Question: Derive the state-space representation in controller canonical form, as described by Equations 4.19 and 4.20 X1 -a -02 -a1-2 -an-1 -an 1 X2 1 0

Derive the state-space representation in controller canonical form, as described by Equations 4.19 and 4.20

X1 -a -02 -a1-2 -an-1 -an 1 X2 1 0 0 0

0 0 x= A = B u = u Xn-1 Xn 100

X1 -a -02 -a1-2 -an-1 -an 1 X2 1 0 0 0 0 0 x= A = B u = u Xn-1 Xn 100 0 1 0 0 102 (4.19) 0 0 0 0 nxn Inx1 Upper companion matrix

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