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
( (
( (

( (
( (

= +
=