University of Portsmouth, Department of Electronic and Computer Engineering

B307 Discrete and Modern Control Systems Design - Lecture 9/Tutorial 3

Branislav Vuksanovic

Tutorial 3 Transfer Functions and Canonical Forms

1. a) For the third-order system with the state space model:
1
1
2 2
3
3
0 1 0 0
0 0 1 0
10 17 8 1
i
x
x
x x e
x
x





= +







i
i
i

[ ]
1
2
3
4 4 1
x
y x
x


=





determine the transfer function relating Y(s) to E
i
(s) and check if all of the system
poles are also the poles of the transfer function.

b) If possible, provide a reduced-order state-space realisation having the same input-
output relationship as the third-order system analysed in the first part of this question.

2. Simulation diagrams are elementary analog computers that can be used to solve and
simulate differential equations describing systems dynamics. They are composed of
integrators, adders, subtractors, and multipliers which can be physically realised by using
operational amplifiers. In addition, function generators can be used to generate input
signals. Usually, the number of integrators in a simulation diagram is equal to the order of
the differential equation under consideration. There are many ways to draw a simulation
diagram for a given dynamic system, and there are also many ways to obtain the state
space form from the given simulation diagram.
Draw the diagram to simulate the reduced-order system derived in the previous equation.

3. Draw the simulation diagram to simulate the system with the transfer function:
( )
( )
3 2
1
2 3 4
s
G s
s s s
+
=
+ + +


4. Draw the simulation diagram to simulate the system with the following state-space model:
1 1
1
2
1 2 5
3 4 6
x x
u
x
x



= +




i
i

[ ]
1
2
7 8
x
y
x

=




University of Portsmouth, Department of Electronic and Computer Engineering
B307 Discrete and Modern Control Systems Design - Lecture 9/Tutorial 3

Branislav Vuksanovic

5. For each of transfer functions below provide a state-space realisation in controller-
canonical form and state-space decoupled form (where possible).
a. ( )
( )( )
1
2 1
1 2
s
G s
s s
+
=
+ +

b. ( )
( )( )( )
2
5 8
1 2 4
s
G s
s s s
+
=
+ + +

c. ( )
( ) ( )
2
3 2
3
1 2
s
G s
s s
+
=
+ +


University of Portsmouth, Department of Electronic and Computer Engineering
B307 Discrete and Modern Control Systems Design - Lecture 9/Tutorial 3

Branislav Vuksanovic


SOLUTIONS:

1. a) ( )
2
3 2
4 4
8 17 10
s s
G s
s s s
+ +
=
+ + +

b) reduced-order system transfer function: ( )
( )( )
2
1 5
s
G s
s s
+
=
+ +

reduced-order state-space model is characterised with matrices:

0 1
5 6

=



A ,
0
1

=


B , [ ] 2 1 = C
2.


3. Construct diagram by writing down the set of state-space equations:
1
2
2
3
3
1 2 3
1 2
4 3 2
o
o
o
x x
x x
x x x x u
y x x
=
=
= +
=

2

1

-6

-5
u
2
o
x

1
2
o
x x =
1
x
y
University of Portsmouth, Department of Electronic and Computer Engineering
B307 Discrete and Modern Control Systems Design - Lecture 9/Tutorial 3

Branislav Vuksanovic



Note - Simulation diagram should contain three integrators.

4. This is not a canonical form of the state-space representation but the simulation diagram
can still be constructed, although it will be slightly more complex. Simulation diagrams of a
higher order systems can get very complex if the form of the state space representation is
not canonical.



University of Portsmouth, Department of Electronic and Computer Engineering
B307 Discrete and Modern Control Systems Design - Lecture 9/Tutorial 3

Branislav Vuksanovic


5.
a)
controller-canonical form is characterised with matrices:

0 1
2 3

=



A ,
0
1

=


B , [ ] 1 2 = C

state variable decoupled form:
1 0
0 2

=

A ,
1
1

=


B , [ ] 1 3 = C

b)
c-c form:
0 1 0
0 0 1
8 14 7


=



A ,
0
0
1


=



B ,
[ ] 8 5 0 = C
s-v-d form:
1 0 0
0 2 0
0 0 4


=



A ,
1
1
1


=



B , [ ] 1 1 2 = C

c)
c-c form:
0 1 0
0 0 1
2 5 4


=



A ,
0
0
1


=



B , [ ] 3 0 1 = C
putting the system in the state variable decoupled form is not possible since
the root s=-1 of characteristic equation 0 s = I A is of second order.