Scribd
Upload
64 views9 pages

Answer Tutorial 2

This document contains a multi-part tutorial question regarding linear systems and state-space representations. In part a), it provides the system matrix A, input matrix B, and output matrix C for a linear system and calculates the characteristic polynomial. Part b) calculates the controllability and observability matrices to determine if the system is controllable and observable. Part c) performs a similarity transformation to put the system in controller canonical form (CCF). The remaining parts provide additional calculations regarding the system such as determining the transfer function and state-space representations.

Uploaded by

sook_yee
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
64 views9 pages

Answer Tutorial 2

This document contains a multi-part tutorial question regarding linear systems and state-space representations. In part a), it provides the system matrix A, input matrix B, and output matrix C for a linear system and calculates the characteristic polynomial. Part b) calculates the controllability and observability matrices to determine if the system is controllable and observable. Part c) performs a similarity transformation to put the system in controller canonical form (CCF). The remaining parts provide additional calculations regarding the system such as determining the transfer function and state-space representations.

Uploaded by

sook_yee
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 9

Tutorial 2

Question 1
a)
1 2
System matrix, A=
4 3
(
(


,
1
Input matrix, B=
2
(
(

, | | Output matrix, C= 1 1
b) ( ) Charactersitic polynomial = det sI A
( )( ) ( )( )
2
1 0 1 2
det
0 1 4 3
1 2
4 3
1 3 2 4
2 5
s
s
s
s s
s s
| | ( (
=
|
( (

\ .

=
+
= +
= + +
\
c) Transfer function to state-space,
( )
( )
( )
1
Y s
C sI A B D
U s

= +
| |
| |
| |
| |
| |
( )
1
1
2
2
2
2
2
1 0 1 2 1
0 1 4 3 2
1 2 1
4 3 2
3 2 1 1
4 1 2 2 5
3 2 1 1
4 1 2 2 5
1 1
1 1
2 2 5
1
1 2 2
2 5
3 1
2 5
1 1
1 1
1 1
1 1
s
s
s
s
s s s
s
s s s
s s
s s
s s
s s
s
s s

( ( (
=
`
( ( (

)
( (
=
( (
+

+ ( (
=
( (
+ +

+ ( (
=
( (
+ +

(
= +
(
+ +

= + +
+ +
+
=
+ +
\
d) Those the denominator of transfer function in part (c) is same with characteristic equation.
Question 2
a) Controllability matrix, | | S B AB =
1
2
B
(
=
(


1 2 1
4 3 2
5
10
AB
( (
=
( (


(
=
(



Thus,
1 5
2 10
S
(
=
(



1
0.5 0.25
0.1 0.05
S

(
=
(



The inverse of controllability matrix can be found. Thus the S matrix is non-singular. Hence
the system is controllable.
b) Observability matrix,
C
T
CA
(
=
(


| | 1 1 C =
| |
| |
1 2
1 1
4 3
3 1
CA
(
=
(


=

Thus,
1 1
3 1
T
(
=
(



1
0.5 0.5
1.5 0.5
T

(
=
(


The inverse of observability matrix can be found. Thus the T matrix is non-singular. Hence
the system is observable.
c) Form Question 1b), the characteristic polynomial is
2
2 5 s s + + . Thus matrix,
2 1
1 0
M
(
=
(


From part (a), the controllability matrix is,
1 5
2 10
S
(
=
(



Thus, the transformation matrix,
1 5 2 1
2 10 1 0
7 1
6 2
P SM =
( (
=
( (


(
=
(



Using transformation matrix, the new system matrix, input matrix and output matrix are,
1
1
7 1 1 2 7 1
6 2 4 3 6 2
0.1 0.05 1 2 7 1
0.3 0.35 4 3 6 2
0 1
5 2
A P AP

=
( ( (
=
( ( (


( ( (
=
( ( (


(
=
(



1
1
7 1 1
6 2 2
0.1 0.05 1
0.3 0.35 2
0
1
B P B

=
( (
=
( (


( (
=
( (

(
=
(


| |
| |
7 1
6 2
1 1
1 3
C CP =
(
=
(


=

Thus the new state-space representation in CCF are,
| |
0 1 0
5 2 1
1 3
x
x
x u
y
( (
( (


= +
=


d) From Question 1b), the characteristic polynomial is
2
2 5 s s + + . Thus matrix,
2 1
1 0
M
(
=
(


From part (b), the observability matrix is,
1 1
3 1
T
(
=
(



Thus, the transformation matrix,
| |
1
1
2 1 1 1
1 0 3 1
1 1
1 1
P MT

=
( ( (
=
( ( (


(
=
(


Using transformation matrix, the new system matrix, input matrix and output matrix are,
1
1
1 1 1 2 1 1
1 1 4 3 1 1
0.5 0.5 1 2 7 1
0.5 0.5 4 3 6 2
0 5
1 2
A P AP

