Chapter 3

1
ADVANCED CONTROL TECHNIQUES

Universidad de Magallanes
3.1 Method 1 (Control Canonical Form)
3.2 Method 2 (Observer Canonical Form)
3.3 Method 3 (States with physical meaning)
3.4 Method 4 (Modal Canonical Form)
3.5 Change of coordinates (change of basis)
3.6 Transfer Functions from State Space equations
Objectives:
I Learn how to obtain the State Space representation from the Transfer Function
of a System.
I Learn that the same system can have multiple equivalent representations in
State Space.
Theory Contents:
3. STATE SPACE EQUATIONS FROM
TRANSFER FUNCTIONS (for SISO systems)
2
We want to obtain a state space representation of a system from its
transfer function
3.1 Method 1: Control Canonical Form
3
4
5
6
We can choose the state variables in a different way. For instance:
3.2 Method 2: Observer Canonical Form
First of all, we separate the parts with and without time derivatives, then we
assign the derivative of a new state to the resulting equation:
Solving for the new state, we have:
7
Repeating the same procedure:
8
Expressing the previous equations as matrices:
9
The choice of state variables in methods 3.1 and 3.2 does not necessarily
have a precise physical meaning.
What if we want the states to have a physical meaning?
3.3 Method 3: States with Physical Meaning
x
1
x
2 x
3
u
x
x
x
x
x
x
(
(
(
,
\
,
,
,
(
j
+
(
(
(
,
\
,
,
,
(
j
(
(
(
,
\
,
,
,
(
j

(
(
(
,
\
,
,
,
(
j
1
0
0
10 0 0
2 1 0
0 1 0
3
2
1
3
2
1
&
&
&
(
(
(
,
\
,
,
,
(
j
(
(
(
,
\
,
,
,
(
j
3
2
1
1 0 0
0 1 0
0 0 1
x
x
x
v
10
If we have complex roots, we need to introduce an extra state in order to
consider the complex poles:
3.3 Method 3: States with Physical Meaning
x
1
x
3
We use Method 2 in order to obtain the new state.
u
x
x
x
x
x
x
(
(
(
,
\
,
,
,
(
j
+
(
(
(
,
\
,
,
,
(
j
(
(
(
,
\
,
,
,
(
j
(
(
(
,
\
,
,
,
(
j
1
0
0
10 0 0
1 0 2
1 1 2
3
2
1
3
2
1
&
&
&
11
We have multiple canonical forms, could we find a canonical form in which
matrix A would contain the poles on the diagonal? Yes!
3.4 Method 4: Modal Canonical Form
x
1
x
2 x
3
A =
12
x
1
x
2 x
3
13
x
1
x
2 x
3
14
15
16
17
Special notation for the Modal Canonical Form:
18
Relationship between states x (with physical meaning) and states y
(modal canonical form)
x
1
x
2 x
3
Modal Matrix
19
PROBLEMS:
1.- Repeated (Real) Poles.
2.- Complex Poles.
3.- An x
i
/U term contains equal number of poles and zeroes.
SOLUTION TO PROBLEMS 1 AND 2:
Use the Jordan Canonical Form instead of a diagonal matrix.
20
3.5 Change of Coordinates
(not in the lecture notes)
ALL OF THIS IS VERY NICE, BUT:
I How can we have more than one state space representation for the
same system?
I If the state space representation is different for a different set of state
variables:
When I calculate one representation, do I have to do all the work again for
another representation?
Are these state space representations equivalent in some sense?
I How can I go the other way around, i.e. If I have the state space
equations, how can I obtain the Transfer Function(s) of the system?
21
If we have the state space representation of a system, we just need to know
the relationship between old and new state variables in order to
obtain the new representation.
22
If we have the state space representation of a system, we just need to know the
relationship between old and new state variables in order to obtain the
new representation.
Assume we know the State Space representation of a system using a
particular set of State Variables (x):
Now we want to represent the system dynamics using a DIFFERENT set of
State Variables (z). We can try to obtain all the State Equations from the
physical model. Alternatively, we can express the above equation using the
new state variables if we know the relationship between old and new state
variables:
Substituting in the initial State Space Equation we have:
23
3.6 Transfer Function from State Space
Equations (not in the lecture notes)
IN ORDER TO OBTAIN THE TRANSFER FUNCTION OF A SYSTEM WE
APPLY THE LAPLACE TRANSFORM (as we always did).
Remember, the transfer function of a system is V(s)/U(s), i.e. V(s)=G(s)U(s)
( )
( ) [ ] ) (
1
) ( ) (
S U A sI D B A sI adj C
A sI
S U D B
A sI
A sI adj
C S V
+
]
]
]
,
,
+
24
LET US TAKE A CLOSER LOOK AT THE RESULT:
( ) [ ] ) (
1
) ( S U A sI D B A sI adj C
A sI
S V +
For SISO systems, we obtain a single transfer function, but for MIMO systems we
obtain a SET of Transfer Functions (this is good news).
The characteristic equation of ALL these transfer functions is given by: |sI-A| = 0
Note is a polynomial |sI-A| of degree equal to the number of states (interesting,
inst it).
Remember the definition of EIGENVALUE OF A MATRIX. The EIGENVALUES of a
matrix A are obtained by solving the equation:
| I-A| = 0 (or |A- I| = 0).
THEREFORE: THE POLES OF THE SYSTEM ARE EQUAL TO THE EIGENVALUES
OF MATRIX A.
25
NOW I AM CONFUSED:
I know how to obtain DIFFERENT State Space representations of the SAME
system.
I also know how to obtain the Transfer Function from these representations.
Does it mean that I will have a DIFFERENT transfer function if I use a
DIFFERENT State Space representation as starting point?????
The obvious answer is NO WAY, the same SYSTEM always has the SAME
TRANSFER FUNCTION.
Let us prove it:
26
If I have the state space equation expressed in different coordinates:
The transfer function will be:
27
Example: Obtain the Transfer Function representation of the following
system:
28
29
If we have multiple inputs and outputs:
30
Then, the eigenvalues of A and the eigenvalues of TAT
-1
should be the SAME?
The answer again is: YES!!!
Obviously, the transfer functions obtained from (1) and (2) are the SAME.
Therefore their POLES are the SAME and hence the eigenvalues of A and
the eigenvalues of TAT
-1
are be the SAME.
Prove:
(1)
(2)
I A I TAT
T T I A T I A T IT T TAT I TAT

1
1 1 1 1 1
31
3.7 Examples to be handed in next week
The following examples should be worked out and handed in next week:
Ex. 2.1
Ex. 2.2
Ex. 2.3

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1

ADVANCED CONTROL TECHNIQUES

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