Modern Control Engineering

698 Chapter 9 / Control Systems Analysis in State Space

u y

s+^1 p c^1

1

1

s+p 1

1

s+p 1

s+^1 p c^4

4

c 2

c 3

x 3

x 4

xn

x 2 x 1

b 0

cn

... ...

1

s+pn

+

+

+

+

++

+

Figure 9–4 ++

Block diagram

representation of the

system defined by

Equations (9–93)

and (9–94) (Jordan

canonical form).

Solution.MATLAB command

[A,B,C,D] = tf2ss(num,den)

will produce a state-space representation for the system. See MATLAB Program 9–4.

MATLAB Program 9–4

num = [25.04 5.008];

den = [1 5.03247 25.1026 5.008];

[A,B,C,D] = tf2ss(num,den)

A=

-5.0325 -25.1026 -5.0080

1.0000 0 0

0 1.0000 0

B =

1

0

0

C =

0 25.0400 5.0080

D =

0

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