Consider the system described by the transfer function

Convert it to state-space form using tf2ss.

b = [0 2 3; 1 2 1];
a = [1 0.4 1];
[A,B,C,D] = tf2ss(b,a)

A = 2×2

   -0.4000   -1.0000
    1.0000         0

B = 2×1

     1
     0

C = 2×2

    2.0000    3.0000
    1.6000         0

D = 2×1

     0
     1

A one-dimensional discrete-time oscillating system consists of a unit mass, $\mathit{m}$, attached to a wall by a spring of unit elastic constant. A sensor samples the acceleration, $\mathit{a}$, of the mass at ${\mathit{F}}_{\mathrm{s}}=5$ Hz.

Generate 50 time samples. Define the sampling interval $\Delta \mathit{t}=1/{\mathit{F}}_{\mathrm{s}}$.

Fs = 5;
dt = 1/Fs;
N = 50;
t = dt*(0:N-1);
u = [1 zeros(1,N-1)];

The transfer function of the system has an analytic expression:

$\mathit{H}\left(\mathit{z}\right)=\frac{1-{\mathit{z}}^{-1}\left(1+\cos \Delta \mathit{t}\right)+{\mathit{z}}^{-2}\cos \Delta \mathit{t}}{1-2{\mathit{z}}^{-1}\cos \Delta \mathit{t}+{\mathit{z}}^{-2}}$.

The system is excited with a unit impulse in the positive direction. Compute the time evolution of the system using the transfer function. Plot the response.

bf = [1 -(1+cos(dt)) cos(dt)];
af = [1 -2*cos(dt) 1];
yf = filter(bf,af,u);

stem(t,yf,'o')
xlabel('t')

Find the state-space representation of the system. Compute the time evolution starting from an all-zero initial state. Compare it to the transfer function prediction.

[A,B,C,D] = tf2ss(bf,af);

x = [0;0];
for k = 1:N
    y(k) = C*x + D*u(k);
    x = A*x + B*u(k);
end

hold on
stem(t,y,'*')
hold off
legend('tf','ss')