Page 743 - Mechanical Engineers' Handbook (Volume 2)

734 State-Space Methods for Dynamic Systems Analysis

Table 3 (Continued)
System matrices
I 0 n
00 0 0 0
1
n
F 1 G 1

n 1
n 1
nn 1
n 1
C [0 0 01] D n
III. Normal or diagonal Jordan canonical form
Related conditions
(i) Characteristic equation roots z i , i 1, .. ., n, are real and distinct.
Simulation diagram

System matrices
z 1 z 2 0
1
1
F G
0 z n 1

K ]
C [K 1 K 2 n D K 0
where K 0 lim [H(z)] and K i lim [(z z i )H(z)] i 1, .. ., n
z→ z→z i