Decomposing a transfer function

Output equation
y(t)=b0x1+b1x2+b2x3

a. Transfer
function;;
b. decomposed
transfer
function;
c equivalent
c.
block diagram.
N t
Note:
y(t) = c(t)

1
0 x1 0
x&1 0
x& = 0

0
1
x
+
0
r
2
2


x&2 24 26 9 x3 1
C ( s ) = ( s 2 + 7 s + 2) X 1 ( s )
y = x3 + 7 x2 + 2 x1
x1
y = [2 7 1] x2
x3

State space to Transfer function

Converting to a Transfer
Function
x& = Ax + Bu
y = Cx
C + Du
D
sX ( s ) = AX ( s ) + BU ( s )
Y ( s ) = CX ( s ) + DU ( s )
( sI A) X ( s ) = BU ( s )
X ( s ) = ( sI A) 1 BU ( s )
Y ( s ) = C ( sI A) 1 BU ( s ) + DU ( s )
= [C ( sI A) 1 B + D]U ( s )
Y (s)
T (s) =
= C ( sII A) 1 B + D
U (s)

Example
1
0 x1 10
x&1 0
x& = 0
x + 0 u
0
1
2
2
x&2 1 2 3 x3 0
x1
y = [1 0 0] x2
x3
1
0 s 1 0
s 0 0 0
( sI A) = 0 s 0 0
0
1 = 0 s
1
0 0 s 1 2 3 1 2 s + 3
s 2 + 3s + 2
s+3
1

1
s
(
s
+
3
)
s

2
s
2( s + 1) s

1
( sI A) =
s 3 + 3s 2 + 2s + 1

10
B = 0
0

C = [1 0 0]
D=0
T ( s ) = C ( sI A) 1 B + D
s 2 + 3s + 2
s+3
1

1
s
(
s
+
3
)
s

10
2
s

s
+
s
2
(
1
)
0
= [1 0 0]

s 3 + 3s 2 + 2s + 1
0
10( s 2 + 3s + 2)
1

[
]
1
0
0
10
= 3

s + 3s 2 + 2s + 1

10 s

10( s 2 + 3s + 2)
= 3
s + 3s 2 + 2s + 1