matlab tzero,Invariant zeros of linear system

tzero

Invariant zeros of linear system

Syntax

z = tzero(sys)

z = tzero(A,B,C,D,E)

z = tzero(___,tol)

[z,nrank]

= tzero(___)

Description

z = tzero(sys)

returns the invariant zeros of

the multi-input, multi-output (MIMO) dynamic system, sys. If

sys is a minimal realization, the invariant zeros

coincide with the transmission zeros

of sys.

invariant zeros of

the state-space model

Edxdt=Ax+Buy=Cx+Du.

Omit E for an explicit state-space model (E

= I).

z = tzero(___,tol)

specifies the relative tolerance, tol, controlling rank

decisions.

[z,nrank]

= tzero(___)

also returns the normal rank of the transfer function of sys

or of the transfer function H(s) = D + C(sE – A)–1B.

Input ArgumentssysMIMO sys

is not a state-space model, then tzero

computes tzero(ss(sys)).

A,B,C,D,EState-space matrices describing the linear system

Edxdt=Ax+Buy=Cx+Du.

tzero does not scale the state-space matrices

when you use the syntax z = tzero(A,B,C,D,E).

Use prescale if

you want to scale the matrices before using

tzero.

Omit E to use E =

I.

tolRelative tolerance controlling rank decisions. Increasing

tolerance helps detect nonminimal modes and eliminate very large

zeros (near infinity). However, increased tolerance might

artificially inflate the number of transmission zeros.

Default:

eps^(3/4)

Output ArgumentszColumn vector containing the invariant

zeros of sys or the

state-space model described by

A,B,C,D,E.

nrankNormal rank of the transfer function of sys

or of the transfer function H(s) = D + C(sE – A)–1B. The normal rank is the

rank for values of s other than the transmission zeros.

To obtain a meaningful result for nrank,

the matrix s*E-A must be regular (invertible

for most values of s). In other words,

sys or the system described by

A,B,C,D,E must have a finite number

of poles.

Examples

Find Transmission Zeros of MIMO Transfer Function

Create a MIMO transfer function, and locate its invariant zeros.

s = tf('s');

H = [1/(s+1) 1/(s+2);1/(s+3) 2/(s+4)];

z = tzero(H)

z = 2×1 complex

-2.5000 + 1.3229i

-2.5000 - 1.3229i

The output is a column vector listing the locations of the invariant zeros of H. This output shows that H a has complex pair of invariant zeros. Confirm that the invariant zeros coincide with the transmission zeros.

Check whether the first invariant zero is a transmission zero of H.

If z(1) is a transmission zero of H, then H drops rank at s = z(1).

H1 = evalfr(H,z(1));

svd(H1)

ans = 2×1

1.5000

0.0000

H1 is the transfer function, H, evaluated at s = z(1). H1 has a zero singular value, indicating that H drops rank at that value of s. Therefore, z(1) is a transmission zero of H.

A similar analysis shows that z(2) is also a transmission zero.

Identify Unobservable and Uncontrollable Modes of MIMO Model

Obtain a MIMO model.

load ltiexamples gasf

size(gasf)

State-space model with 4 outputs, 6 inputs, and 25 states.

gasf is a MIMO model that might contain uncontrollable or unobservable states.

To identify the unobservable and uncontrollable modes of gasf, you need the state-space matrices A, B, C, and D of the model. tzero does not scale state-space matrices. Therefore, use prescale with ssdata to scale the state-space matrices of gasf.

[A,B,C,D] = ssdata(prescale(gasf));

Identify the uncontrollable states of gasf.

uncon = tzero(A,B,[],[])

uncon = 6×1

-0.0568

-0.0568

-0.0568

-0.0568

-0.0568

-0.0568

When you provide A and B matrices to tzero, but no C and D matrices, the command returns the eigenvalues of the uncontrollable modes of gasf. The output shows that there are six degenerate uncontrollable modes.

Identify the unobservable states of gasf.

unobs = tzero(A,[],C,[])

unobs =

0x1 empty double column vector

When you provide A and C matrices, but no B and D matrices, the command returns the eigenvalues of the unobservable modes. The empty result shows that gasf contains no unobservable states.

More About

Invariant zeros

For a MIMO state-space model

Edxdt=Ax+Buy=Cx+Du,

the invariant zeros are the complex values of

s for which the rank of the system matrix

[A−sEBCD]

drops from its normal value. (For explicit state-space models,

E = I).

Transmission zeros

For a MIMO state-space model

Edxdt=Ax+Buy=Cx+Du,

the transmission zeros are the complex values of

s for which the rank of the equivalent transfer

function H(s) = D + C(sE – A)–1B drops from its normal value. (For explicit state-space

models, E = I.)

Transmission zeros are a subset of the invariant

zeros. For minimal realizations, the transmission zeros and

invariant zeros are identical.

Tips

You can use the syntax z = tzero(A,B,C,D,E) to find

the uncontrollable or unobservable modes of a state-space model. When

C and D are empty or zero,

tzero returns the uncontrollable modes of

(A-sE,B). Similarly, when

B and D are empty or zero,

tzero returns the unobservable modes of

(C,A-sE). See Identify Unobservable and Uncontrollable Modes of MIMO Model for

an example.

Algorithms

tzero is based on SLICOT routines AB08ND, AB08NZ, AG08BD, and

AG08BZ. tzero implements the algorithms in [1] and [2].

Alternatives

To calculate the zeros and gain of a single-input, single-output (SISO) system,

use zero.

References

[1] Emami-Naeini, A. and P. Van Dooren, "Computation

of Zeros of Linear Multivariable Systems,"

Automatica, 18 (1982), pp. 415–430.

[2] Misra, P, P. Van Dooren, and A. Varga,

“Computation of Structural Invariants of Generalized State-Space

Systems,” Automatica, 30 (1994), pp.

1921-1936.

Introduced in R2012a