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Canonical Forms and Transfer Function

This document discusses discrete state space models and the relationship between transfer functions and state space models. It introduces the basic state space model equations and shows how to derive the transfer function from the state space model. It also describes two common canonical forms for state space models - the controllable canonical form and observable canonical form - and how to transform a transfer function into these forms. Examples are provided to demonstrate these transformations between transfer functions and state space models.

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51 views

Canonical Forms and Transfer Function

This document discusses discrete state space models and the relationship between transfer functions and state space models. It introduces the basic state space model equations and shows how to derive the transfer function from the state space model. It also describes two common canonical forms for state space models - the controllable canonical form and observable canonical form - and how to transform a transfer function into these forms. Examples are provided to demonstrate these transformations between transfer functions and state space models.

Uploaded by

shakeela
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Discrete State Space Models

In this lecture we will discuss the relation between transfer function and state space model
for a discrete time system and various standard or canonical state variable models.

5.1. State Space Model to Transfer Function

Consider a discrete state variable model

(5.1)
Where;
x(k)=n-vector (state vector).
y(k)=m-vector (output vector).
u(k)=r-vector (input vector).
A=n x n matrix (input matrix).
B=n x r matrix (state matrix).
C=m x n matrix (output matrix).
D=m x r matrix (Direct transmission matrix).

Taking the Z-transform on both sides of Eqn. (5.1), we get

where x0 is the initial state of the system.

Dr. Mohammed Khesbak Page 106


To find out the transfer function, we assume that the initial conditions are zero, i.e., x0 = 0,
thus

Therefore, the transfer function becomes

(5.2)
which has the same form as that of a continuous time system.

5.2. Various Canonical Forms

We have seen that transform domain analysis of a digital control system yields a transfer
function of the following form.

(5.3)
Various canonical state variable models can be derived from the above transfer function
model.

5.2.1 Controllable canonical form


Consider the transfer function as given in Eqn. (5.3). Without loss of generality, let us
consider the case when m = n. Let

In time domain, the above equation may be written as

Dr. Mohammed Khesbak Page 107


Now, the output Y (z) may be written in terms of ¯X (z) as

or in time domain as

The block diagram representation of above equations is shown in Figure 1. State variables
are selected as shown in Figure 1. The state equations are then written as:

Output equation can be written as by following the Figure 1.

In state space form, we have;

(5.4)

Dr. Mohammed Khesbak Page 108


Example 5.1:
Find the Controllable canonical form of;

Dr. Mohammed Khesbak Page 109


Solution:
Analysing the coefficient as;
β0=0, β 1=1, β 2=1, and α1=1.3, α2=0.4, then ;
( ) ( )
[ ] * +[ ] * + ( )
( ) ( )
( )
( ) [ ][ ]
( )

5.2.2 Observable Canonical Form

Equation (3) may be rewritten as

The corresponding block diagram is shown in Figure 2. Choosing the outputs of the delay
blocks

Dr. Mohammed Khesbak Page 110


as the state variables, we have following state equations

This can be rewritten in matrix form (eq.4) with

Example 5.2:
Find the Observable canonical form of;

Solution:
Analysing the coefficient as;
β0=0, β 1=1, β 2=1, and α1=1.3, α2=0.4, then ;
( ) ( )
[ ] * +[ ] * + ( )
( ) ( )
( )
( ) [ ][ ]
( )

Dr. Mohammed Khesbak Page 111


5.2.3 Duality
In previous two sections we observed that the system matrix A in observable canonical form
is transpose of the system matrix in controllable canonical form. Similarly, control matrix B
in observable canonical form is transpose of output matrix C in controllable canonical form.
So also output matrix C in observable canonical form is transpose of control matrix B in
controllable canonical form.

Dr. Mohammed Khesbak Page 112


5.3. State Space to Transfer Function

To retrieve the discrete domain transfer function G(z) from a given state space matrices (A,
B, C, and D), equation (5.2) is recalled as following;

where (zI-A)-1 may be found as;

Therefore, the transfer function may be written as;

(5.6)

Example 5.3:
Find the transfer function corresponding to the state space matrices below;

* +, * +, [ ] , and D=0.

Dr. Mohammed Khesbak Page 117


Solution:
Finding first (zI-A) as follows;

( * + * +) (* + * +) * +

and by applying equation 5.6, the transfer function may be found as;

[ ] * + * + [ ]* +* +
( )
* +

[ ]* +
( )

Example 5.4:
Find the transfer function corresponding to the state space matrices below;

* +, * +, [ ] , and D=0.

Finding first (zI-A) as follows;

(* + * +) * +

and by applying equation 5.6, the transfer function may be found as;
[ ] * + * + [ ]* +* +
( )
* + ( )( )

[ ] * + ( ) ( )
( )
( )( ) ( )( )

( )
( )( )

Dr. Mohammed Khesbak Page 118

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