MECH468

Modern Control Engineering

Motivation
MECH550P ƒ Now, we have learned two ways to describe LTI
Foundations in Control Engineering systems, i.e., TF and SS models.

TF: SS:
Realization
ƒ To use analysis & design techniques for SS
Dr. Ryozo Nagamune models, one may want to transform a TF model
Department of Mechanical Engineering to an equivalent SS model. How?
University of British Columbia ƒ More generally, what is the relationship between
two models?
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From SS to TF (review) Realization: From TF to SS

ƒ CT LTI SS model ƒ Given a rational proper transfer matrix
find matrices (A,B,C,D) s.t.
s.t.

ƒ Laplace transform with x(0)=0

ƒ Rationality:
Rationality: (polynomial)/(polynomial)
Rational Non-
Non-rational
Memorize this!
ƒ Properness:
Properness: deg(num)<=
deg(num)<=deg(den
deg(den))
Proper Non-
Non-proper

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 Remarks First step for realization
ƒ For one SS model, there is a unique TF. ƒ Always extract D-
D-matrix first!
ƒ For one TF model, there are infinitely many SS!

unique constant Strictly proper

(A,B,C,D) G(s) ƒ Ex

infinitely many Coordinate transformation T

Order difference constant Strictly proper

ƒ After realization, check the correctness by ƒ After extracting D, find (A,B,C) s.t.
s.t.
recovering the original transfer matrix.

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Controllable canonical form Companion matrix

ƒ SISO example ƒ The following form (and its transpose) of a
matrix is called companion matrix (form):

ƒ Important property of a companion matrix

or equivalently

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 SISO example Controllable canonical form
ƒ Ex.1 ƒ MIMO case

Least common denominator

ƒ Ex.2

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MIMO example Remark

ƒ Transfer matrix ƒ Controllable canonical realization is always
controllable (but not always observable). Why?

Note that the size of A-

A-matrix is four.

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 Observable canonical form SISO example
ƒ SISO example ƒ Ex.1

ƒ Ex.2

or equivalently

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Observable canonical form MIMO example

ƒ MIMO case ƒ Transfer matrix

Least common denominator

Note that the size of A-

A-matrix is two, not four!
Q: What is the smallest size of A?
(Minimal realization: next lecture)
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 Remark Review
ƒ Note the duality between controllable and ƒ So far, we considered the realizations of the
observable canonical form. following transfer matrix:
ƒ Observable canonical realization is always
observable (but not always controllable). Why?
Controllable canonical form Observable canonical form
with order 4 with order 2

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Topics from now on Why minimal realization?

ƒ Realization of the smallest order ƒ Easy to …
ƒ How to characterize such realization? ƒ Analyze (understand) the system
ƒ How to obtain such realization? ƒ Design a controller
ƒ Some terminologies: ƒ Implement a controller
ƒ Minimal realization of G(s):
G(s): ƒ Computationally less demanding in both design
Realization (A,B,C,D) of G that has the smallest and implementation
dimension of A-
A-matrix. ƒ Higher reliability
ƒ McMillan degree of G(s):
G(s): ƒ Few parts to go wrong in the hardware
The dimension of A of the minimal realization. (This ƒ Few bugs to fix in the software
indicates the “complexity”
complexity” of a system G(s).)
G(s).)

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 Two important facts Nonminimal realization examples
on minimal realization
ƒ Ex
ƒ Fact 1: A realization (A,B,C,D) is minimal
if and only if
ƒ Controllable canonical form Is it observable? No!
(A,B) is controllable and (A,C) is observable.

ƒ Fact 2: All minimal realizations of G(s)

G(s) are
related by coordinate transformations.
ƒ Observable canonical form
Is it controllable? No!
(Sketches of proofs are given in the appendix.)

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How to obtain minimal realization How to obtain minimal realization

ƒ SISO (Single-
(Single-Input-
Input-Single-
Single-Output) case ƒ SIMO case (G(s
(G(s)) is a column vector)
ƒ Remove common factors from numerator and ƒ Use the controllable canonical form.
denominator of G(s).
G(s). Then, realize G in a controllable
(or observable) canonical form.

ƒ MISO case (G(s

(G(s)) is a row vector)
C.C.F. ƒ Use the observable canonical form.

Observable! Minimal! McMillan degree 2

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How to obtain minimal realization Kalman decomposition (review)
ƒ MIMO (Multiple-
(Multiple-Input-
Input-Multiple-
Multiple-Output) case ƒ Every SS model can be transformed by z=Tx
z=Tx for
1. Realize G(s)
G(s) in some non-
non-minimal canonical form. some appropriate T into a canonical form:
2. Use the Kalman decomposition to remove
uncontrollable/unobservable parts. (“
(“minreal.m”
minreal.m”)

Remark: Unfortunately, it is generally hard to

compute the Kalman decomposition by hand.
Remark: There is another famous algorithm,
called Ho’
Ho’s algorithm,
algorithm, to compute a minimal
realization. (Not covered in this course.)

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Kalman decomposition (review) Example

ƒ Conceptual figure (Not block diagram!) ƒ TF
System

Order 6
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 Example (cont’d) Example (cont’d)
ƒ Minimal realization ƒ After realization, check
the correctness by
recovering the original (1,1)
transfer matrix.
(2,1)

Controllable!

(1,2)
Observable!

Order 3 Minimal! (2,2)

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Summary Exercises
ƒ Realization (In Matlab,
Matlab, ss.m)
ss.m) ƒ Obtain controllable canonical realizations for the
ƒ Controllable canonical form following transfer matrices. By hand-
hand-calculation,
ƒ Observability canonical form check the correctness of your answers.
ƒ Minimal realization
ƒ Realization for DT systems is exactly the same
as that for CT systems.

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 Exercises Exercises
ƒ Obtain realizations in observable canonical ƒ By both hand-
hand-calculation and Matlab,
Matlab, obtain
forms for the following transfer matrices. minimal realization for:

ƒ Using the obtained realizations above, find

realizations of the following TFs.
TFs.

By hand-calculation, check the correctness by

recovering the original transfer matrix.
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Appendix: Derivation of Appendix: Derivation (cont’d)

controllable canonical form
ƒ TF ƒ Introduce state variables

ƒ Introduce a variable x(s)

x(s) ƒ Then,

ƒ We have
ƒ By inverse Laplace transform, done!

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 Appendix: Derivation of Appendix: Derivation (cont’d)
observable canonical form
ƒ TF ƒ Draw block-
block-diagram

ƒ Rewrite I/O relation as

ƒ By introducing state variables as in the figure,

done!

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Appendix: Proof of Fact 1 Appendix: Proof of Fact 2

ƒ “only if”
if”-part : If (A,B) is not controllable or (A,C) is not ƒ Given a rational proper transfer matrix, assume two
observable, due to Kalman decomposition theorem, minimal realizations:
there is a realization with less state dimension.
ƒ “if”
if”-part : Suppose (A,B,C) controllable & observable.

Define T as (by )
Contradiction!
Then, due to

One can verify the following by using

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