8/26/2016

Transformation:TransferFunctionStateSpace

Transformation:TransferFunctionStateSpace
Alltransformation Printable

Contents
StateSpacetoTransferFunction
TransferFunctiontoStateSpace
ControllableCanonicalForm
ObservableCanonicalForm
Otherforms
Twoofthemostpowerful(andcommon)waystorepresentsystemsarethetransferfunctionformandthestate
spaceform.Thispagedescribeshowtotransformatransferfunctiontoastatespacerepresentation,andvice
versa.Convertingfromstatespaceformtoatransferfunctionisstraightforwardbecausethetransferfunctionform
isunique.Convertingfromtransferfunctiontostatespaceismoreinvolved,largelybecausetherearemanystate
spaceformstodescribeasystem.

StateSpacetoTransferFunction
Considerthestatespacesystem:

Now,taketheLaplaceTransform(withzeroinitialconditionssincewearefindingatransferfunction):

WewanttosolvefortheratioofY(s)toU(s),soweneedsoremoveQ(s)fromtheoutputequation.Westartby
solvingthestateequationforQ(s)

Thematrix(s)iscalledthestatetransitionmatrix.Nowweputthisintotheoutputequation

Nowwecansolveforthetransferfunction:

Notethatalthoughtherearemanystatespacerepresentationsofagivensystem,allofthoserepresentationswillresultinthesametransfer
function(i.e.,thetransferfunctionofasystemisuniquethestatespacerepresentationisnot).

Example:StateSpacetoTransferFunction
Findthetransferfunctionofthesystemwithstatespacerepresentation

Firstfind(sIA)andthe=(sIA)1(note:thiscalculationisnotobvious.Detailsarehere).Rulesfor
invertinga3x3matrixarehere.

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

1/9

8/26/2016

Transformation:TransferFunctionStateSpace

Nowwecanfindthetransferfunction

Tomakethistaskeasier,MatLabhasacommand(ss2tf)forconvertingfromstatespacetotransfer
function.

>>%Firstdefinestatespacesystem
>>A=[010001342]
>>B=[001]
>>C=[510]
>>[n,d]=ss2tf(A,B,C,D)
n=
001.00005.0000
d=
1.00002.00004.00003.0000
>>mySys_tf=tf(n,d)
Transferfunction:
s+5

s^3+2s^2+4s+3

Example:StateSpacetoTransferFunction(Symbolic)
Findthetransferfunctionofthesystemwithstatespacerepresentation

Firstfind(sIA)andthe=(sIA)1(note:thiscalculationisnotobvious.Detailsarehere).

Nowwecanfindthetransferfunction

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

2/9

8/26/2016

Transformation:TransferFunctionStateSpace

KeyConcept:TransformingfromStateSpacetoTransferFunction
Givenastatespacerepresentationofasystem

thetransferfunctionisgiveby

andthecharacteristicequation(i.e.,thedenominatorofthetransferfunction)is

TransferFunctiontoStateSpace
Recallthatstatespacemodelsofsystemsarenotuniqueasystemhasmanystatespacerepresentations.
Thereforewewilldevelopafewmethodsforcreatingstatespacemodelsofsystems.
Beforewelookatproceduresforconvertingfromatransferfunctiontoastatespacemodelofasystem,let'sfirst
examinegoingfromadifferentialequationtostatespace.We'lldothisfirstwithasimplesystem,thenmovetoa
morecomplexsystemthatwilldemonstratetheusefulnessofastandardtechnique.
Firstwestartwithanexampledemonstratingasimplewayofconvertingfromasingledifferentialequationto
statespace,followedbyaconversionfromtransferfunctiontostatespace.
Example:DifferentialEquationtoStateSpace(simple)
Considerthedifferentialequationwithnoderivativesontherighthandside.We'lluseathirdorder
equation,thoughtitgeneralizeston thorderintheobviousway.

Forsuchsystems(noderivativesoftheinput)wecanchooseasournstatevariablesthevariableyand
itsfirstn1derivatives(inthiscasethefirsttwoderivatives)

Takingthederivativeswecandevelopourstatespacemodel

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

3/9

8/26/2016

Transformation:TransferFunctionStateSpace
Note:Forannthordersystemthematricesgeneralizeintheobviousway(Ahasonesabovethemaindiagonalandthedifferential
equationconstantsforthelastrow,Bisallzeroswithb0 inthebottomrow,Ciszeroexceptfortheleftmostelementwhichisone,and
Diszero)

RepeatStartingfromTransferFunction
Considerthetransferfunctionwithaconstantnumerator(note:thisisthesamesystemasinthe
precedingexample).We'lluseathirdorderequation,thoughtitgeneralizeston thorderintheobvious
way.

Forsuchsystems(noderivativesoftheinput)wecanchooseasournstatevariablesthevariableyand
itsfirstn1derivatives(inthiscasethefirsttwoderivatives)

Takingthederivativeswecandevelopourstatespacemodel(whichisexactlythesameaswhenwe
startedfromthedifferentialequation)

Note:Forannthordersystemthematricesgeneralizeintheobviousway(Ahasonesabovethemaindiagonalandthecoefficientsof
thedenominatorpolynomialforthelastrow,Bisallzeroswithb0 (thenumeratorcoefficient)inthebottomrow,Ciszeroexceptforthe
leftmostelementwhichisone,andDiszero)

Ifwetrythismethodonaslightlymorecomplicatedsystem,wefindthatitinitiallyfails(thoughwecansucceed
withalittlecleverness).
Example:DifferentialEquationtoStateSpace(harder)
Considerthedifferentialequationwithasinglederivativeontherighthandside.

