E1C05 11/03/2010 12:18:0 Page 265

Form Transfer function Signal-flow diagram State equations

1 1
1 1 s s 3 . 0 1 0
Phase
* (s + 3) R(s) C(s) x= x+ r
variable (s2 + 10s + 24) X2(s) X1(s) –24 – 10 1
–10 y = [3 1] x

–24
1
–1 s 1
2
X1(s)
–4
. –4 0 –1
Parallel + Apago
R(s) 3 PDF Enhancer
C(s) x= x+ 2 r
(s + 4) s+6 0 –6 3
2 1
s 1 2
y = [1 1] x

–6 X2(s)

1 1 . –6 1 0
1 (s + 3) 1 s 1 s 3 x= x+ r
Cascade R(s) C(s) 0 –4 1
*
(s + 4) (s + 6) X2(s) X1(s) y = [–3 1] x
–4 –6
1

1 1 . –10 –24 1
Controller 1 s 1 s 3 x= x+ r
1 C(s) 1 0 0
canonical * (s + 3) R(s)
(s2 + 10s + 24) X1(s) X2(s) y = [1 3] x
–10
–24

1 1
1 3 3 s 1 s 1 . –10 1 1
Observer s + s2 x=
–24 0
x+
3
r
R(s) C(s)
canonical 10 24 X2(s) X1(s)
1 + s + s2 y = [1 0] x
–10

–24