Algebraic manipulations of transfer function matrix via statespace approach will be given without referring to the symbolic manipulations involving the indeterminate s, for a linear continu-ous-time system (or, z, for a linear discrete-time system). The resultant transfer function is closely related to a state-space representation, and therefore is advantageous in realization, implementation, computer simulation and stability analysis. Furthermore, the design, implementation, and analysis of linear dynamic controllers, in the forms of 2-input-1-output and 2D (two degree of freedoms), are illustrated with numerical examples via the method proposed.
Juang, Jeng Yih
"Manipulation of Transfer Function Matrix via State-Space Approach,"
Journal of Marine Science and Technology: Vol. 4:
1, Article 13.
Available at: https://jmstt.ntou.edu.tw/journal/vol4/iss1/13