DE LA SALLE LIPA

COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING

ELECTRONICS ENGINEERING DEPARTMENT
FEEDCON – FEEDBACK AND CONTROL SYSTEMS
LABORATORY EXPERIMENT MANUAL

De La Salle Lipa
College of Information Technology and Engineering
Electronics Engineering Department

Experiment #3:

Continuous – Time System Representation and Modeling

Submitted by:
Atienza, Marvin James A.

Submitted to:
Engr. Sarah Jane Delgado

May 3, 2019

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 DE LA SALLE LIPA
COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
FEEDCON – FEEDBACK AND CONTROL SYSTEMS
LABORATORY EXPERIMENT MANUAL

EXPERIMENT #3: CONTINUOUS-TIME SYSTEM REPRESENTATION AND

MODELING
I. OBJECTIVES

1. To be familiar with the different system modeling methods and represent it

using the MATLAB® Software.

2. To know and generate different system transformation using the MATLAB®

Software.

3. To be able to extract data from an existing system model using MATLAB®

Software.

4. To be familiar with the pole-zero map and generate it using MATLAB®

Software.

5. To know the different functions on how to know the properties and description
of different LTI models using MATLAB® Software

II. DISCUSSION

INTRODUCTION

A continuous-time can be represented in many ways. However, the physics

behind these systems would result to an integro-differential equation, which is
then transformed in state-space form or transfer function (assuming zero initial
conditions and linearity). With this, MATLAB® functions are developed that will
help you perform continuous-time system representation and modeling
operations.

SYSTEM MODELING

As mentioned in the previous sections, a continuous-time system can be

modeled in different ways. From the integro-differential equation developed by
using the laws of physics, the equation would transform into either state-space or

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
FEEDCON – FEEDBACK AND CONTROL SYSTEMS
LABORATORY EXPERIMENT MANUAL

transfer function. The state-space model is commonly used in multiple-input-

multiple-output (MIMO) systems, while the transfer function is commonly used to
represent a linear, time-invariant (LTI) single-input-single-output (SISO) system.

Transfer Function

For continuous-time systems, the transfer function is mathematically defined as

the ratio of the Laplace transform of the output to the Laplace transform of the
input. Qualitatively, the transfer function is a rational expression that describes
the characteristics of the system being modeled. Generally, the transfer function
is obtain by first getting the Laplace transform of the integro-differential equation
obtained from physical laws, then getting the ratio of the output Laplace
polynomial to the input Laplace polynomial. Please take note that in getting the
Laplace transform of the integro-differential equation, all initial conditions must be
set to zero.

The general form of a transfer function denoted by G(s) is

(3-1)

Where, N(s) and D(s) are the numerator and denominator polynomials,
respectively. The scalars a0, a1,..., am, b0, b1,..., bn are coefficients of the
polynomials. In most applications, m is usually greater n to make the
function rational.

In MATLAB® the function sys=tf(num,den) is used to generate a system that is

described by its transfer function, where num and den are the numerators and
denominator vectors, respectively. As an example, the system with the transfer
function
2
s +3s-1
G(s)=
s3+s-2

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
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FEEDCON – FEEDBACK AND CONTROL SYSTEMS
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is generated by the script shown in Listing 3-1.

Listing 3-1
> numg = [1 3 -1]
numg =
1 3-1
> deng = [1 0 1
-2] deng =
1 0 1 -2
> sysg = tf(numg,deng)
Transfer function:
s^2 + 3 s - 1
-------------
s^3 + s – 2
As seen in Listing 3-1, the first steps were to generate the numerator and
denominator polynomials numg and deng, respectively. The final step is to
generate a system sysg that uses numg and deng to as the numerator
and denominator vectors for the function tf(num,den).

State-Space Representation

In state-space representation, the integro-differential equation is transformed in

to simultaneous first-order differential equations. These simultaneous first-order
differential equations can then be represented as matrix equations in the form of

x = Ax + Bu

y = Cx + Du (3-2)

where there matrices A, B, C, and D are matrices that describe the system. The
vectors x and u are the state and input vectors, respectively. The vector y is
called the output vector. The first equation is called the state equation and the
second equation is called the output equation.

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
FEEDCON – FEEDBACK AND CONTROL SYSTEMS
LABORATORY EXPERIMENT MANUAL

To generate a system described by its state-space model, the MATLAB®

function sys=ss(A,B,C,D) is used, where A, B, C, and D are the matrices that
describes the system. Listing 3-2 shows an example of a script that generates a
state-space model of the system described by the equations

Listing 3-2
> A = [1 2;2 0]
A=
1 2
2 0
> B = [0 1]'
B=
0
1
> C = [1 0]
C=
1 0
> D=1
D=
1
> sysg=ss(A,B,C,D)
a=
x1x2
x1 1 2
x2 2 0

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b=
u1
x1 0
x2 1
c=
x1 x2
y1 1 0
d=
u1
y1 1
Continuous-time model.

