Automatica, Vol. 13, pp. 295-299.

Pergamon Press, 1977.

Printed in Great Britain

Brief Paper
A General Algorithm for Determining
State-Space Representations*
W. A. WOLOVICHt and R. GUIDORZI~
Key Word Index~Canonical forms; multivariable systems; system theory; system analysis; state space
methods; matrix algebra; polynomials.

2. Implications of multi-companion A matrices

Summary--A new and direct procedure is presented for

determining state-space representations of given, time-invariant
systems whose dynamical behavior is expressed in a more
general, differential operator form. The procedure employs some
preliminary polynomial matrix operations, if necessary, in order
to "reduce" the given system to an equivalent differential
operator form which satisfies four specific conditions. An
equivalent state space representation is then determined in a
most direct manner; i.e. the algorithm presented requires only a
single matrix inversion. An explicit relationship between the
partial state and input of the given system and the state of the
equivalent state-space system is also obtained.

Consider any state-space system of the form (1). The (n n)

state matrix A will be called a multi-companion matrix if it can be
partitioned into m2 submatrices, Au, such that ifj = i then A, is a
companion matrix of dimension d i, i.e., ifd o a---0and
k

ak a__~ d~,

(3)

then
0
Aii =

"

al, a , + l + 1

ai,~r I 1 + 2

...

(4a)

1. Introduction
THE PRIMARYpurpose of this paper is to present a new and direct
algorithm for determining a state-space system of the form

.~:(t) = Ax(t ) + Bu(t );

(la)

y(t) =Cx(t)+E(D)u(t),

(lb)

Cl,a

and i f j ~ i , A u is a dlxd j matrix whose first d ~ - I rows are

identically zero, i.e.

Aij= I
which is equivalent[l] to a given differential operator system of
the form
P(O)z(t) = O(D)u(t);
(2a)

y(t) = R(D)z(t)+ W(D)u(t).

......

i 0i

...

...

1+1

..,

ai.aj

L aG o.j

1
(4b)

It might be noted that since there are no restrictions on m,

virtually every ( n x n ) real matrix A is multi-companion.
However, those of particular importance here are ones which are
characterized by the condition, m < n.
We next define (the components of) an m-vector,

(2b)

In the above, x(t) is an n-vector called the state, y(t) is a p-vector

called the output, u(t) is a q-vector called the input, and z(t) is an
m-vector called the partial state. Furthermore, A, B, and C are
appropriately dimensioned real matrices, while E(D), P(D),
Q(D), R(D), and W(D) are appropriately dimensioned polynomial matrices in the differential operator D =d/dr, with P(D)
nonsingular.
The algorithm which we will develop is based on 'appropriate
modifications and extensions' of algorithms presented in both [ 1]
and [2]. In Section 2 we show how certain state space systems of
the form (1) directly imply corresponding and equivalent
differential operator representations of the form (2), which satisfy
{four) appropriate conditions. In Section 3 the algorithm is then
developed, as we essentially reverse the steps employed in Section
2 in order to present a procedure of obtaining state space
systems which are equivalent to an appropriate, but restrictive
class of differential operator systems. In Section 4, we illustrate
how the more general class of differential operator systems can be
'reduced' to equivalent systems which permit the direct employment of our algorithm.

z(t) = [z I (t), z 2 (t) ..... zm(t)] T

which we call a partial state, via the relations:
Zi(t)

~" X o , . l + I ( t ) ,

(5)

for i~ m'[', where Xk(t) denotes the k-th component of the state of
(1). If the transpose of the n x m polynomial matrix S(D) is now
defined as

II
STID)=

0
:

"

Dn,-1 I] 0

"'"

D
.

...

[1
[.
i:

[o

...

...

[0
"-

*Received 12 April, 1976; revised 9 November, 1976. The

original version of this paper was not presented at any IFAC
meeting It was recommended for publication in revised form by
associate editor J. Ackermann.
fDivision of Engineering and the Lefschetz Center for
Dynamical Systems, Brown University, Providence, RI 02912,
U.S.A. Present address: Control Theory Centre, University of
Warwick, Coventry CV4 7AL, Warwickshire, England.
++Instituto di Automatica, University of Bologna, Viale
Risorgimento 2, 40136 Bologna, Italy.

...

...

...

D e. - 1

II

[!

0.[

i o

Dd2 x [..
.
i '
1

(6)

then in view of (la), (4), and (5), it can be verified by direct

substitution that

S(D)x(t)=x(t)+fl(D)u(t),

t T h e notation m is used to denote the integers 1,2 ..... m.

