Converting a TF to SSR ..........Cont.

Recap: Technique of comparing with Mason’s Formula:

The TF was: b
G (s)  0
s 4  a3s 3  a2 s 2  a1s  a0

Mason’s Formula: T  k k T  k k
G (s)  k
 k
 1  ( L )  ( L L )  .......
i i j

Taking the given G(s) in the form of Mason’s Formula

b0 / s 4
G (s) 
1  a3s 1  a2 s  2  a1s 3  a0 s  4
SFG: Drawn on the board
SSR: X  AX  Bu y  CX  Du

 0 1 0 0  0 
 0 0 
0 
C  b0 0 0 0
0 1
Α Β  D0
 0 0 0 1  0 
   
  a0  a1  a2  a3  1

This is ‘Phase-Variable Canonical Form’ of SSR. 1

Alternative SFG: see on the board

SSR:
Output equation, Y (s)  X 1 (s)   y (t )  x1 (t )
State equations,
X 1 ( s )  a3 X 1 ( s )  X 2 ( s )   x1 (t )  a3 x1 (t )  x2 (t )
X 2 ( s )  a2 X 1 ( s )  X 3 ( s )   x2 (t )  a2 x1 (t )  x3 (t )

X 3 ( s )  a1 X 1 ( s )  X 4 ( s )   x3 (t )  a1 x1 (t )  x4 (t )

X 4 ( s )  a0 X 1 ( s )  b0U ( s )   x4 (t )  a0 x1 (t )  b0u (t )

In Vector-matrix notation: X  AX  Bu y  CX  Du

 x1    a3 1 0 0  x1   0   x1  0
 x   a 0 1 0  x   0   x  0 
 2   2   2    u y  1 0 0 0  2     u
 x3    a1 0 0 1  x3   0   x3  0
          
x
 4  0  a 0 0 0   x4  b0   x4  0 
This form is called “Input Feed-Forward Canonical Form”.
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TF with numerator being a polynomial in s:
Let, b3s 3  b2 s 2  b1s  b0
G (s) 
s 4  a3s 3  a2 s 2  a1s  a0

or, b3s 1  b2 s 2  b1s 3  b0 s 4

G (s) 
1  a3s 1  a2 s  2  a1s 3  a0 s  4

T  k k
Mason’s Formula: G ( s)  k
1  ( L )  ( L L )  .......
i i j
Notice:
(1) Same denominator as shown previously. So 4 loops are there with gains:

L1  a3 s 1 L2  a2 s 2 L3  a1 s 3 L4  a0 s 4

(2) Numerator consists of 4 forward paths, with forward-path gains:

T1  b0 s 4 T2  b1 s 3 T3  b2 s 2 T4  b3 s 1
(3) In these conditions, all the Δk must be made unity to hold the TF expression.
1   2   3   4  1

3
(4) No NTLs
SFG: (1) Phase-variable canonical form- Shown on the BOARD

SFG in Phase-variable canonical form

4
Verify: Verify by inspection from the SFG that the equations of Tk , Δk and Δ hold.
SSR:
Output Equation,
Y ( s )  b0 X 1 ( s )  b1 X 2 ( s )  b2 X 3 ( s )  b3 X 4 ( s )
  y (t )  b0 x1 (t )  b1 x2 (t )  b2 x3 (t )  b3 x4 (t )
State Equations, X ( s )  X ( s )   x1 (t )  x2 (t )
1 2

X 2 ( s )  X 3 ( s )   x2 (t )  x3 (t )
X 3 ( s )  X 4 ( s )   x3 (t )  x4 (t )

X 4 ( s )  a0 X 1 ( s )  a1 X 2 ( s )  a2 X 3 ( s )  a3 X 4 ( s )  U ( s )
  x4 (t )  a0 x1 (t )  a1 x2 (t )  a2 x3 (t )  a3 x4 (t )  u (t )
In Vector-Matrix notation:

 x1   0 1 0 0   x1  0  x1  0

 x   0 0 1 0   x2  0  x  0 
 2    u y  b0 b1 b2 b3   2     u
 x3   0 0 0 1   x3  0  x3  0
          
 x4   a0  a1  a2  a3   x4  1  x4  0 
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SFG: (2) Input feed-forward canonical form- shown on the board
Verify: Verify by inspection from the SFG that the equations of Tk , Δk and Δ hold.
SSR:
Output Equation, Y (s)  X 1 (s)   y(t )  x1 (t )

State Equations, X 1 ( s )  a3 X 1 ( s )  X 2 ( s )  b3U ( s )   x1 (t )  a3 x1 (t )  x2 (t )  b3u (t )

X 2 ( s )  a2 X 1 ( s )  X 3 ( s )  b2U ( s )   x2 (t )  a2 x1 (t )  x3 (t )  b2u (t )

X 3 ( s )  a1 X 1 ( s )  X 4 ( s )  b1U ( s )   x3 (t )  a1 x1 (t )  x4 (t )  b1u (t )

X 4 ( s )  a0 X 1 ( s )  b0U ( s )   x4 (t )  a0 x1 (t )  b0u (t )

In Vector-Matrix notation:

 x1    a3 1 0 0  x1  b3   x1  0

 x   a 0 1 0  x2  b2   x  0 
 2   2  u y  1 0 0 0  2     u
 x3    a1 0 0 1  x3   b1   x3  0
          
 x4   a0 0 0 0  x4  b0   x4  0  6
SFG in Input feed-forward canonical form

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Converting a BD to SSR:

We can follow: BD  SFG  SSR

Alternative technique: X 2 (s)
X 1 (s)

X 3 (s)

1 10
Here, .
G (s) s ( s  5) 10 s  10
 
1  G ( s ) H ( s ) 1  1 . 10 . 1 s 3  6 s 2  5s  10
s ( s  5) ( s  1)

So, system order = 3

3 state variables are required. They are positioned as shown in the figure above.
Now solve them.
Shown on the board
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 3.6 Converting an SSR to a TF
Given the SSR:

Considering a LTI system, take Laplace transform assuming zero ICs:

(1)
(2)
Solving for X(s) from Eq. (1):
I is the identity matrix
or,
Substituting X(s) into Eq. (2) gives

or, T( s ) 
Y( s)
U( s)

 CsI  A  B  D
1

here T is the Transfer Function Matrix.
If U(s)=U(s) and Y(s)=Y(s) are scalars, we can find the Transfer Function as
follows: