!" !"#$%&'()$* ,%& -. %//01.2 #) -)#3 '12.

' %' '4,3 5

!"
() = (u,S
-1
+ u,u6
-2
u,uu8
-3
)() + (1,2
-2
u,12
-3
)
1
() +(
-1
u,8
-2
+ u,16
-3
)
2
()
(1 u,S
-1
u,u6
-2
+ u,uu8
-3
)() = (1,2
-2
u,12
-3
)
1
() + (
-1
u,8
-2
+u,16
-3
)
2
()
() =
1,2
-2
u,12
-3
1 u,S
-1
u,u6
-2
+ u,uu8
-3

1
() +

-1
u,8
-2
+ u,16
-3
1 u,S
-1
u,u6
-2
+u,uu8
-3

2
()
$" MulLlplylng boLh denumeraLor and numeraLors of boLh
1
() and
2
() parLs of Lhe equaLlons wlLh

3
.
() =
1,2 u,12

3
u,S
2
u,u6 + u,uu8

1
() +

2
u,8 + u,16

3
u,S
2
u,u6 + u,uu8

2
()


8y dolng parLlal fracLlons vla maLlab , code ls shown below ,
>> denum = [1 -0.3 -0.06 0.008],
>> num1= [1.2 -0.12],
>> num2 = [1 -0.8 0.16],
>> [r1 p] = resldue(num1,denum)
>> [r2 p] = resldue(num2,denum)
where denum ls Lhe polynomlal coefflclenLs vecLor , num1 and num2 are Lhe numeraLor coefflclenL
vecLors of
1
() and
2
() respecLlvely. Also r1 ls Lhe resldue vecLor of
1
() and r2 ls Lhe resldue
vecLor of
2
() and p ls Lhe vecLor LhaL conLalns poles whlch ls Lhe same for boLh of
1
() and
2
().
1he resulL maLlabs glve ls shown below ,
r1 = [2 2 0]
r2 = [0 2 1]
p = [0.4 -0.2 0.1]


b) At first, we can manipulate Y(z) by multpliying it with z
3
to get more proper
expression of Y(z) :


!"
() = (u,S
-1
+ u,u6
-2
u,uu8
-3
)() + (1,2
-2
u,12
-3
)
1
() +(
-1
u,8
-2
+ u,16
-3
)
2
()
(1 u,S
-1
u,u6
-2
+ u,uu8
-3
)() = (1,2
-2
u,12
-3
)
1
() + (
-1
u,8
-2
+u,16
-3
)
2
()
() =
1,2
-2
u,12
-3
1 u,S
-1
u,u6
-2
+ u,uu8
-3

1
() +

-1
u,8
-2
+ u,16
-3
1 u,S
-1
u,u6
-2
+u,uu8
-3

2
()
$" MulLlplylng boLh denumeraLor and numeraLors of boLh
1
() and
2
() parLs of Lhe equaLlons wlLh

3
.
() =
1,2 u,12

3
u,S
2
u,u6 + u,uu8

1
() +

2
u,8 + u,16

3
u,S
2
u,u6 + u,uu8

2
()


8y dolng parLlal fracLlons vla maLlab , code ls shown below ,
>> denum = [1 -0.3 -0.06 0.008],
>> num1= [1.2 -0.12],
>> num2 = [1 -0.8 0.16],
>> [r1 p] = resldue(num1,denum)
>> [r2 p] = resldue(num2,denum)
where denum ls Lhe polynomlal coefflclenLs vecLor , num1 and num2 are Lhe numeraLor coefflclenL
vecLors of
1
() and
2
() respecLlvely. Also r1 ls Lhe resldue vecLor of
1
() and r2 ls Lhe resldue
vecLor of
2
() and p ls Lhe vecLor LhaL conLalns poles whlch ls Lhe same for boLh of
1
() and
2
().
1he resulL maLlabs glve ls shown below ,
r1 = [2 2 0]
r2 = [0 2 1]
p = [0.4 -0.2 0.1]



To determine modeling equations in modal form, we must first derive Y(z) in a
proper manner such that we can progress as :
650 Chapter 9 / Control Systems Analysis in State Space
(94)
The controllable canonical form is important in discussing the pole-placement approach
to control systems design.
Observable Canonical Form. The following state-space representation is called
an observable canonical form:
(95)
(96)
Note that the n*n state matrix of the state equation given by Equation (95) is the
transpose of that of the state equation defined by Equation (93).
Diagonal Canonical Form. Consider the transfer-function system defined by Equa-
tion (92). Here we consider the case where the denominator polynomial involves only
distinct roots. For the distinct-roots case, Equation (92) can be written as
(97)
The diagonal canonical form of the state-space representation of this system is given by
= b
0
+
c
1
s + p
1
+
c
2
s + p
2
+
p
+
c
n
s + p
n

Y(s)
U(s)
=
b
0
s
n
+ b
1
s
n-1
+
p
+ b
n-1
s + b
n
As + p
1
B As + p
2
B
p
As + p
n
B
y = [0 0
p
0 1] G
x
1
x
2

x
n-1
x
n
W + b
0
u
F
x
#
1
x
#
2

x
#
n
V = F
0
1

0
0
0

0
p
p
p
0
0

1
-a
n
-a
n-1

-a
1
V F
x
1
x
2

x
n
V + F
b
n
- a
n
b
0
b
n-1
- a
n-1
b
0

b
1
- a
1
b
0
V u
y = C b
n
- a
n
b
0
b
n-1
- a
n-1
b
0

p
b
1
- a
1
b
0
D F
x
1
x
2

x
n
V + b
0
u

where,
(98)
(99)
Jordan Canonical Form. Next we shall consider the case where the denominator
polynomial of Equation (92) involves multiple roots. For this case, the preceding
diagonal canonical form must be modified into the Jordan canonical form. Suppose, for
example, that the p
i
s are different from one another, except that the first three p
i
s are
equal, or p
1
=p
2
=p
3
. Then the factored form of Y(s)/U(s) becomes
The partial-fraction expansion of this last equation becomes
A state-space representation of this system in the Jordan canonical form is given by
(910)
(911) y = C c
1
c
2

p
c
n
D F
x
1
x
2

x
n
V + b
0
u
H
x
#
1
x
#
2
x
#
3
x
#
4

x
#
n
X = H
-p
1
0
0
0

0
1
-p
1
0
p
p
0
1
-p
1
0

0
0
:
0
-p
4
0
p
p

0
:
0
0
-p
n
X H
x
1
x
2
x
3
x
4

x
n
X + H
0
0
1
1

1
X u
Y(s)
U(s)
= b
0
+
c
1
As + p
1
B
3
+
c
2
As + p
1
B
2
+
c
3
s + p
1
+
c
4
s + p
4
+
p
+
c
n
s + p
n
Y(s)
U(s)
=
b
0
s
n
+ b
1
s
n-1
+
p
+ b
n-1
s + b
n
As + p
1
B
3
As + p
4
B As + p
5
B
p
As + p
n
B
y = C c
1
c
2

p
c
n
D F
x
1
x
2

x
n
V + b
0
u
F
x
#
1
x
#
2

x
#
n
V = F
-p
1
0
-p
2

0
-p
n
V F
x
1
x
2

x
n
V + F
1
1

1
V u
Section 92 / State-Space Representations of Transfer-Function Systems 651



To do partial fraction, we can use matlab to find both p and c values
respectively.
den = [1 -0.3 -0.008];
num1 = [1.2 -0.12];
num2= [1 -0.8 0.16];
[c1 p] = residue(num1, den) % c1 : residue vector of U
1
(z)
[c2 p] = residue(num2, den) % c1 : residue vector of U
2
(z)
After that we can determina c1, c2 and p respectively as:
c1 = [2 -2 0]
c2 = [0 2 1-]
p = [0.4 -0.2 0.1] which leads us to obtain :
8ewrlLlng Lhe equaLlons uslng Lhe resulLs from maLlab ,
() = _
2
u.4
+
2
+u.2
+
u
u.1
]
1
() +_
u
u.4
+
2
+u.2
+
1
u.1
]
2
()
Assumlng ,
1
,
2
and
3
as sLaLes and , () = |1 1 1
]() Lhe sLaLe equaLlons are ,

1
=
2
1
+u
2
u.4

1
( +1) = u.4
1
() + 2
1
+u
2

2
=
2
1
+2
2
+u.2

2
( +1) = u.2
2
() 2
1
+2
2

3
=
u
1

2
u.1

3
( +1) = u.1
3
() + u
1

2

lrom Lhese sLaLe equaLlons sLaLe space sysLem ln modal form ls shown below :
( +1) = _
u.4 u u
u u.2 u
u u u.1
_ () +_
2 u
2
u
2
1
_ j

2
[
() = |
1 1 1
]()
! # ln modal form conLrollablllLy and observablllLy of Lhe sysLem can be deLermlned by checklng Lhe 8
and C (whlch ls
1
ln our case) for 0 values. ln 8 maLrlx Lhere are 0 values so sysLem ls $%!&%'(&))*+),
, and all elemenLs of
1
ls 1 Lhere for sysLem ls &+-,(.*+),.

/#
SLaLe LranslLlon maLrlx of a dlscreLe Llme sysLem ls deflned as
k
where C ls Lhe sysLem maLrlx so ,

k
= _
u.4
k
u u
u u.2
k
u
u u u.1
k
_
SLaLe values ln glven Llme k ls deflned as below ,
_

1
()

2
()

3
()
_ =
k
(u) +
k-]-1
k-1
]=0
j

2
[
where = _
2 u
2
u
2
1
_,

1
() = u.4
k

1
(u) + u.4
k-]-1
2
k-1
]=0

1

When
1
= u ,
1
becomes unconLrollable , because
2
does noL effecL
1


Hence, we can write the state equations of the system as :
8ewrlLlng Lhe equaLlons uslng Lhe resulLs from maLlab ,
() = _
2
u.4
+
2
+u.2
+
u
u.1
]
1
() +_
u
u.4
+
2
+u.2
+
1
u.1
]
2
()
Assumlng ,
1
,
2
and
3
as sLaLes and , () = |1 1 1
]() Lhe sLaLe equaLlons are ,

1
=
2
1
+u
2
u.4

1
( +1) = u.4
1
() + 2
1
+u
2

2
=
2
1
+2
2
+u.2

2
( +1) = u.2
2
() 2
1
+2
2

3
=
u
1

2
u.1

3
( +1) = u.1
3
() + u
1

2

lrom Lhese sLaLe equaLlons sLaLe space sysLem ln modal form ls shown below :
( +1) = _
u.4 u u
u u.2 u
u u u.1
_ () +_
2 u
2
u
2
1
_ j

2
[
() = |
1 1 1
]()
! # ln modal form conLrollablllLy and observablllLy of Lhe sysLem can be deLermlned by checklng Lhe 8
and C (whlch ls
1
ln our case) for 0 values. ln 8 maLrlx Lhere are 0 values so sysLem ls $%!&%'(&))*+),
, and all elemenLs of
1
ls 1 Lhere for sysLem ls &+-,(.*+),.

/#
SLaLe LranslLlon maLrlx of a dlscreLe Llme sysLem ls deflned as
k
where C ls Lhe sysLem maLrlx so ,

k
= _
u.4
k
u u
u u.2
k
u
u u u.1
k
_
SLaLe values ln glven Llme k ls deflned as below ,
_

1
()

2
()

3
()
_ =
k
(u) +
k-]-1
k-1
]=0
j

2
[
where = _
2 u
2
u
2
1
_,

1
() = u.4
k

1
(u) + u.4
k-]-1
2
k-1
]=0

1

When
1
= u ,
1
becomes unconLrollable , because
2
does noL effecL
1



where the state space system as :
8ewrlLlng Lhe equaLlons uslng Lhe resulLs from maLlab ,
() = _
2
u.4
+
2
+u.2
+
u
u.1
]
1
() +_
u
u.4
+
2
+u.2
+
1
u.1
]
2
()
Assumlng ,
1
,
2
and
3
as sLaLes and , () = |1 1 1
]() Lhe sLaLe equaLlons are ,

1
=
2
1
+u
2
u.4

1
( +1) = u.4
1
() + 2
1
+u
2

2
=
2
1
+2
2
+u.2

2
( +1) = u.2
2
() 2
1
+2
2

3
=
u
1

2
u.1

3
( +1) = u.1
3
() + u
1

2

lrom Lhese sLaLe equaLlons sLaLe space sysLem ln modal form ls shown below :
( +1) = _
u.4 u u
u u.2 u
u u u.1
_ () +_
2 u
2
u
2
1
_ j

2
[
() = |
1 1 1
]()
! # ln modal form conLrollablllLy and observablllLy of Lhe sysLem can be deLermlned by checklng Lhe 8
and C (whlch ls
1
ln our case) for 0 values. ln 8 maLrlx Lhere are 0 values so sysLem ls $%!&%'(&))*+),
, and all elemenLs of
1
ls 1 Lhere for sysLem ls &+-,(.*+),.

/#
SLaLe LranslLlon maLrlx of a dlscreLe Llme sysLem ls deflned as
k
where C ls Lhe sysLem maLrlx so ,

k
= _
u.4
k
u u
u u.2
k
u
u u u.1
k
_
SLaLe values ln glven Llme k ls deflned as below ,
_

1
()

2
()

3
()
_ =
k
(u) +
k-]-1
k-1
]=0
j

2
[
where = _
2 u
2
u
2
1
_,

1
() = u.4
k

1
(u) + u.4
k-]-1
2
k-1
]=0

1

When
1
= u ,
1
becomes unconLrollable , because
2
does noL effecL
1