Modelling state space equation from simulink file
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I need help modelling the above simulink model in state space form
I have attached the simulink file with transfer functions .
drillstring model =(2.618s+6.233)/(9.898s+8.917)
stick slip disturbance =(-6.7323s-0.45)/(2.342s^2+3.22s+1)
motor = 8.917/(0.42s+1)
Can I please get some help
Thanks.
采纳的回答
The following script allows you to convert the system transfer function into the state-space model in controllable canonical form. After that, use the State-Space block to implements the system accordingly.
s = tf('s');
Gp = (2.618*s + 6.233)/(9.898*s + 8.917) % drillstring model (plant)
Ga = 8.917/(0.42*s + 1) % motor (actuator)
Gd = (-6.7323*s - 0.45)/(2.342*s^2 + 3.22*s + 1) % stick slip disturbance
Gap = Ga*Gp
G = Gap + Gd; % assumed ++ Sum block is used
G = minreal(G) % system transfer function
[Gnum, Gden] = tfdata(G, 'v');
[a, b, c, d] = tf2ss(Gnum, Gden);
sys = ss(a, b, c, d);
csys = canon(sys, 'companion');
A = csys.A';
B = csys.C';
C = csys.B';
D = csys.D;
csys = ss(A, B, C, D) % display state-space model in controllable canonical form
csys =
A =
x1 x2 x3 x4
x1 0 1 0 0
x2 0 0 1 0
x3 0 0 0 1
x4 -0.9159 -4.35 -7.084 -4.657
B =
u1
x1 2.741
x2 -1.3
x3 0.6176
x4 -0.2972
C =
x1 x2 x3 x4
y1 1 0 0 0
D =
u1
y1 0
Continuous-time state-space model.
Suggest you to find the book "Modern Control Systems", 14e, by Richard C. Dorf and Robert H. Bishop.
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