295

(7)

296

Brief Paper

where fi(D) is defined in terms of the ,-/h rows, h i, oJ B as the

following n q polynomial matrix

and if) ~ i, Mii is defined as the firsl d, rows of thc n d, matrix

--(di,aj ~ ~2

0
bl
Dbl + b 2

a , .

-- ~li a " "

0
0

Da"~ 2bl + . . . + b% 1
...............................

0
0

(t4b)

"*0

*-O

b%+l

fl(D) ~=

..

--(d o 1~3
Z

Db~,+ l + b~ + 2

(8)

0...

Finally in view of (7), ( I b) clearly implies that

Da~- 2b~, + ~ + . . . +b~ _

y(t)=CSID)z(t)-CfltD)u(t)+E(D)u{t)=
= R ( D ) z ( t ) + W(D)u(t),

(15)

where
0
ba

1 1

It should be noted that if d k = 1 for any k, then b,, ,+1 {as well as
De" 2b,~ ~+ 1) will not appear as an element of fl(D); i.e., only a
single, identically zero row of//[D) will correspond to any d k = 1.
We next note that in view of (la),
I DI

6)

If S ( D ) z ( t ) - f l ( D ) u ( t ) , as given by (7), is now substituted for xit)

in (9), we obtain

(ii)

A Ix(t ) = Bu(t).

(DI-A)S(D)z(t)=[IDI-A)fl(DI+B]ult)

(10)

Let A~ now be defined as the m x n matrix consisting of the (m)

ordered ak rows of A, and
P(D ~x=diag [Dai] - A,,SID ),

(11 )

an m x m column proper polynomial matrix with F~[P(D)]* =

/,,. If P(D) is row proper as well, it can be verified by direct
substitution that the (m) a k rows of(10) imply the relation:?

=ST(D)MBu(t)=Q{D)u(t),

Q(D)&Sr(D)MB,

--U

Mii

.6-

--Ui,ai i. 3

...

--t~l ~
.

I +3

:
a

"

1"

(iv)

(w h?,[QID)] < (?,[PID)].*

and

Finally, it is of interest to note that the matrix M, defined by

(14), represents an equivalence transformation which reduces A
to a 'dual multi-companion form'; i.e./IT= ( M A M 1 )r is multicompanion This. in turn, implies tile ability to obtain a dual
state-space realization
1,4, B , ~ ' , E ( D ) I = ~ , M A M - 1 , M B ,

CM

I,F(D)I,

(13)

In the next section, we will essentially reverse the steps

employed to derive (12) and (15) in order to show that a
differential operator system of the form (2), which satisfies the
four conditions noted above, directly implies a corresponding
state space system of the form (I). with A multi-companion.

""I
1 ]

J
,

(iii)

F , [ P ( D ) ] = I , which implies that P ( D ) i s column

proper,
[',[/2(D)] is nonsingular, i.e. P ( D ) i s row proper as
well,
F,[R(D )] < ,~,.[)~(D 1],*

(t )= M x ( t )= M S( D )z(t ) - M fl( D )u(t ).

and M is an n x n, nonsingular, real matrix, determined directly

from A, which can be partioned as m 2 submatrices, M~j, each of
dimensions d i x dj (similar to the partitional structure of A ); i.e.
M = [Mii] for iem andjgm, where Mij is d i x d i. I f / - i,
o i+2

(17)

(12)

where

W ( D ) ~=E(D)-Cfl(D).

where

~diag [ Dai] - .4,,,S1D )'~:(t ) - P{ D )z(t ) -

I--~l

(16)

In s u m m a r y therefore, we observe that any state-space system

of the form (I), with A multi-companion, directly implies a
corresponding differential operator system of the form (2), as
given by (12) (provided P(D), as given by (11 ), is row proper)and
(15), where

(9)

R(D)&CS(D),
and

{14a)

*F~[P(D)] (I',[P(D)]), as defined in [1 ], denotes the m x m real

matrix consisting of the coefficients of the highest degree
polynomial or polynomials in each column (row) of P(D).
t I f P(D) is not row proper, (12) need not hold: i.e. the row
proper condition on P ( D ) is sufficient to insure that all
appropriate derivatives of u(t) in (10) are also contained in
Q(D)u(t) of (12).

