matlab minreal,Minimal realization or pole-zero cancellation

minreal

Minimal realization or pole-zero cancellation

Syntax

sysr = minreal(sys)

sysr = minreal(sys,tol)

[sysr,u] = minreal(sys,tol)

... = minreal(sys,tol,false)

...

= minreal(sys,[],false)

Description

sysr = minreal(sys) eliminates

uncontrollable or unobservable state in state-space

models, or cancels pole-zero pairs in transfer functions or zero-pole-gain

models. The output sysr has minimal order and the

same response characteristics as the original model sys.

sysr = minreal(sys,tol)

specifies the tolerance used for state elimination or pole-zero cancellation.

The default value istol = sqrt(eps) and increasing

this tolerance forces additional cancellations.

[sysr,u] = minreal(sys,tol)returns, for

state-space model sys, an orthogonal matrix U such

that (U*A*U',U*B,C*U') is a Kalman decomposition

of (A,B,C)

... = minreal(sys,tol,false) and ...

= minreal(sys,[],false) disable the verbose output of the

function. By default, minreal displays a message

indicating the number of states removed from a state-space model sys.

Examples

The commands

g = zpk([],1,1);

h = tf([2 1],[1 0]);

cloop = inv(1+g*h) * g

produce the nonminimal zero-pole-gain model cloop.

cloop =

s (s-1)

-------------------

(s-1) (s^2 + s + 1)

Continuous-time zero/pole/gain model.

To cancel the pole-zero pair at s = 1, type

cloopmin = minreal(cloop)

This command produces the following result.

cloopmin =

s

-------------

(s^2 + s + 1)

Continuous-time zero/pole/gain model.

Algorithms

Pole-zero cancellation is a straightforward search through the

poles and zeros looking for matches that are within tolerance. Transfer

functions are first converted to zero-pole-gain form.

Alternative Functionality

Introduced before R2006a