matlab tf2ss,Convert transfer function filter parameters to state-space form

A one-dimensional discrete-time oscillating system consists of a unit mass, m, attached to a wall by a spring of unit elastic constant. A sensor samples the acceleration, a, of the mass at Fs=5 Hz.

Generate 50 time samples. Define the sampling interval Δt=1/Fs.

Fs = 5;

dt = 1/Fs;

N = 50;

t = dt*(0:N-1);

u = [1 zeros(1,N-1)];

The transfer function of the system has an analytic expression:

H(z)=1-z-1(1+cosΔt)+z-2cosΔt1-2z-1cosΔt+z-2.

The system is excited with a unit impulse in the positive direction. Compute the time evolution of the system using the transfer function. Plot the response.

bf = [1 -(1+cos(dt)) cos(dt)];

af = [1 -2*cos(dt) 1];

yf = filter(bf,af,u);

stem(t,yf,'o')

xlabel('t')

Find the state-space representation of the system. Compute the time evolution starting from an all-zero initial state. Compare it to the transfer function prediction.

[A,B,C,D] = tf2ss(bf,af);

x = [0;0];

for k = 1:N

y(k) = C*x + D*u(k);

x = A*x + B*u(k);

end

hold on

stem(t,y,'*')

hold off

legend('tf','ss')