3. The algorithm
In view of the results presented in the previous section, we will
now present on algorithm which is based largely on the results
given in [2] for determining a state-space system of the form (1)
which is equivalent to any differential operator system of the form
(2), which satisfies conditions (i) thru (iv).
To determine A. Let d i denote the degree of each, i-th column of
the m x m nonsingular matrix, P(D)" i.e. (~ci[P(D)] = d i for ie,m.~
In view of condition (i), it follows that
P(D)=diag[D<]

AreS(D),

II8)

*As defined in [1], condition iiii) means that the degroe of each
(i-th) column of R ( D ) is less than the degree of each
corresponding (i-th)column of P(D ), while condition (iv) means
that the degree of each (j-th) row of Q(D) is less than the degree of
each corresponding (j-th) row of P(D).
t i t will be assumed that d~ > 1 for ie,m, since any d~ = 0 would
imply irrelevant, non-dynamical equations.

Brief Paper
for some real m x n matrix A,., with S(D) given by (6). A,. is
therefore directly determined by inspection of

AreS(D) = diag [D d,] - P(D ).

297

It is readily verified that conditions (i)-(iv) hold. Since d~ = 2 and

(19)

S(D) =

A"S(D)=I--3D+I'2D-3,

and

as given by (19), with

0...0

[l

c~,,[P(D)] = Oc,[P(D)] = d,,

-2

A=

for iem, i.e. ifF,[P(D)] =1, and P(D) is now proper as well, then

L0
.

-3

0t

I
I

-3

-2

-4

(21)

for iem, since a monic polynomial ofdegree d~ is the diagonal

element of each, i-th row of P(D). However, since

'

Since a I = dj = 2 and 02 = d~ + d 2 = 3,

(20)

c~,,[P(D)] >=Oc,[P(D)]=d,,

-~]'

3 :]

A,. - 3

by the corresponding k-th ordered rows of A,.. It might be noted

that the A, thus obtained, is multi-companion.
In view of conditions (i) and (ii), it follows that

0
1

In view of (1) an appropriate A, of the equivalent state-space

system, is now given by simply replacing the (m) ordered trk (for
kern) rows of the (n x n) companion matrix

In- 1

Ii 0]

d2~ l,

M is next determined via (14); i.e. (14a) implies that

c~,,[P(D)] = ~ 0alP(D)] = n,HI

. a n d M2z = [1], while (14b) implies that

EOo]

y] {r'~,,[P(D)]-Oc,EP(D)]} = 0

which, in view of (21), directly implies (20).

To determine B. In view of(20) and condition(iv), it now follows
that

Q(D) = Sr(D)B,

0]. M is therefore given by

3

(22)

for some real n x q matrix B, which is directly determined by

inspection of Q(D). In yiew of (13), an appropriate B, of the
equivalent state-space system, is therefore given by the relation:
B = M-

andM21 = [2

I B,

I
I

I
I
i
I

0
and

0,0]

(23)

where M is defined in terms of the A just determined by (14).

To determine C. Conditions (i) and (iii) directly imply that

R(D)=CS(D)

'i-1

1
0

M-I~ I

-3

-2

(24)

for the corresponding, appropriate, real p x n matrix C, which is

directly determined by inspection of R (D).
To determine E(D). Iffl(D) is defined, in terms of the B given by
(23), via (8), then in view of (17), the appropriate E(D), of the
equivalent state-space system, is given by the relation:

E(O ) = W(D ) + Cfl(O).

In view of (22),

B=

and by(23),

B = M ~B=

x(t)=S(D)z(t)-fl(D)u(t).

(26)

C is immediately apparent by inspection of R(D); i.e. in view of

(24),

C=
and since

[' 'i]
1

-1

An example will now be presented in order to illustrate the

procedure. In particular, consider a differential operator system
(2), with

RID)=

D+4]'
- 1

!]
,

and

QW)=L[-4D+I]'2

W(D)=

(25)

We finally note that in view of the results presented in the

previous section, and (7) in particular, there is a direct and rather
simple relationship between the state, x(t), of the equivalent
state-space system, which has now been determined, and the
partial state and input of the given differential operator system,
namely

[-D 2 + 30 - 1
P(D)=L 2D+3

[41

I41
.

as given by (8),

Cfl(D) =

[41
0
-4

298

Brief Paper

which implies, in view of (25), that

EID)=W(D)+Cfl(D)=

[I,

satisfies (i) and (ii). It should be noted that the partial stales olthc
equivalent systems 2) and (27) are related by U~I D t: i.e.