=
( ( (
=
( ( (


( ( (
=
( ( (


(
=
(



1
1
1 1 1
1 1 2
0.5 0.5 1
0.5 0.5 2
0.5
1.5
B P B

=
( (
=
( (

( (
=
( (

(
=
(


| |
| |
1 1
1 1
1 1
0 2
C CP =
(
=
(

=

Thus the new state-space representation in CCF are,
| |
0 5 0.5
1 2 1.5
0 2
x
x
x u
y
( (
( (


= +
=


Question 3
a) Step 1: Multiply numerator and denominator with dummy variable ( ) X s
( )
( )
( )
( )
( )
( )
( ) ( )
( ) ( ) ( )
2
2
6
5 6
6
5 6
Y s s X s
R s X s s s
X s s X s
X s s X s s X s
+
=
+ +
+
=
+ +

Step 2: Obtain ( ) Y s and ( ) R s
( ) ( ) ( )
( ) ( ) ( ) ( )
2
6
5 6
Y s X s s X s
R s X s s X s s X s
= +
= + +

Step 3: Rearrange R(s) so that we have only the highest degree of the term in LHS
( ) ( ) ( ) ( )
2
5 6 X s s X s s X s R s = +
Step 4: Define state variable
( ) ( )
( ) ( ) ( )
1
2 1
x t x t
x t x t x t
=
= =

( ) ( )
( ) ( ) ( )
1
2 1
x t x t
x t x t x t
=
= =



Step 5: Obtain the state equation
( ) ( ) ( ) ( )
2
5 6 X s s X s s X s R s = +
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
2 2 1
5 6
5 6
x t x t x t r t
x t x t x t r t
= +
= +


Hence the state equation,
( ) ( )
( ) ( ) ( ) ( )
1 2
2 2 1
5 6
x t x t
x t x t x t r t
=
= +


The output equation,
( ) ( ) ( )
( ) ( ) ( )
2 1
6
6
Y s X s s X s
y t x t x t
= +
= +

Hence, the state-space equation are,
| |
1 1
2 2
0 1 0
6 5 1
6 1
x x
x x
x
u
y
( ( ( (
( ( ( (


= +
=


b) ( ) Charactersitic polynomial = det sI A
( )( ) ( )( )
2
1 0 0 1
det
0 1 6 5
1
6 5
5 1 6
5 6
s
s
s
s s
s s
| | ( (
=
|
( (

\ .

=
+
= +
= + +

Proved!
Question 4
a) Transfer function to state-space,
( )
( )
( )
1
Y s
C sI A B D
U s

= +
| |
| |
1
1
1 0 0 1 0 1 0
0 1 0 1 2 0 0
0 0 1 0 0 3 1
1 0 1 0
1 2 0 0
0 0 3 1
1 1 0
1 1 0
s
s
s
s

( ( (

( ( (
=
`
( ( (

( ( (
)
+ ( (
( (
= +
( (
( ( +


| |
( )( )( )
( )( ) ( )
( )( )
| | ( )( )
| |
( )( )( )
( )( )
( )( )
( )( )
( )( )( )
| |
2
2
2
2 3 3 0
0
1
0 1 3 0 0
1 2 3
2 1 1 2 1
2 3 0 2 0
1
3 1 3 1 0
1 2 3
0 0 1 2 1
5 6 0 2 0
1
3 4 3 1 0
1 2 3
0 0 3 2 1
1 1 0
1 1 0
1 1 0
T
s s s
s s
s s s
s s s
s s s
s s s
s s s
s s
s s s
s s s
s s s
s s
( + + + (
(
(
(
= + +
(
(
+ + +
(
( + + +

(

+ + + ( (
( (
= + + +
( (
+ + +
( ( + +

( + + +
(
= + + +
(
+ + +
(
+ +

( )( )( )
| |
2
3 2
2
1
1
1 2 3
3 2
3
6 11 6
1 1 0
s
s s s
s s
s
s s s
(
(
(
(

+ (
(
=
(
+ + +
( + +

+
=
+ + +

b) ( ) Charactersitic polynomial = det sI A
( )( )( )
3 2
1 0 0 1 0 1
det 0 1 0 1 2 0
0 0 1 0 0 3
1 0 1
1 2 0
0 0 3
1 2 3
6 11 6
s
s
s
s
s s s
s s s
| | ( (
|
( (
=
|
( (
|
( (
\ .
+ (
(
= +
(
( +