As seen in Listing 3-2, the first steps were to generate the matrices A, B, C, and
D using the techniques discussed in Chapter 1. The last step is to used the
function sys=ss(A,B,C,D) to generate the state-space model of the system
described by the state and output equations.

Zero-Pole-Gain (ZPK) Model

Sometimes it is necessary to create a model given the zeros, poles, and the
gain of the LTI system. The function sys=zpk(z,p,k), is used to create such
models, where z is a vector of zeros, p is a vector of poles, and k is the dc gain
of the system. As an example, consider an LTI system with the following specs:

Poles = 0, -2, -3, -4

Zeros = -1, -2

Gain = 2

This may have the form

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
FEEDCON – FEEDBACK AND CONTROL SYSTEMS
LABORATORY EXPERIMENT MANUAL
G(s)=k =2
(s+z1)(s+z2)…(s+zm) (s+1)(s+2)
(s+p1)(s+p2)…(s+pn) s(s+2)(s+3)(s+4)

In MATLAB®, we can write

Listing 3-3
> z = [-1 –2]
z=
-1-2
> p = [0 –2 –3 –4]
p=
0 -2 -3 -4
> k=2
k=
2
> sys=zpk(z,p,k)
Zero/pole/gain:
2 (s+1) (s+2)
-------------------
s (s+2) (s+3) (s+4)
>

SYSTEM TRANSFORMATION

MATLAB® has many useful functions to transform one mathematical model of an

LTI system to another model. Such LTI transformations are useful for solving
control engineering problems, and are listed below.

Converting Transfer Function to State-Space

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
FEEDCON – FEEDBACK AND CONTROL SYSTEMS
LABORATORY EXPERIMENT MANUAL

An LTI system represented by a transfer function can be transformed into a state

space model by using the function [A,B,C,D] = tf2ss(num,den), where num and
den are the numerator and denominator polynomials of the transfer function to
be converted.

Converting State-Space to Transfer Function

An LTI system represented by a state space representation can be transformed

into a transfer function model by using the function [num,den]=ss2tf(A,B,C,D).

Converting Transfer Function to Zero-Pole-Gain Model

An LTI system represented by a transfer function can be transformed into a zero-

pole-gain model using the function [z,p,k]=tf2zp(num,den).

Converting Zero-Pole-Gain Model to Transfer Function

An LTI system represented by a zero-pole-gain model can be transformed into a

transfer function model by using the function [num,den]=zp2tf(z,p,k)

Converting Zero-Pole-Gain Model to State-Space

An LTI system represented by a zero-pole-gain model can be transformed into a

state space model using the function [A,B,C,D]=zp2ss(z,p,k).

Converting State-Space to Zero-Pole-Gain Model

An LTI system represented by a state space model can be transformed into a

zero-pole-gain model using the function [z,p,k]=ss2zp(A,B,C,D).

EXTRACTION OF DATA FROM AN EXISTING MODEL

It is sometimes difficult to determine the data of a certain system manually, which

makes MATLAB® an efficient tool for data extraction.

Extraction of Transfer Function Data

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
FEEDCON – FEEDBACK AND CONTROL SYSTEMS
LABORATORY EXPERIMENT MANUAL

A system sys can have transfer function data such as the numerator polynomial
and the denominator polynomial. Given a system sys, the transfer function
numerator and denominator vectors can be obtained using the function
[num,den]=tfdata(sys).

Extraction of State-Space Data

A system sys can have state space data such as the system matrix A, input
matrix B, output matrix C, and the feedforward matrix D. Given a system sys, the
state space data can be obtained using the function [A,B,C,D]=ssdata(sys).

Extraction of Zero-Pole-Gain Data

A system sys can have zero-pole-gain data such as zeros, poles, and system
gain. Given a system sys, the zero-pole-gain data can be obtained using the
function [z,p,k]=zpkdata(sys).

THE POLE-ZERO MAP

In the analysis and design of feedback control systems, it is important to

determine the location of the zeros and poles of the system. One way of
determining the zeros and poles of the system is by using the function zpkdata
as described earlier. If you are interested in the determining only the zeros of the
system, the zero function can be used. One the other hand, if you are interested
in determining only the poles of the system, the pole function can be used.
Listing 3-4 shows an example of zero and pole determination using the zero and
pole functions.

