Reduction of Transfer Functions by

the Stability-Equation Method

by T.C.CHEN and C.Y. CHANG
Department of Electrical Engineering, Cheng-Kung University, Taiwan, Repub-
lic of China

and K.W.HAN
Chung-Shan Institute of Science and Technology, Lungtan, Taiwan, Republic of
China

ABSTRACT: A method of model reduction for reducing a high-order transfer function to its
low-order models is introduced based upon the stability-equation method. 7he transfer
functions of reduced orders are obtained directly from the pole-zero patterns of the
stability-equations of the original transfer function. Comparisons with methods in the
current literature are made. Extension of the proposed method to discrete systems is given.

Nomenclature
Laplace operator
operator in W-domain
operator in P-domain
operator in z-domain
transfer function
Denominator and numerator of transfer function
even and odd parts of FD
even and odd parts of FN
order of FN
order of FD
coefficients of F.
coefficients of FN
poles and zeros
reduced polynomial
integer
reduced transfer function
sampling period.

I. Introduction
In the last decade, much research has been carried out to approximate the
transfer function of a high-order linear system by a low-order model (l-7).
Some of these methods progress in the time domain and some in the frequency
domain. All of these methods are helpful for analysis and design of complex
systems if they are used correctly (8).

0 The Franklin Institute 00164032/79/1001~389$02.00/0 389

T. C. Chen, C. Y. Chang and K. W. Han

In this paper, a new method based upon the stability-equation method is

proposed (9-10). The approach is first to reduce the order of the stability
equations of a transfer function, and then the order of the original transfer
function can be reduced.

ZZ. The Basic Approach

Let the transfer function of a high-order system be

b,S+b,_,S-+* * *+b,S+b,
F(S) =
a,!? + an_lSn-l + * - - + a,S + a, (14
_&(S)
F,(S)
where n 3 m, and F,(S) and FD (S) are the numerator and the denominator of
F(S), respectively. Separating FN(S) and F,,(S) into their even parts and odd
parts, one has

FNe(S) f FN~(S)
F(S) = (lb)
F,,(S)+F,,(S)
where

F&(S) = 2 biSi,
i =0,2,4
(2)

F,,(S)= ~ biS
i=1,3,5

and

JF,,(S) = 2
i =0,2,4
a$,
(3)

1 =i
F,,(S)

Equations (2) and (3) are called stability-equations

i = 1,3,5
a$.

of the numerator [&(S)]

and the denominator [F,(S)], respectively. The roots of FNe and F,, are called
zeros (zi) and those of FNo and FDo are called poles (pi). These poles and zeros
can be found by conventional methods. Then, for a stable system, Eqs. (2) and
(3) can be factored as (9)

F,,(S)=fj (S*+z&), (4)

i=l

FNo(S)=S~ (S*+p~i)
i=l

390
 Reduction of Transfer by the Stability-Equation Method

and

I
F,,(S)=fi (S'+Z~i), (5)
i=l

FDo(s)cSfi (S+p&),
i=l

where

m=m/2 if m is even,
= (m - 1)/2 m is odd; (6)
n= n/2 if n is even,
= (n - 1)/2 n is odd;

and

p:q.$<p;<. .. )
(7)
z:<z;<z:<. .. .

Since poles or zeros with smaller magnitudes are more dominant than those
poles or zeros with larger magnitudes, discarding the poles or zeros with larger
magnitudes is a method of reducing the order of stability equations. Then, the
reduced models of the polynomials &(S) and F,(S) can be constructed, and
finally the reduced model of F(S) can be obtained.
In order to make the steady-state response of the reduced model the same as
that of the original system and the coefficients of the reduced model the same as
those of the original system, the coefficients of reduced stability equations are
multiplied by the magnitudes of the poles or zeros which have been discarded.
For example, the reduced stability equations of FN(S) can be written as
WI-1

&.(S) = 2: n (SZ + zf), @a)

i=l

m-1

I%,,(S) = Sp: fl (S* + pf). @b)

i=l

Then the reduced transfer function is

FL(S)
F,_,(S) = - (9)
FL(S)
where
F,&(S) = FNO+ F,& if m is even,
(10)
= FL, + FNe m is odd

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T. C. Chen, C. Y. Chang and K. W. Han

jw

! J 3.3166

j 1.0000

I
r
-j 3.3166

FIG. 1. Pattern of poles and zeros.

I
--- - CHEN WVISON
1
- .- ORIGINAL HSIA
x
I.02 - - - -- STA6ILIW- RAO
EOUATION m
REDDY

-0.02

-0.04

-0.06

FIG. 2. Frequency response of original and reduced models.

,o,.,,,d of The Fradclin Institute

Pergamon Ress Ltd.
392
 Reduction of Transfer by the Stability-Equation Method

and

MS) = FDO+I%, if n is even,

(11)
= F& + F,, n is odd.

Following the same procedure, the reduced models with lower order can be
obtained.
Since the basic approach of the proposed method is to discard the roots of
stability-equations which have large magnitudes, the reduced stability-
equations will always have their roots in the left side of the S-plane. Therefore,
all the coefficients of the reduced stability-equations as well as the reduced
transfer function will have positive signs. This is one of the advantages over the
method proposed in Ref. (1).
Since the orders of the stability-equations are only half of the orders of the
original polynomials FN and F, and the roots of stability-equations are all real
and can be easily calculated by a computer, it is very convenient to apply the

*
j20.2030
iW
jl6.3122

FN FD
t

jS.0176
j6.3122
i
jSD26D

j2.9623
jr.6211
jD.5299 ,U
-jo.5299
-jl.6211
o-j2.5250 -j2.9623

X-j 4.4965
-j 5.0260

Wj6.3122
-jS.Ol76

Z$(-jl6.3122

.4-j20.2030

FIG. 3. Patterns of poles and zeros of a high-order system.

Vol. 308, No. 4, October 1979

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T. C. Chen, C. Y. Chang and K. W. Han

proposed method for model reduction with the aid of a computer. For
example, one may inspect the distributions of real roots of the stability-
equations (such as those shown in Fig. 3) and decide how many roots one
wishes to discard. On the other hand, one may also let the computer choose the
desirable order of the reduced model by specifying the total error (such as
j le12 dt) between the step response of the original system and those of the
reduced models.

III. Examples

Example 1
Considering the system given in Ref. (4). The transfer function is

1
F(S) = (12)
s3+6s2+11s+6
Then, the stability-equations are

F,,(S) = s(s2+ 11) = 0, (13a)

I F,,(S)=6S2+6=0. (13b)
The pole-zero pattern is shown in Fig. 1. After discarding the poles at
f j3.316, the reduced stability-equation Fb is

FL(S) = (6S2+6)+ 11s; (14)

therefore, the reduced model is

1
F,(S) = 6s2+11s+6 (1%

For comparison, the reduced models given in the current literature are listed
below (4):

1-s
F2W = (by Davison), (16)
12+18S+6S2
1
F26) = (by Hsia), (17)
3.75S2 + 9.69s + 6
1-0.1667s
MS) = (by Chen and Shieh), (18)
6 + 10s + 4.2S2
1-0.1668s
F,(S) = (by Rao and Lamda), (1%
6 + 10s +4.626S2
1
F,(S) = (by Reddy).
6+8.6s+6s2
The frequency responses of the original system and the reduced models are
plotted in Fig. 2. It can be seen that the proposed method based upon the
stability-equation method can give acceptable results.
 Reduction of Transfer by the Stability-Equation Method

Example 2
Let the transfer function of an eighth-order system be (3)

35S+ 1086S6+ 13285S5+ 82402S4

+278376S3+511812Sz+482964S+194480
F(S) =
ss + 33s + 437S6 + 3017s5 + 1 1870S4
+ 27470S3 + 37492S* + 28880s + 9600

(21)
The stability-equations are

FNO(S) = 35S+ 13285s + 278376S3 + 482964s = 0, (22a)

{ F&S) = 1086S6 + 82402S4 + 5 11812S* + 194480 = 0 (22b)

and
FD,(S)=33S7+3017S5+27470S3+28880S=0, (23a)

{ F,,(S) = S8 + 437S6 + 1 1870S4+ 37492S* + 9600 = 0. (23b)

The pole-zero patterns are shown in Fig. 3. The reduced models are obtained
as

1086S6 + 12510s + 82402S4 + 2770038

+511812S2+482964S+194480
F(S) = 3
33S7+408S6+3017S5+11778S4
+ 27470S3 + 37469s + 288803 +9600

(24)
12510S5+75035S4+277003S3+509001S2+482964S+194480
F6W =
4O8S6+2684S5+11778S4+27ll5S3+37469S2+2888OS+96OO
(25)
75035S4+253159S3+509001S2+482964S+194480
Fs(S) = (26)
2684S5+10310S4+27115S3+37089S2+28880S+9600
253159S3+478501S2+482964S+194480
F,(S) = (27)
10310S4 + 23868S3 + 37089S*+ 28880s +9600
478501S2+482964S + 194480
F3W = (28)
23868S3 + 34194S*+ 28880s + 9600
482964s + 194480
F,(S) = (29)
34194S* +2888OS + 9600

The frequency responses are plotted in Fig. 4, which indicates that all the
frequency responses are very close, and that the over-all pattern of the
frequency responses is generally retained.

Vol.308,No.4, October 1979

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T. C. Chen, C. Y. Chang and K. W. Han

-.-.- F3

-..- F4

. . . . . . . . . Fg

--- F7
FG (ORIGINAL)
I._.- FG

I 1.0

FREQUENCY W ( rod /set )

FIG. 4. Frequency responses of original and reduced models.

W
-2 +4j
\o-4+4j x 4

\
;3+3i 3

;2+2j
i2

t
-i 1
\
\ (1 u
\
w 1-
-14 -10 -2 -I -0
9
/
-j 1

/
7 -j2
-2-21
/

F-3-3j -j3

/
0 X -j4
Y-4-4) -24j

FIG. 5. Pole-zero configuration of Example 3.

396
 Reduction of Transfer by the Stability-Equation Method

Example 3
Consider a system with closed-loop transfer functions as (10)
S5 + 32.5S4+ 380S3 + 207OS*+ 5424s + 2240
F(S) = (30)
S7+15S6+124S5+630S4+2144S3+4600S2+5856S+2880
The pole-zero configuration is shown in Fig. 5, which indicates that some of the
poles have the same damping-ratio and some have the same real parts. This is a
difficult problem for the dominant-root approach to deal with.
The stability-equations of the numerator and the denominator are

FNe(S) = 32.5S4 + 2070s + 2240 = 0, (31a)

1 FNO(S) = S5 + 380S3 + 54243 = 0 (31b)
and
F,,(S) = 15S6 + 630S4 + 4600s + 2880 = 0, (32a)
i F,,(S) = S+- 124s + 2144S3 + 5856s = 0, (32b)

respectively. Using the same method as in the previous examples, the reduced
transfer functions can be obtained as
32.5S4 + 365S3 + 2070S2+ 5424s + 2240
Fs(S) = (33)
S5+493S4+2088S3+4515S2+5856S+2880
365S3 + 2029S* + 5424s + 2240
F4W = (34)
493S4+1737S3+4515S2+5856S+2880
2029S* + 5424s + 2240
F3(S) = (35)
1737S3+4172S2+5856S+2880
5424s + 2240
F*(S) = (36)
4172S2+5856S+2880

The unit-step responses of the original system and the reduced models are
shown in Fig. 6, where the results obtained by applying Chens method are also
given for comparison.

Example 4
Consider a system with closed-loop transfer function as (10)
S4+35S3+291S2+1093S+1700
F(S) =
S9 + 9S8 + 66S7 + 294S6 + 1029s + 2541S4
+ 4684S3 + 5856S* + 46298 + 1700
(37)

The pole-zero configuration of the transfer function is shown in Fig. 7. Because

all the poles have the same real parts, this is also a difficult problem for those
simplification techniques based upon the dominant-root principle.

Vol. 308, No. 4, October 1979

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T. C. Chen, C. Y. Chang and K. W. Han

c It

1.2

1.1

1.0

0.9

0.6

0.7

0.6

0.5 - ORIGINAL

-I- ;;i } STABILITY -EQUATION

0.4
--- ;;d } CHENS MODEL
0.3

0.2

0.1

FIG. 6. Step responses of original and reduced models.

IW

f i4

-3+2.63J
i3
0 ;1

r i2

it

I
h c3

-2s -4 I-1 3 u

x -jl

x -12

0 ; -13
-3-2.63) ,

x -14

FIG. 7. Pole-zero configuration of Example 4.

hmml of The Franklin Institute

398 Fergamon Press Ltd.
 Reduction of Transfer by the Stability-Equation Method

C(t)

1.0

0.6

0.6

- ORIGINAL
-x---- 3rd STABIUTY-EWATIDN
-.- 2nd
---A- 3rd CHEN5 METHOD
-..- 2nd

FIG. 8. Step responses of original and reduced models.

The stability-equations of the numerator and the denominator are
F,,(S)=S4+291S2+1700, OW
1 Fr,JO(S)= 35s3+ 1093s = 0 (38b)
and
F,,(S) = 9S* + 294s + 2541S5 + 5856S4+ 1700 = 0, (394
r F,,,(S) = Sg -i 66S+ 1029S5 + 4648S3 + 4620s = 0, Wb)
respectively. The reduced models are found as
35S3+285S2+1093S+1700
F4W) = (40)
1631S4+3408S3+5582S2+4620S+ 1700
285S2 + 1093s + 1700
MS) = (41)
3408S3+5031S2+4620S+1700
1093s + 1700
F2W = (42)
5031S2+4620S+1700
The unit-step responses are shown in Fig. 8, where the results of Chens
method are also shown. Note that the undershoot caused by Chens method is
eliminated while using the stability-equation method.

IV. Model Reduction for Sampled-Data Control Systems

In order to apply the stability-equation method to the model reduction of
sampled-data control systems the transfer function should be transferred from
the z-domain to the W-domain by the bilinear transform

1+w
z=l_w, (43)

Vol. 308, No. 4, October 1979

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T. C. Chen, C. Y. Chang and K. W. Han

which is equivalent to two consecutive transforms (11)

and
1+p= w. (45)
The calculation of these two transforms by use of a computer is very easy.
Since the characteristics of stability-equations in the W-domain are the same as
those in the S-domain, the method of model reduction discussed in the
S-domain can be applied in the W-domain. After the stability equations are
reduced in order, the reduced transfer function can then be transferred back to
the z-domain by the W-transform

w-=-l
z+1

which is also equivalent to two consecutive transforms

(47)

and

p-l==. (48)

V. Examples

Example 5
Consider the guidance control system shown in Fig. 9 (13), where

lO(1 -e-) G2(S) = (l -e-ST)

G,(S) =
S(S2 +0.2s + 100) S2(S + 1)
(49)
5S(l-eeST) H*(S) = (l- e-sT)
H,(S) =
s(s+lo) S

FIG. 9. A sampled-data control system.

Journal of The Franklin

Institute
400 Pergamon Press Ltd.
 Reduction of Transfer by the Stability-Equation Method

Assume TI = Tz = T3 = 0.1 s, then the system transfer function is

F(z)=-
C(z)
R(z)
0.00484(z4-0.492z3-0.0261z2+0.974z-0.348)
= 1.2184z5-3.9926z4+5.9O242-5.1692z2+2.58O6z-O.54O3
(50)
_ F&)
F,(z)
The stability-equations of FN and FD in the W-domain are
F,,(W)=0.1439W4+3.9642W+1.1079=0, (5la)
1 FN0(W)=8.324W3+2.46W=0 (5lb)
and
F,,(W)=8.39096W4+2.5535w2+0.00563=0, (52a)

i F,,(W)=19.3972W5+8.52736W3+0.114288W=0, (52b)
respectively. Following the same procedure presented in the previous sections,
the reduced stability-equations can be found, and the reduced transfer func-
tions in the z-domain are obtained as
0.00484(1.97693z3-2.88898z2+2.73902z -0.719068)
F,(z) = 1.2077z4-3.1145z3+2.82955z2-1.07817z+0.161039) (53)

0.00484(1.87286z2- 1.40783~ +0.64863)

F3b) = (54)
1 .36423z3 - 3.39775~~ + 2.76822~ -0.7291
0.00484(1.783952 -0.67605)
F2(z) = (55)
0.663625z2- 1.26465~ +0.606625 *

The step responses of the original and the reduced models are shown in Fig.
10. It can be seen that all the reduced models have similar responses to that
of the original system.
Example 6
Consider the digital control system in Fig. 11 (12), where
1.68z6-O.566z5+O.356z4-O.2O4z3-O.312z2+O.O5z-O.OO6
D(z) =
z6+1.159zs+0.76z4+0.466z3+0.096z3-0.016z+0.003 *
(56)
Let T = (0.5); s, then the system transfer function is
1.682z7+1.116z6-0.210z5+0.152z4
-0.516z3-0.262z2+0.044z-0.006
F(z) =
24z8-1.682z7-1.116z6+0.21z5-0.152~~
+0.516z3+0.262z2-0.044z+O.O06
(57)

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Printed in Northern Ireland 401
T. C. Chen, C. Y. Chang and K. W. Han

1.2

I.1 ..

l.O.-

0.9

0.6

0.7~

0.6 T

0.5
I I I. ORIGINAL

12345670 9 IO II 12 13 I4

t ( WC )

FIG. 10. Step responses of original and reduced models.

The reduced transfer functions are found as

3.364z6-1.132z5+O.712z4-O.4O8z3-O.624z2+O.1Oz-O.O12
FAz) =
27.876z7-10.709z6+7.4015z5-5.512~~
+3.608z3-1.107z2+0.555z-0.12
(58)
10.519z4- 16.229z3+ 13.589z2-7.566~ + 1.6875
F,(z) = (59)
23.859z5-58.3581z4+65.99z3-44.758z2+18.681z-3.4144
14.555z3-22.2175z2+12.77z-3.1075
F4b) =
33.1275z4-81.4875z3+81.355z2-38.75752+7.7625
(60)

FIG. 11. Block diagram of a digital control system.

402
 Reduction of Transfer by the Stability-Equation Method

ORIGINAL

-- 3rd
STABILITY - EOUAllON
_.- 2nd I

-..- 2nd SHIHS MLTHOD.

2 4 6 6 10 12 14 16 16 20

tbcl

FIG. 12. Step responses of original and reduced models.

15.9475zz-20.8952 +6.9475
F&z) =
35.944z3-77.674z2+58.516z - 14.786
(61)
102-8
&(z) = 25.1575.z*-40.3152 +17.158 *
(62)

The step responses are shown in Fig. 12. It can be seen that the 3rd and the
higher order models can give excellent approximation. For comparison, the
results of Shihs method (12) are also shown in Fig. 12.
From all the examples presented in this paper, it can be seen that, in most
cases, the model reduction method which is based upon the stability-equation
method can give better results with the advantages of (1) less computation, (2)
no undershoot, and (3) positive coefficients in all the reduced models of linear
continuous-data systems.

VI. Conclusions

The stability-equation method has been extended for model reduction of

both continuous-data and discrete-data systems. The proposed method for
model reduction is suitable for computation by use of a computer. The
reliability and advantages of the proposed method have been illustrated by the
examples.

Vol. 308, No. 4, 0ctobe1 1979

Frinted in Northern Ireland 403
 T. C. Chen, C. Y. Chang and K. W. Han

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(3) V. Krishnamamurthy and V. Seshadri, Model reduction using the Routh stability
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,lour,,al of The Franklin Institute

404 Pergamon Press Ltd.