= + + +
= + + +

Proved!
Question 5
a) Step 1: Multiply numerator and denominator with dummy variable ( ) X s
( )
( )
( )
( )
( ) ( ) ( )
( ) ( ) ( ) ( )
2
3 2
2
3 2
10.4 47 160
14 56 160
10.4 47 160
14 56 160
Y s X s
s s
U s X s s s s
s X s sX s X s
s X s s X s sX s X s
+ +
=
+ + +
+ +
=
+ + +

Step 2: Obtain ( ) Y s and ( ) R s
( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
2
3 2
10.4 47 160
14 56 160
Y s s X s sX s X s
R s s X s s X s sX s X s
= + +
= + + +

Step 3: Rearrange R(s) so that we have only the highest degree of the term in LHS
( ) ( ) ( ) ( ) ( )
3 2
14 56 160 s X s s X s sX s X s R s = +
Step 4: Define state variable
( ) ( )
( ) ( ) ( )
( ) ( ) ( )
1
2 1
3 2
x t x t
x t x t x t
x t x t x t
=
= =
= =



( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( )
1 2
2 1 3
3 2
x t x t x t
x t x t x t x t
x t x t x t
= =
= = =
= =




Step 5: Obtain the state equation
( ) ( ) ( ) ( ) ( )
3 2
14 56 160 s X s s X s sX s X s R s = +
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
3 3 2 1
14 56 160
14 56 160
x t x t x t x t r t
x t x t x t x t r t
= +
= +


Hence the state equation,
( ) ( )
( ) ( )
( ) ( ) ( ) ( ) ( )
1 2
2 3
3 3 2 1
14 56 160
x t x t
x t x t
x t x t x t x t r t
=
=
= +


The output equation,
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
2
3 2 1
10.4 47 160
10.4 47 160
10.4 47 160
Y s s X s sX s X s
y t x t x t x t
y t x t x t x t
= + +
= + +
= + +

Hence, the state-space equation are,
| |
1 1
2 2
3 3
0 1 0 0
0 0 1 0
160 56 14 1
160 47 10.4
x x
x x
x x
x
u
y
( ( ( (
( ( ( (
( ( ( (
( ( ( (

= +
=


b) Observability matrix,
2
C
T CA
CA
(
(
=
(
(


| | 160 47 10.4 C =
| |
| |
0 1 0
0 0 1
160 56 14
1664 422.4 98.6
160 47 10.4 CA
(
(
=
(
(

=

| |
| |
2
0 1 0
0 0 1
160 56 14
15776 3858 958
160 47 10.4 CA
(
(
=
(
(

=

Thus,
160 47 10
1664 422 99
15776 3858 958
T
(
(
=
(
(


The characteristic polynomial is
3 2
14 56 160 s s s + + + . Thus matrix,
56 14 1
14 1 0
1 0 0
M
(
(
=
(
(


Thus, the transformation matrix,
| |
1
56 14 1 56 14 1
14 1 0 14 1 0
1 0 0 1 0 0
0.0005 0.0032 0.0225
0.0032 0.0225 0.0519
0.0225 0.0519 0.0159
P MT

=
( (
( (
=
( (
( (

(
(
=
(
(


Using transformation matrix, the new system matrix, input matrix and output matrix are,
1
1
0.0005 0.0032 0.0225 0 1 0 0.0005 0.0032 0.0225
0.0032 0.0225 0.0519 0 0 1 0.0032 0.0225 0.0519
0.0225 0.0519 0.0159 160 56 14 0.0225 0.0519 0.0159
1440 576 160
576 235.6 47
160
A P AP

=
( ( (
( ( (
=
( ( (
( ( (

=
0 1 0 0.0005 0.0032 0.0225
0 0 1 0.0032 0.0225 0.0519 \
47 10.4 160 56 14 0.0225 0.0519 0.0159
0 0 160
1 0 56
0 1 14
( ( (
( ( (

( ( (
( ( (

(
(
=
(
(


1
1
0.0005 0.0032 0.0225 0
0.0032 0.0225 0.0519 0
0.0225 0.0519 0.0159 1
1440 576 160 0
576 235.6 47 0
160 47 10.4 1
160
47
10.4
B P B

=
( (
( (
=
( (
( (

( (
( (
=
( (
( (

(
(
=
(
(


| |
| |
0.0005 0.0032 0.0225
0.0032 0.0225 0.0519
0.0225 0.0519 0.0159
160 47 10.4
0 0 1
C CP =
(
(
=
(
(

=

Thus the new state-space representation in OCF are,
| |
0 0 160 160
1 0 56 47
0 1 14 10.4
0 0 1
x
x
x u
y
( (
( (

( (
( (

= +
=

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy