zp2ss

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

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Syntax

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

Description

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

x˙=Ax+Buy=Cx+Du

such that it is equivalent to a system in factored transfer function form

H(s)=Z(s)P(s)=k(s−z1)(s−z2)⋯(s−zn)(s−p1)(s−p2)⋯(s−pn)

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.

example

Examples

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Open Live Script

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

Input Arguments

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Zeros of the system, specified as a vector. The zeros must be real or come in complex conjugate pairs.

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

Example: [1 (1+1j)/2 (1-1j)/2]'

Data Types: double
Complex Number Support: Yes

Poles of the system, specified as a vector. The poles must be real or come in complex conjugate pairs.

Example: [1 (1+1j)/2 (1-1j)/2]'

Data Types: double
Complex Number Support: Yes

Scalar gain of the system, specified as a scalar.

Data Types: double

Output Arguments

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State matrix, returned as a matrix. If the system is described by n state variables, then A is n-by-n.

Data Types: single | double

Input-to-state matrix, returned as a matrix. If the system is described by n state variables, then B is n-by-1.

Data Types: single | double

State-to-output matrix, returned as a matrix. If the system has q outputs and is described by n state variables, then C is q-by-n.

Data Types: single | double

Feedthrough matrix, returned as a matrix. If the system has q outputs, then D is q-by-1.

Data Types: single | double

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.

Extended Capabilities

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C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced before R2006a

See Also

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