StateSpaceToZeroPole Routine

Summary

Convert transfer function from state-space to zero-pole form.

Declaration

Procedure StateSpaceToZeroPole(z, p: TVec; out k: TSample; A: TMtx; B, C: TVec; D: TSample);

Description

Convert a transfer function defined in state space presentation of the real valued A matrix, B,C vectors and D value. in to its zero-pole form with zeros Z, poles P and gain K. State space system is related to its numerator/denominator representation via the following relation:


               num(s)      (s-sz1)*...*(s-szn)
       H(s) = -------- = K*------------------- =C*(s*I-A)^(-1)*B + D
               den(s)      (s-sp1)*...*(s-spn)

       dx/dt = Ax + Bu
       y     = Cx + Du

x - input of the system
y - exit of the system
szn - n'th zero
spn - n'th pole
K - gain of the system