In summary, therefore, the state space system, .((t)=Ax(t)

+ Bu(t): y(t)= Cx(t), with

I

0
I

-3

B=

-11

A=
-3

If ~[O~(D)]<8,[P(D)] and (~[R(D)]<~[t~(I)t]. it tollows

that the algorithm of the previous section could now be directly
applied to (275 to obtain an equivalent state space system, which
would also be equivalent to the system (2). However, if either (iii)
or {iv) does not hold for the system defined by (27), additional
steps would be required. In particular, if(iv) doest not hold. then
we can clnploy the fuct[I] that P ~{D)0(D) can alwa)s bc
unique[y represented as the sum of its strictly proper part.
P ~iD)Op(D), and its quotient, or improper part, @(DI; i.e.

P t(D)Q(D)=P :ID)QpID)+@(D),

I
1

~29~

with P ~(s)0r(s) a strictly proper transfer matrix, an observation which directly implies that

and

C=

~28 )

z(t)=URiD)~(t).

0
0

1
-1
0

Q(D)-Qp(D)+ P(D)Q,(D),

(30)

?~[Op(D)] < ?,.EPlD)]~'J.

(31)

with

11
2

In view of the above, (27a) can therefore be written as

is equivalent to the given differential operator system, with (see

(265)

P(D)[~(t)-O,(D)u(t)]=P(D)5(t)=O.p(D)u(t),

(32a)

51t)x=9.(t)-@(D)u~t)=Ur'lD)z(t)-O_~(D)u[t),

(331

with
x2(t)

X3(I)

-~(t)-4u(t)

Z2(/)

The reader can now verify that the transfer matrices of the two
(equivalent) systems are equal; i.e., for this example,

and condition (iv) satisfied. In view of (27b), the corresponding

output equation, which involves 5(0 rather than ~(t), thus
becomes

y(t)=f~(D)5(t)+[R(D)O_t(D)+W(D)]ultt.

(34)

CIsI-A) ~B=R(s)P t(s)Q(s)+W(s)=

Finally, if condition (iii) does not hold; i.e. if ,~(D) is not of
lower column degree than P(D), R(O)P ~(O) can also be
uniquely represented as the sum of its strictly proper part,
Ro(D)P-*(O), and its quotient, /~(D), which would imply the
relation

4s2+17s+6 t
- s 2 + 3 0 s 14 .j "
s 3 +7s ~ + i 3 . ; - i

4. The general case

/~(D) =/~p(D)+ Rt(D)P(D),

351

?,.[Rt,qD)] < dc[P(D )].

t36!

We have now shown how to obtain a state-space system (I)

which is equivalent to a given differential operator system (2)
which satisfies conditions (i) (iv). We realize, of course, that in
many cases conditions (ik (iv) will not hold, and the purpose of
this section is to show how the algorithm of the previous section
can be employed to handle the more general case: i.e. when only
the nonsingularity of P(D) is assumed.
In particular, if P(D) of (2) is nonsingular, then it is possible to
reduce P(D) to simultaneous row proper, column proper form,
with F,.[P(D)]=I, via both elementary row and column
operations, and references [1] and [3] contain algorithms for
performing the appropriate reductions; i.e. for finding a pair of
unimodular matrices, Ur(D) and Ua(D). such that P(D)
=Ur(O)P(D)Un(D ) of the equivalent[l] differential operator
system

with

P(D)(t)=UIJD)P(D)Un(D)(t)=Ur(D)Q(D)u(t)=O.(D)u(t);

We summarize our results by noting that the differential

operator system (32), which is equivalent to (27) and (2), does
satisfy conditions (i) (iv). Therefore, the algorithm of Section 3
can now be directly employed to determine a state space system
equivalent to (325 and, therefore, equivalent to (27) and the given
system (2) as well. In view of (26), the state x(t), of the equivalent
state-space system would be related to the partial state and input
of (32) via the relation

(27a)

y(r)=R(D)UR{D)2(t)+ W(D)u(t)=f~(D)'5(t)+ W(D)u(t),

(27b)
satisfies conditions (i) and (ii).? In other words, the first step
required to employ the algorithm of the previous section is the
determination of an equivalent system, (27), with a i6(D5 which

In view of these observations (34) could then be written as

y(t)=f~p(D)Y(t)+ Rt(D)P(D)~-(t)+[fUD)O_,(D)+ W(D)]u(t)

(37j
or, m light of (32a), as
y(t J =/~,,(D )z'(t ) + [YV(D)u (t),
with

WID)A=[R,(DSOp(D)+R(D)O,(D)+ W(D)].

x It) = S(D K{t) - fl(D )u(t),

~For example, it is possible to reduce P(D) to Smith form,
although it would not usually be necessary to go "so far' in order
to obtain an appropriate P(D). In particular, reference [3] shows
that only elementary row operations are required.

