Lesson 3.

3: Convert transfer function to state-space and Convert state-

space to transfer function.

3.3.1 Converting a Transfer Function to State Space

One advantage of the state-space representation is that it can be used for the
simulation of physical systems on the digital computer. Thus, if we want to
simulate a system that is represented by a transfer function, we must first
convert the transfer function representation to state space.

At first, we select a set of state variables, called phase variables, where each
subsequent state variable is defined to be the derivative of the previous state
variable. In the upcoming modules we show how to make other choices for the
state variables.

Let us begin by showing how to represent a general, nth-order, linear differential

equation with constant coefficients in state space in the phase-variable form. We
will then show how to apply this representation to transfer functions. Consider
the differential equation

𝑑 𝑦 𝑑 𝑦 𝑑𝑦
𝑎 .... 𝑎 𝑎 𝑦 𝑏 𝑢
𝑑𝑡 𝑑𝑡 𝑑𝑡

A convenient way to choose state variables is to choose the output, y(t), and its
(n-1) derivatives as the state variables. This choice is called the phase-variable
choice. Choosing the state variable, xi, we get

𝑥 𝑦
𝑑𝑦
𝑥
𝑑𝑡
𝑑 𝑦
𝑥
𝑑𝑡
⋮
𝑑 𝑦
𝑥
𝑑𝑡
and differentiating both sides yields
𝑑𝑦
𝑥
𝑑𝑡
𝑑 𝑦
𝑥
𝑑𝑡
𝑑 𝑦
𝑥
𝑑𝑡
⋮
𝑑 𝑦
𝑥
𝑑𝑡
Substituting the first set of equation into the second set:

𝑥 𝑥
𝑥 𝑥
𝑥 𝑥
⋮
𝑥 𝑎 𝑥 𝑎 𝑥 … 𝑎 𝑥 𝑏 𝑢

In vector-matrix form:

𝑥 0 1 0 0 0 0 ⋯ 0 𝑥 0
⎡ 𝑥 ⎤ ⎡ 0 0 1 0 0 0 ⋯ 0 ⎤⎡ 𝑥 ⎤ ⎡0⎤
⎢ ⎥ ⎢ ⎥⎢ 𝑥 ⎥ ⎢ ⎥
⎢ 𝑥 ⎥ ⎢ 0 0 0 1 0 0 ⋯ 0 ⎥⎢ ⎥ ⎢0⎥ 𝑢
⎢ ⋮ ⎥ ⎢ ⋮ ⋮ ⋮ ⋮ ⋮ ⋮ ⋯ ⎥⎢ ⋮ ⎥ ⎢⋮⎥
⎢𝑥 ⎥ ⎢ 0 0 0 0 0 0 ⋯ 1 ⎥ ⎢𝑥 ⎥ ⎢0⎥
⎣ 𝑥 ⎦ ⎣ 𝑎 𝑎 𝑎 𝑎 𝑎 𝑎 ⋯ 𝑎 ⎦⎣ 𝑥 ⎦ ⎣𝑏 ⎦

The output equation is: 𝑦 𝑡 𝑥

𝑥
⎡ 𝑥 ⎤
⎢ ⎥
𝑦 𝑡 1 0 0 ⋯ 0 ⎢ ⋮ ⎥
⎢𝑥 ⎥
⎣ 𝑥 ⎦
The resulting state-space is the phase-variable form of the state equations. This
form is easily recognized by the unique pattern of 1’s and 0’s and the negative of
the coefficients of the differential equation written in reverse order in the last row
of the system matrix.

In summary, then, to convert a transfer function into state equations in phase-

variable form, we first convert the transfer function to a differential equation by
cross-multiplying and taking the inverse Laplace transform, assuming zero
initial conditions. Then we represent the differential equation in state space in
phase-variable form.

Example 3.3.1
Find the state-space representation in phase-variable form for the transfer
function shown.
Solution 3.3.1

Find the associated differential equation. Since

cross-multiplying yields

The corresponding differential equation is found by taking the inverse Laplace

transform, assuming zero initial conditions:

Select the state variables. Choosing the state variables as successive derivatives,
we get

Differentiating both sides, we obtain the state equations. Since the output is c =
x1, the combined state and output equations are

In vector-matrix form,
Notice that the third row of the system matrix has the same coefficients as the
denominator of the transfer function but negative and in reverse order.

Example 3.3.2

Find the state - space representation for the transfer function

Solution 3.3.2

Separate the system into two cascaded blocks. The first block
contains the denominator and the second contains the numerator.

Find the state equations for the block containing the denominator. We
notice that the first block’s numerator is 1/24 of the previous example.
Thus, the state equations are the same except that this system’s input
matrix is 1/24 that of the previous example. Hence,

𝑥 0 1 0 𝑥 0
𝑥 0 0 1 𝑥 0 𝑟
𝑥 24 26 9 𝑥 1

Introduce the effect of the block with the numerator.

𝐶 𝑠 𝑠 7𝑠 2 𝑋 𝑠

Taking the inverse Laplace transform with zero initial conditions, we get

𝑐 𝑥 7𝑥 2𝑥 but
𝑥 𝑥
𝑥 𝑥
𝑥 𝑥 Hence,
𝑦 𝑐 𝑡 𝑥 7𝑥 2𝑥

𝑥
𝑦 2 7 1 𝑥
𝑥
3.3.2 Converting from State Space to a Transfer Function

Now we move in the opposite direction and convert the state-space

representation into a transfer function.

Given the state and output equations

take the Laplace transform assuming zero initial conditions:

Solving for X(s)

where I is the identity matrix.

We call the matrix the transfer function matrix, since it relates the output vector,
Y(s), to the input vector, U(s).

Example 3.2.3

Find the transfer function, T(s) = Y(s)/U(s), where U(s) is the input and Y(s) is the
output.
Solution 3.2.3

The solution revolves around finding the term (sI – A)-1. All other terms are
already defined. Hence, first find (sI – A):

Now form (sI – A)-1.

Substituting, (sI – A)-1, B, C, and D