Wecantrythesamemethodasbefore:

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

4/9

8/26/2016

Transformation:TransferFunctionStateSpace

Themethodhasfailedbecausethereisaderivativeoftheinputontherighthand,andthatisnot
allowedinastatespacemodel.
Fortunatelywecansolveourproblembyrevisingourchoiceofstatevariables.

Nowwhenwetakethederivativesweget:

Thesecondandthirdequationsarenotcorrect,because isnotoneofthestatevariables.However
wecanmakeuseofthefact:

Thesecondstatevariableequationthenbecomes

Inthethirdstatevariableequationwehavesuccessfullyremovedthederivativeoftheinputfromtheright
sideofthethirdequation,andwecangetridofthetermusingthesamesubstitutionweusedforthe
secondstatevariable.

Theprocessdescribedinthepreviousexamplecanbegeneralizedtosystemswithhigherorderinputderivatives
butunfortunatelygetsincreasinglydifficultastheorderofthederivativeincreases.Whentheorderofderivativesis
equalonbothsides,theprocessbecomesmuchmoredifficult(andthevariable"D"isnolongerequaltozero).
Clearlymorestraightforwardtechniquesarenecessary.Twoareoutlinedbelow,onegeneratesastatespace
methodknownasthe"controllablecanonicalform"andtheothergeneratesthe"observablecanonicalform(the
meaningofthesetermsderivesfromControlTheorybutarenotimportanttous).

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

5/9

8/26/2016

Transformation:TransferFunctionStateSpace

ControllableCanonicalForm(CCF)
Probablythemoststraightforwardmethodforconvertingfromthetransferfunctionofasystemtoastatespace
modelistogenerateamodelin"controllablecanonicalform."ThistermcomesfromControlTheorybutitsexact
meaningisnotimportanttous.Toseehowthismethodofgeneratingastatespacemodelworks,considerthethird
orderdifferentialtransferfunction:

WestartbymultiplyingbyZ(s)/Z(s)andthensolvingforY(s)andU(s)intermsofZ(s).Wealsoconvertbacktoa
differentialequation.

Wecannowchoosezanditsfirsttwoderivativesasourstatevariables

Nowwejustneedtoformtheoutput

Fromtheseresultswecaneasilyformthestatespacemodel:

Inthiscase,theorderofthenumeratorofthetransferfunctionwaslessthanthatofthedenominator.Iftheyare
equal,theprocessissomewhatmorecomplex.Aresultthatworksinallcasesisgivenbelowthedetailsarehere.
Forageneralnthordertransferfunction:

thecontrollablecanonicalstatespacemodelformis

KeyConcept:TransferfunctiontoStateSpace(CCF)
Forageneraln thordertransferfunction:

thecontrollablecanonicalstatespacemodelformis

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

6/9

8/26/2016

Transformation:TransferFunctionStateSpace

ObservableCanonicalForm(OCF)
Anothercommonlyusedstatevariableformisthe"observablecanonicalform."ThistermcomesfromControl
Theorybutitsexactmeaningisnotimportanttous.Tounderstandhowthismethodworksconsiderathirdorder
systemwithtransferfunction:

Wecanconvertthistoadifferentialequationandsolveforthehighestorderderivativeofy:

Nowweintegratetwice(thereasonforthiswillbeapparentsoon),andcollecttermsaccordingtoorderofthe
integral:

Choosetheoutputasourfirststatevariable

Lookingattherighthandsideofthedifferentialequationwenotethaty=q1andwecallthetwointegraltermsq2:

so

Thisisourfirststatevariableequation.
Nowlet'sexamineq2anditsderivative:

Againwenotethaty=q1andwecalltheintegraltermsq3:

so

Thisisoursecondstatevariableequation.
Nowlet'sexamineq3anditsderivative:

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

7/9

8/26/2016

Transformation:TransferFunctionStateSpace

Thisisourthird,andlast,statevariableequation.
Ourstatespacemodelnowbecomes:

Inthiscase,theorderofthenumeratorofthetransferfunctionwaslessthanthatofthedenominator.Iftheyare
equal,theprocessissomewhatmorecomplex.Aresultthatworksinallcasesisgivenbelowthedetailsarehere.
Forageneralnthordertransferfunction:

theobservablecanonicalstatespacemodelformis

KeyConcept:TransferfunctiontoStateSpace(OCF)
Forageneraln thordertransferfunction:

theobservablecanonicalstatespacemodelformis

Otherforms
Therearemanyotherformsthatarepossible.ForexampleMATLABusesavariantofthecontrollability
canonicalforminits"ss2tf"function.

References

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

8/9

8/26/2016

Transformation:TransferFunctionStateSpace
Copyright2005to2015ErikCheeverThispagemaybefreelyusedforeducationalpurposes.
Comments?Questions?Suggestions?Corrections?
ErikCheeverDepartmentofEngineeringSwarthmoreCollege

http://lpsa.swarthmore.edu/Representations/SysRepTransformations/TF2SS.html

9/9