132b)

(38)

(39)

and in light of (33), x(t) would be related to the partial state and
input of the given differential operator system (2) via the relation

x(t)=S(D)U/~(D)z(t)-[S(D)O~t(D)+fl(D)]u([).

(40)

Brief Paper
To illustrate the results of this section, consider a differential
operator system (2), with
I
P(D)=

-2D-3

2D2+4D-I

3DZ+6D_t

299

Finally, (38)is employed to obtain

_3D3_8Da_D j,

Q(D)

=F-2-51
L3o 2 + 12DJ'

-2D3-5D2-D ]
-2D3-8D2-5D-ID2+D+2 '

2D2+4D+I

R(D)=[2D2+7-1_
and

I _2D2

-2D z-

W(D)=

6D_5]
1 4 D - 1[ .

D+4

The reader can now verify that if

UL(D':ID

;1

The algorithm of Section 3 can now be employed to determine a state-space system which is equivalent to the given
differential operator system with PID), Q_e(D), fCeiD), and
ITV(D) of this section substituted for P(D), Q(D), R(D), and
W(D) respectively, of the previous section. It should be noted,
however, that this example was contrived so that the differential
operator system obtained here is identical to the one employed in
the earlier example. It therefore follows that the state space
system derived in Section 3 is also equivalent to the difl'erential
operator system presented here, with the state x(t) related to the
partial state and input of this example via (40); i.e.

zl(t)--z2(t)--z2(t)--u(t) ]
x,(tl = 2l(t)--'d2(t)-- 2(t)--4u(t)--6(t)

and

UR(D):[;

DII l,

[-D2+3D P(D)=Ut(D)P(D)U~(D)=[ 2 D + 3

-I ]

then
l

D + 4

'

=[ Dz+TD]

O_(D)=ULID)Q(D) k 20+5/'
and

F2D2+4D+l

D2+4D+I

R(D)=R(D)UR(D)= ~ 2D2 +6D-D1-

-22

as given by (27). Furthermore, in view of (29),

0,,o,=I;l
and
.

[-4D

O'e(D)=O(D)-P(D)Qt(D)=L

+ 1]
2 J"

Next, the quotient of/~(D)P(D)- ~ is determined; i.e.

X3lt)

It is important to note that the algorithm is most direct and

efficient. In particular, the matrices A, M, B, and C are
immediately apparent by inspection of the appropriate differential operator representations. Furthermore, the determination of
B=M IB requires only a single matrix inversion. Also, B
directly implies fl(D) which, in turn, directly implies E(D)
= W(D)+ Cfl(D). Finally, an explicit relationship (40) between
the partial state and input of the given system and the state of the
equivalent state-space system is obtained via the procedure.

5. Conclusions
A direct and efficient new algorithm has now been presented
for obtaining state-space representations of the form (1) for
given, time-invariant systems whose dynamical behavior is
expressed in the more general, differential operator form (2). The
algorithm is based on an initial reduction, if necessary, of the
given system to an equivalent differential operator form where
P(D) is both column and row proper, F[P(D)]=I, and both
R(s)P(s) i and P(s)- 1Q(s) are strictly proper transfer matrices.
Once such a reduction is accomplished, only a single matrix
inversion is required to obtain an equivalent state-space
representation. Appropriate algorithms for performing these
reductions are presented in Section 4. The actual algorithm for
then determining an equivalent state space system is given in
Section 3.

Acknowledgements--This work
/~(D) =

2
0

which, in view of (35), implies that

0
0

was supported in part by NSF

Grant no. ENG-76-10442.

,]
f
D+I

Re(D) R(D) RI(D)P(D)

22(t)

1
-D

0
2

References

,
A. WOLOVlCH: Linear Multivariable Systems. Springer-

[1] W.
Verlag, Berlin (1974).
[2] R. GUIDORZI: Canonical structures in the identification of
multivariable systems. Automatica 11,361 374 (1975).
[3] S. BEGnEt,LI and R. GOIDORZI: A new input output
canonical form for multivariable systems, to appear.