电子社现代控制理论基础（英文版）（第2版）mooc课件2-3.pptx

L2.3 Linear Transformation and Transfer Function MatrixLinear TransformationPreliminary Example: RLC CircuitFirst we choose Then we choose Note: The selection of state variables is not a unique process.L2.3 Linear Transformation and Transfer Function MatrixLinear TransformationPreliminary Example: RLC CircuitChoose the state variables as follows.??L2.3 Linear Transformation and Transfer Function MatrixLinear TransformationPreliminary Example: RLC CircuitNote: The selection of state variables is not a unique process.Linear transformation Nonsingular matrixFor a LTI system, suppose we choose two state vectors and .We obtain two state descriptions from the two state vectors for the same system.L2.3 Linear Transformation and Transfer Function MatrixLinear TransformationAny new state variables may be defined as a simple linear transformation of the old state variables.We haveL2.3 Linear Transformation and Transfer Function MatrixLinear TransformationBecauseAnd for output equationL2.3 Linear Transformation and Transfer Function MatrixLinear Transformation The characteristic polynomial of a system matrix is unchanged by the equivalence transformation. This result confirms that the eigenvalues of the system, which are roots of the characteristic polynomial, are independent of the selected state variables. L2.3 Linear Transformation and Transfer Function MatrixTransfer Function MatrixThe problem may be stated as: give the state-space representation, find the relationship between outputs and inputs. From (A,B,C,D) to G(s)L2.3 Linear Transformation and Transfer Function MatrixTransfer Function MatrixBegin with the state equation and output equation Taking Laplace transform Transfer Function MatrixL2.3 Linear Transformation and Transfer Function MatrixTransfer Function MatrixExampleA system with two inputs, one outputs, and two state variables is described asA SISO system is described in state variable form with ThenThenL2.3 Linear Transformation and Transfer Functio