Page 742 - Mechanical Engineers' Handbook (Volume 2)

4 Solution of System Equations 733

Table 3 State-Space Canonical Forms for SISO Discrete-Time Systems
n
Y(z) z n 1 z n 1 z 0
H(z) n 1
n
U(z) z n 1 z n 1 z 0
1
I. Controllable canonical form
Simulation diagram

System matrices
0 0
0
0
0
F 0 I n 1 G D n

1
0 1 n 1
.. . n 1 n n 1 ]
C [ 0 n 0 1 n 1
II. Observable canonical form
Simulation diagram