EE-379

LINEAR CONTROL SYSTEMS

Lecture No 39

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 3 (nn 6th Ed)
Time Domain Analysis
3.5 Converting a Transfer Function to State Space
3.6 Converting from State Space to a Transfer
Function

Instructor: Dr. Farid Gul

Class: BEE 5C
Electrical Engineering Department

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Example 3.3 Representing a Translational Mechanical System
PROBLEM: Find the state equations for the translational mechanical
system shown in the Figure.
SOLUTION:

dx1 d 2 x1 dv1
 v1 2

dt dt dt
dx1
 v1
dt dx2
 v2 d 2 x2 dv2

dt dt 2 dt

dx2
 v2
dt x1, v1, x2, v2 are the state
variables
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dx1
 v1
dt

dx2
 v2
dt

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Converting a Transfer Function to
State Space

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Dynamic Equations Transfer Function
Y (s) b0
 n
U ( s ) s  an 1s n 1   a1s  a0

Choose the output, y(t), and its successive derivatives

up to (n-1)th derivatives as the state variables
Differentiating d n y dy d n 1 y
both sides n
 a0 y  a1   an 1 n 1  b0u
dt dt dt
= x2

= x3

= x4

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  x1 
x 
 2  State vector
 x 
x 3 
  
 xn 1 
  phase-variable form of
 xn 
the state equations

Y (s) b0
 n
U ( s ) s  an 1s n 1   a1s  a0 6
Example 3.4 Converting a Transfer Function with
Constant Term in Numerator
PROBLEM: Find the state-space representation in phase-variable form
for the system shown in the figure
SOLUTION:

By cross-multiplying we get

By taking the inverse Laplace transform, the differential

equation is found

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Choosing the state variables as successive derivatives

 x1   c 
 x    c
 2  
 x3  c

State Equations Output Equation

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Equivalent block diagram
showing phase-variables

x2 (t ) x1 (t )

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 Transfer Function with a polynomial in numerator
Order of the numerator is less than
that of the denominator

The numerator and denominator

can be separated into two cascaded
transfer functions

The first transfer function is converted to the phase-variable

representation in state space with x1 as output

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The second transfer function may expressed as

Taking inverse Laplace transform, we get:

x1  x2
or x2  x3

The output y(t) is a linear combination

of the state variables

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 b2
C(t)
b1
r(t) x3 x3 x2 x1
1/a3    b0
- --  0 1 0 
a2/a3 A   0 0 1 
a1/a3 a0 a3 a1 a3 a2 a3 

a0/a3
0 
B  0
1

C  b0 b1 b2 
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Converting from State Space to a
Transfer Function

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 The state and output equations are given
as
Substituting for X(s) in Eq (2)

Taking the Laplace transform assuming

zero initial conditions

(1) Transfer function

matrix
(2)
From Eq (1) If U(s) = U(s) and Y(s) = Y(s) are scalars,
the transfer function can be found

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Example 3.6 State-Space Representation to Transfer
Function

PROBLEM: Given the system defined by the following state and

output Equations, find the transfer function, T(s) = Y(s)/U(s), where
U(s) is the input and Y(s) is the output.

SOLUTION:
The transfer function matrix is:

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 Home Assignment
Convert the given transfer
function for the mechanical
translational system to the
state-space representation
in phase-variable form.
Draw equivalent block
diagram showing the phase
variables.

Submit on Monday (19 May) at 3 pm

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End of Lecture 41

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