Transfer Matrix- Multiple input, Multiple output

▶ r inputs: u1 , u2 , . . . , ur
▶ m outputs: y1 , y2 , . . . , ym
   
y1 u1
 y2   u2 
y= .  u=
   
..
 .. 

 . 
ym ur

Y(s) = G(s)U(s)
ẋ(t) = Ax(t) + Bu(t)
y(t) = Cx(t) + Du(t)
G(s) = C(sI − A)−1 B + D
Linear Differential equations → State-Space
(n) (n−1) (n) (n−1)
y +a1 y + · · ·+an−1 ẏ +an y = b0 u +b1 u + · · ·+bn−1 u̇+bn u

x1 = y − β0 u
x2 = ẏ = β0 u̇ − β1 u − ẋ1 − β1 u
x3 = ÿ − β0 ü − β1 u̇ − β2 u − ẋ2 − β2 u
..
.
(n−1) (n−2)
xn = y −β0 u − · · · − βn−2 u̇ − βn−1 u − ẋn−1 − βn−1 u

β0 = b0
β1 = b1 − a1 β0
β2 = b2 − a1 β1 − a2 β0
β3 = b3 − a1 β2 − a2 β1 − a3 β0
..
.
 ẋ = Ax + Bu y = Cx + Du
ẋ1 = x2 + β1 u
ẋ2 = x3 + β2 u
ẋ3 = x4 + β3 u
..
.
ẋn−1 = x2 + βn−1 u
ẋn = −an x1 − an−1 x2 − · · · − a1 xn + βn u
      
ẋ1 0 1 0 ··· 0 x1 β1

 ẋ2  
  0 1 0 ··· 0  
 x2  
  β2 

.. .. .. .. .. ..   .. ..
= + u
     

 .   . . . . .  .

  . 
 ẋn−1   0 0 0 ··· 1   xn−1   βn−1 
ẋn −an −an−1 −an−2 · · · −a1 xn βn
 
x1
 x2 
y = [1 0 · · · 0]  .  + β0 u
 
 . .
xn
Linear Approximation of Nonlinear Mathematical Models
y = f (x) = f (x̄) + f ′ (x̄)(x − x̄) + 1 ′′
2! f (x̄)(x − x̄)2 + · · ·

Ignoring 2nd and higher order terms:

df
y ≈ ȳ + K (x − x̄) with ȳ = f (x̄) and K = dx x=x̄
 
∂f ∂f
y = f (x1 , x2 ) = f (x̄1 , x̄2 ) + (x1 − x¯1 ) + (x1 − x¯1 )
∂x1 ∂x2
‘ ∂2f ∂2f

2
+ (x 1 − x̄1 ) + 2 (x1 − x̄1 )(x2 − x̄2 )
2! ∂x12 ∂x1 ∂x2
∂2f

2
+ (x 2 − x̄ 2 ) + ···
∂x22

y ≈ ȳ + K1 (x1 − x̄1 ) + K1 (x2 − x̄2 )

∂f ∂f
ȳ = f (x̄1 , x̄2 ) K1 = K2 =
∂x1 x1 =x̄1 ,x2 =x̄2 ∂x2 x1 =x̄1 ,x2 =x̄2
Parallel Block Reduction

R C
G1 +
+

G2

w
w
w


R C
G1 + G2
Series Block Reduction

R C
G1 G2

w
w
w


R C
G1 G2
Negative Feedback Loop Reduction

R C
+ G
−

w
w
w


R G C
1 + GH
Positive Feedback Loop Reduction

R C
+ G
+

w
w
w


R G C
1 − GH
Shifting the Sum Point After a Block
R R+X GR+GX
+ G
+

X
w
w
w


R GR GR+GX
G +
+
GX

X
Shifting the Sum Point before a Block
R GR GR+X
G +
+

X
w
w
w


R R + G −1 X GR+X
+ G
+
G −1 X

G −1

X
Shifting the Take-off Point After a Block

R GR
G

R
w
w
w


R GR
G

1
G

R
Shifting the Take-off Point Before a Block

R GR
G

X=GR
w
w
w


R GR
G

X=GR
Reducing Summing points in series
R
+ + C=R-P+Q
− +

P Q
R
+ + C=R-P+Q
+ −

Q P

−
R + C=R-P+Q
+