Page 732 - Mechanical Engineers' Handbook (Volume 2)
P. 732
3 State-Variable Selection and Canonical Forms 723
Table 1 State-Space Canonical Forms for SISO Continuous-Time Systems
n
Y(s) s n 1 s n 1 s 0
H(s) n 1
n
U(s) s n 1 s n 1 s 0
1
I. Controllable canonical form
Simulation diagram
System matrices
0 0
0
0
0
A 0 I n 1 B D n
1
0 1 n 1
... ]
0
C [ 0 1 n 1 nn 1
n
n
1
II. Observable canonical form
Simulation diagram
