can be obtained directly from differential

equations.

• Decomposition of transfer function also yields Phase variable form.

5
 6/7/2021

Phase Variable Canonical form

• Consider an nth order linear plant model described by the differential
equation

+ + ⋯+ + = ( )

• Where y(t) is the plant output and u(t) is the plant input.

• A state model for this system is not unique but depends on the choice of a
set of state variables.

• A useful set of state variables, referred to as phase variables, is defined as:

= , = ̇, = ̈, ⋯ , =

Phase Variable Canonical form

= , = ̇, = ̈, ⋯ , =

• Taking derivatives of the first n-1 state variables, we have

̇ = , ̇ = , ̇ = ⋯ , ̇ =

̇ =− − − ⋯− + ( )

 x1   0 1 0  0   x1  0
 x   0 0 1  0   x2  0
 2  
               u
      
 x n 1   0 0 0  1   xn 1  0
 x n   an  an 1  an 3   a1   xn  1

6
 6/7/2021

Phase Variable Canonical form

= , = ̇, = ̈, ⋯ , =

• Output equation is simply

 x1 
x 
 2 
y  1 0  0 0  
 
 xn 1 
 xn 

Phase Variable Canonical form

y( n1)  xn

u(t ) y(n) … y  x2 y  x1
∫ ∫ ∫ ∫
＋
＋

y(n2)  xn1
 a1

 a2

 an

Block diagram representation of Phase Variable Canonical form

7
 6/7/2021

Phase Variable Canonical form(Example-1)

• Obtain the state equation in phase variable form for the
following differential equation, where u(t) is input and y(t) is
output.

2 +4 +6 + 8 = 10 ( )

• The differential equation is third order, thus there are three state
variables:
= = ̇ = ̈
• And their derivatives are (i.e state equations)
̇ =
̇ =
̇ = −4 −3 −2 +5 ( )

Phase Variable Canonical form(Example-1)

̇ = = = ̇ = ̈
̇ =
̇ = −4 −3 −2 +5 ( )

• In vector matrix form

 x1   0 1 0   x1  0
x    0 0 1   x2   0u (t )
 2 
 x3   4  3  2  x3  5
 x1 
y (t )  1 0 0 x2 
 x3 
Home Work: Draw Sate diagram

8
 6/7/2021

Canonical form with poles and zeros

• Consider the transfer function of a third-order system where the
numerator degree is lower than that of the denominator.
( ) + +
=
( ) + + +
• Transfer function can be decomposed into cascade form

( ) 1 ( )
( )
+ +
+ + +

• Denoting the output of the first block as W(s), we have the following
input/output relationships:
( ) 1
=
( ) + + +
( )
= + +
( )

Canonical form with poles and zeros

( ) 1 ( )
= = + +
( ) + + + ( )
• Re-arranging above equation yields
=− − − ( )+ ( )
( )= ( )+ ( )+ ( )
• Taking inverse Laplace transform of above equations.
⃛ =− ̈ − ̇ − ( )+ u( )

( )= ̈ + ̇ + ( )

• Choosing the state variables in phase variable form

= = ̇ = ̈

9
 6/7/2021

Canonical form with poles and zeros

• State Equations are given as
̇ = ̇ = ̇ =− − − + ( )

• And the output equation is

( )= + +

Canonical form with poles and zeros

• State Equations are given as
̇ = ̇ = ̇ =− − − + ( )

• And the output equation is

( )= + +
• In vector matrix form
̇ 0 1 0 0
̇ = 0 0 1 + 0
̇ − − − 1

( )=

10
 6/7/2021

(Example-2)
• Consider the transfer function of a third-order system where the
numerator degree is lower than that of the denominator.
( ) +3 +2
=
( ) + 10 + 33 + 36
• Transfer function can be decomposed into cascade form

( ) 1 ( )
( )
+3 +2
+ 10 + 33 + 36

• Denoting the output of the first block as W(s), we have the following
input/output relationships:
( ) 1
=
( ) + 10 + 33 + 36
( )
= +3 +2
( )