Listing 3-4
> % Use the system generated earlier.
> pvector = pole(sysg)
pvector =

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
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2.56155281280883
-1.56155281280883
> zvector = zero(sysg)
zvector =
2
-1

The visual representation of the poles and zeros of the system in the s-plane is
generated by using the function pzmap as follows:

Listing 3-5
> pzmap(sysg)

The visual representation of the pole-zero map is shown in Figure 3-1.

Figure 3-1. Pole-zero map of sysg

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
FEEDCON – FEEDBACK AND CONTROL SYSTEMS
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LTI MODELS

The command ltimodels is used as a help file on the description of different LTI
models used in MATLAB®. It gives general information on the various types of
LTI models supported in the Control System Toolbox.

There is another command, ltiprops, that is able to give details on the generic
properties of LTI models.

III. SOFTWARE NEEDED

ITEM NO. DESCRIPTION QUANTITY

Matlab® 2010 1

IV. PROCEDURES

A system is described by the differential equation

3 2
d d d
3 2
2 dt y(t)- dt y(t)+3 dt y(t)+2y(t)=x(t)

1. Determine the transfer function model of this system and generate it in

MATLAB®.

2. Determine the roots of the denominator polynomial.

3. Generate the state-space model of the system using any model

transformation technique.

4. Determine the eigenvalues of the state matrix A.

5. Determine the poles and zeros of the system.

6. Plot the pole-zero map of the system.

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7. Generate the zero-pole-gain model of the system using any model

transformation technique.

8. Determine the solution to the differential equation given assuming zero initial
conditions, and plot the response for 0 ≤ t ≤10 seconds.

9. Convert the continuous-time system to discrete-time using the function

c2d. Set the sampling time to 0.1 secs.

V. MATLAB COMMANDS AND RESULTS

1. Determine the transfer function model of this system and generate it

in MATLAB®.

2. Determine the roots of the denominator polynomial.

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3. Generate the state-space model of the system using any model

transformation technique.

4. Determine the eigenvalues of the state matrix A.

5. Determine the poles and zeros of the system.

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6. Plot the pole-zero map of the system.

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7. Generate the zero-pole-gain model of the system using any model

transformation technique.

8. Determine the solution to the differential equation given assuming zero

initial conditions, and plot the response for 0 ≤ t ≤10 seconds.

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
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LABORATORY EXPERIMENT MANUAL

9. Convert the continuous-time system to discrete-time using the function

c2d. Set the sampling time to 0.1 secs.

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VI. QUESTIONS

1. What is the significance of studying the different system modeling methods?

Studying different system modeling methods can make it easy to understand

the system and each model for a specific system has a different response
and behavior that can be used for evaluating and studying the different ways
of representing system.

2. Why is it necessary to convert the transfer function model into state

space model?

Two of the most powerful ways to represent systems are the transfer
function form and the state space form. Transfer function is a way of
presentation in the frequency domain while a state-space representation is a
mathematical model of a physical system as a set of input, output and state
variables related by first-order differential equations or difference equations. It
is required to convert model into another model depending on the classes of
variables of the system.

3. Compare the results in No. 2 and No. 4. What can you say about it?

There results are quite similar and the eigenvalues of the matrix A
is identical to the roots of denominator polynomial.
4. What is meant by zeros and poles?

Zeros and Poles are the frequencies for which the value of the denominator and
numerator of transfer function becomes zero respectively. The values of the poles
and the zeros of a system determine whether the system is stable, and how well
the system performs. Control systems, in the simplest sense, can be designed
simply by assigning specific values to the zeros and poles of the system.

5. What is an eigenvalue of a matrix?

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COLLEGE OF INFORMATION TECHNOLOGY AND ENGINEERING
ELECTRONICS ENGINEERING DEPARTMENT
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LABORATORY EXPERIMENT MANUAL

Eigenvalue is the value which when multiplied by identity matrix and subtracted
from the actual matrix A would give 0. It is a square matrix represents a
transformation on some vector space.

VII. CONCLUSION

In this experiment, I was able to familiarize with the different system modeling
methods and I was able to extract data from an existing system model.
Classification of models can be useful for selecting the right type of model for the
planned purpose and scope. In complex software system a data extraction is
one way to understand it. Also, in pole – zero map it shows the location of the
poles and zeros of the transfer function in the complex plane. Lastly, LTI models
allows users to run and program equation then perform it in different equations.
All of the parts of the equation are properties of transferring function.

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