Teaching
Introduction To Python For Modern Controls
State-Space Realization

State-Space Realization: Bridging Transfer Functions and State-Space

Deriving a transfer function from a state-space model is straightforward. However, the inverse problem—constructing an internal description from a transfer function—is less trivial. This is the focus of realization theory, which explores creating state-space models from transfer functions.

Key Concepts

  • A single transfer function can have an infinite number of state-space representations. This arises because the choice of state variables is not unique; different selections lead to different state-space models while preserving the input-output relationship captured by the transfer function.

  • Realization theory focuses on developing canonical forms, which are standardized structures for state-space representations. These forms simplify analysis and design and include:

    • Controllable Canonical Form (CCF): The CCF highlights the controllability of the system, making it easier to design state feedback controllers.
    • Observable Canonical Form (OCF): The OCF emphasizes the observability of the system, aiding in designing observers to estimate the system’s state from output measurements.
    • Diagonal Form: This form applies when the system has distinct eigenvalues (poles). The diagonal system matrix simplifies analysis as the system’s modes are decoupled.
    • Jordan Form: The Jordan form handles systems with repeated eigenvalues using a block structure in the A matrix representing the system’s modes and relationships.
    • Modified Jordan Form: This form specifically addresses systems with complex conjugate eigenvalues. It uses a block structure in A to capture the oscillatory nature of these modes.

Steps for State-Space Realization

The general steps for realizing a state-space model from a transfer function are:

  1. Partial Fraction Expansion: Decompose the transfer function into simpler first- and second-order terms, corresponding to real and complex poles.
  2. Block Diagram Representation: Create a block diagram using integrators, gains, and summing junctions to represent the structure of the transfer function. Each block can be associated with a state variable.
  3. State Assignment: Choose appropriate state variables based on the block diagram. This selection determines the specific canonical form.
  4. Derive State-Space Matrices: Express the relationships between state variables, inputs, and outputs in matrix form to derive the A, B, C, and D matrices of the state-space model.

Importance of State-Space Realization

State-space realization is crucial in control design because:

  • Controller Design: State-space models are extensively used in modern control techniques. Methods like pole placement, optimal control (LQR), and Kalman filtering rely on state-space representations.
  • System Analysis: Canonical forms make analyzing system properties like controllability, observability, and stability easier.
  • Simulation and Implementation: State-space models are well-suited for numerical simulation and digital implementation of controllers.

Example: Controllable and Observable Canonical Forms

Consider the transfer function $G(s) = \frac{b_2s^2 + b_1s + b_0}{s^3 + a_2s^2 + a_1s + a_0}$.

Controllable Canonical Form (CCF)

  • State-Space Matrices:
    • $A = \begin{bmatrix} 0 & 1 & 0 \\ 0 & 0 & 1 \\ -a_0 & -a_1 & -a_2 \end{bmatrix}$
    • $B = \begin{bmatrix} 0 \\ 0 \\ 1 \end{bmatrix}$
    • $C = \begin{bmatrix} b_0 & b_1 & b_2 \end{bmatrix}$
    • $D = 0$

Observable Canonical Form (OCF)

  • State-Space Matrices:
    • $A = \begin{bmatrix} -a_2 & 1 & 0 \\ -a_1 & 0 & 1 \\ -a_0 & 0 & 0 \end{bmatrix}$
    • $B = \begin{bmatrix} b_2 \\ b_1 \\ b_0 \end{bmatrix}$
    • $C = \begin{bmatrix} 1 & 0 & 0 \end{bmatrix}$
    • $D = 0$

Python Demos

Controllable Canonical Form (CCF)

import numpy as np
import control as ct

# Define transfer function coefficients
b2, b1, b0 = 2, 3, 1
a2, a1, a0 = 5, 4, 2

# Construct the state space system
num = [b2, b1, b0]
den = [1, a2, a1, a0]
G = ct.tf2ss(num, den)

# Realize the state-space model in CCF
sys_ccf, T = ct.canonical_form(G, form='reachable')

# Print the state-space matrices
print("A = \n", sys_ccf.A)
print("B = \n", sys_ccf.B)
print("C = \n", sys_ccf.C)
print("D = \n", sys_ccf.D)

Observable Canonical Form (OCF)

import numpy as np
import control as ct

# Define transfer function coefficients
b2, b1, b0 = 2, 3, 1
a2, a1, a0 = 5, 4, 2

# Construct the transfer function
num = [b2, b1, b0]
den = [1, a2, a1, a0]
G = ct.tf2ss(num, den)

# Realize the state-space model in OCF
sys_ocf, T = ct.canonical_form(G, form='observable')

# Print the state-space matrices
print("A = \n", sys_ocf.A)
print("B = \n", sys_ocf.B)
print("C = \n", sys_ocf.C)
print("D = \n", sys_ocf.D)

Similar Realizations

A state-space realization of a system is not unique, and there are infinitely many ways to represent the same system. Similar realizations can be obtained through a similarity transformation.

  • Given a realization \(\Sigma\) and a nonsingular matrix \(T \in \mathbb{R}^{n \times n}\), new states can be defined as \(Tx^* = x\).

  • A new state-space model \(\Sigma^*\) can be defined as:

    \(\dot{x}^*(t) = T^{-1}ATx^*(t) + T^{-1}Bu(t)\)

    \(y(t) = CTx^*(t) + Du(t)\)

  • This new realization, \(\Sigma^*\), is said to be similar to \(\Sigma\) and also realizes \(G(s)\).

  • The state-space representation of \(\Sigma^*\) is given by:

    \(\Sigma^* = \begin{bmatrix} T^{-1}AT & T^{-1}B \\ \hline CT & D \end{bmatrix}\)

Relation between different realizations The following two state-space representations realize the same system and are similar:

\(\Sigma = \begin{bmatrix} -a_2 & 1 & 0 & b_2 \\ -a_1 & 0 & 1 & b_1 \\ -a_0 & 0 & 0 & b_0 \\ \hline 1 & 0 & 0 & d \end{bmatrix}\), \(\Sigma^* = \begin{bmatrix} 0 & 0 & -a_0 & b_0 \\ 1 & 0 & -a_1 & b_1 \\ 0 & 1 & -a_2 & b_2 \\ \hline 0 & 0 & 1 & d \end{bmatrix}\).

The states in the two systems are related by:

  • \(x^*_1 = x_3\)
  • \(x^*_2 = x_2\)
  • \(x^*_3 = x_1\)

or

\(x^* = \begin{bmatrix} 0 & 0 & 1 \\ 0 & 1 & 0 \\ 1 & 0 & 0 \end{bmatrix} x\)

It can be verified that \(A^* = T^{-1}AT\), \(B^* = T^{-1}B\), and \(C^* = CT\).

Python code example The following Python code demonstrates the similarity transformation between the two state-space models above:

import control as ct
import numpy as np
a0, a1, a2 = 80, 81, 82
b0, b1, b2 = 60, 61, 62
A = np.array([[-a2, 1, 0],[-a1, 0, 1],[-a0, 0, 0]])
B = np.array([[b2],[b1],[b0]])
C = np.array([1,0,0])
D = np.array([0])
G = ct.ss(A,B,C,D)
print(G)
T = np.array([[0,0,1],[0,1,0],[1,0,0]])
Gt = ct.similarity_transform(G,T)
print(Gt)

In this code, the similarity_transform function from the control library is then used to transform the original system into a similar system Gt using the transformation matrix T.