zp2ss

Convert zero-pole-gain filter parameters to state-space form

Syntax

[A,B,C,D] = zp2ss(z,p,k)

Description

zp2ss converts a zero-pole-gain representation of a given system to an equivalent state-space representation.

[A,B,C,D] = zp2ss(z,p,k) finds a single input, multiple output, state-space representation

x˙=Ax+Buy=Cx+Du

given a system in factored transfer function form.

H(s)=Z(s)P(s)=k(sz1)(sz2)(szn)(sp1)(sp2)(spn)

Column vector p specifies the pole locations, and matrix z the zero locations with as many columns as there are outputs. The gains for each numerator transfer function are in vector k. The A, B, C, and D matrices are returned in controller canonical form.

Inf values may be used as place holders in z if some columns have fewer zeros than others.

Examples

collapse all

Generate the state-space representation of a damped mass-spring system that obeys the differential equation

w¨+0.01w˙+w=u(t).

The measurable quantity is the acceleration, y=w¨, and u(t) is the driving force. In Laplace space, the system is represented by

Y(s)=s2U(s)s2+0.01s+1.

The system has unit gain, a double zero at s=0, and two complex-conjugate poles.

z = [0 0];
p = roots([1 0.01 1])
p = 2×1 complex

  -0.0050 + 1.0000i
  -0.0050 - 1.0000i

k = 1;

Use zp2ss to find the state-space matrices.

[A,B,C,D] = zp2ss(z,p,k)
A = 2×2

   -0.0100   -1.0000
    1.0000         0

B = 2×1

     1
     0

C = 1×2

   -0.0100   -1.0000

D = 1

Algorithms

zp2ss, for single-input systems, groups complex pairs together into two-by-two blocks down the diagonal of the A matrix. This requires the zeros and poles to be real or complex conjugate pairs.

See Also

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Introduced before R2006a