(Example-2)
( ) 1 ( )
= = +3 +2
( ) + 10 + 33 + 36 ( )
• Re-arranging above equation yields
= −10 − 33 − 36 ( )+ ( )
( )= ( )+3 ( )+2 ( )
• Taking inverse Laplace transform of above equations.
⃛ = −10 ̈ − 33 ̇ − 36 ( )+ u( )

( )= ̈ +3 ̇ +2 ( )

• Choosing the state variables in phase variable form

= = ̇ = ̈

11
 6/7/2021

(Example-2)
• State Equations are given as
̇ = ̇ = ̇ = −36 − 33 − 10 + ( )

• And the output equation is

( )= +3 +2

• In vector matrix form

0 1 0 0
= 0 0 1 + 0 ( )
−36 −33 −10 1

( )= 1 3 2

(Example-2)
• State Equations are given as
̇ = ̇ = ̇ = −36 − 33 − 10 + ( )

• And the output equation is

( )= +3 +2
2
3

10
33
36

Block diagram representation of Canonical form

12
 6/7/2021

 Eigenvalues of an n*n matrix A

The eigenvalues of an (n x n) matrix A are the roots of the characteristic equation

‫ ׀‬λI-A ‫ = ׀‬0
The eigenvalues are also called the characteristic roots.
Consider, for example, the following matrix A

A=
− − −
The characteristic equation is
λ −
‫ ׀‬λI-A ‫= ׀‬ λ −
λ+
3 2
= λ + 6 λ +11 λ + 6
=(λ + )(λ + )(λ + )
The eigenvalues of A are the roots of the characteristic equation, or -1, -2, and -3.

 Diagonalization of n*n matrix (Derivation of state space (S.S) from another S.S)
Note that if an (n x n) matrix A with distinct eigenvalues is given by
0 1 0 ⋯ 0
0 0 1 ⋯ 0
= ⋮ ⋮ ⋮ ⋯ ⋮
0 0 0 ⋯ 1
− − − ⋯ −

the transformation x=P z , Where

1 1 ⋯ 1
λ λ ⋯ λ λ , λ , …, λ = n distinct eigenvalues of A
= ⋮ ⋮ ⋯ ⋮
. . .
λ n−1 λ n−1 ⋯ λ n−1

will transform P-1 A P into the diagonal matrix, or

λ ⋮ ⋯ 0
. λ ⋯ .
P−1 A P = ⋮ ⋮ ⋯ ⋮
. . .
0 . ⋯ λ

13
 6/7/2021

 Example
Consider the following state-space representation of a system.
̇ 0 1 0 0
̇ = 0 0 1 + 0
̇ −6 −11 −6 6

= 1 0 0

The two equations can be put in a standard form as

̇= +
=

Where
0 1 0 0
= 0 0 1 , = 0 , = 1 0 0
−6 −11 −6 6

The eigenvalues of matrix A are λ =-1, λ =-2, λ = -3.

Thus, three eigenvalues are distinct. If we define a set of new state variables
z , z and z by the transformation
1 1 1
= −1 −2 −3
1 4 9
or x=P z
Where 1 1 1 1 1 1
= λ λ λ = −1 −2 −3
λ 2 λ 2 λ 2 1 4 9

then, by substituting into standard Equation ̇= +

̇ = +
By premultiplying both sides of this last equation by P-1 we get
̇ = P−1 + P−1

14
 6/7/2021

or
̇ 3 2.5 0.5 0 1 0 1 1 1 3 2.5 0.5 0
̇ = −3 −4 −1 0 0 1 −1 −2 −3 + −3 −4 −1 0
̇ 1 1.5 0.5 −6 −11 −6 1 4 9 1 1.5 0.5 6

Simplifying gives
̇ −
̇ = − + −
̇ −

The output equation is modified to =

=
1 1 1
= 1 0 0 −1 −2 −3
1 4 9

With my best wishes With my best wishes

Dr.Ahmed Abdelbaset

15