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Session objectives:
State space representation using canonical variables
Instructions:
Students will be studying the course first time so the students should have knowledge of linear
control system, state variable system.
Example 1.3. Given the system transfer function of example 1.1, find the
diagonal canonical form state space model.
Then the Jordan canonical form state space model can be written as follows:
−p1 1 0 0 ... 0
x˙1 x1 0
x˙2 .. .. x 0
0 −p1 1 . . 2
x˙3
0 0 −p1 0 . . . 0 x3 1
x˙4 = + u
0 ... 0 −p4 0 x4 1
.. .. ..
. .. ..
. .. . . . .
x˙n 0 ... 0 0 −pn xn 1
x1
x2
y = c1 c2 . . . cn .. + b0 u
.
xn
A =
-3 -2
1 0
B =
1
0
1 3
D =
Note that this does not match the result we obtained in the first exam-
ple. See below for further explanation. No we create an LTI state space
model of the system using the matrices found above:
>> ctrb_sys = ss(A,B,C,D)
a =
x1 x2
x1 -3 -2
x2 1 0
b =
u1
x1 1
x2 0
c =
x1 x2
y1 1 3
d =
u1
y1 0
Continuous-time model.
Caution should be taken when using the MATLAB canon() command, which
is a method for converting amongst the canonical forms. MATLAB produces
valid alternative canonical forms, but they are not the same as the defini-
tions used in our textbook. In MATLAB the companion form is similar to
the observable canonical form, and the modal form is similar to the diagonal
form. They will all produce exactly the same input to output dynamics, but
the model structures and states are different.