ELECTRICAL ENGINEERING DEPARTMENT

EE 550-01 LINEAR CONTROL SYSTEM

Second Semester 2015/2016
February 26, 2017
Due Date: March 7, 2017

1. Do problem of 2.22 of Text.

Solution:
x 1 ( k +1 ) =.4 x 2 ( k ) HW

2
x 2 ( k +1 ) =.2 x 1 ( k ) +.3 x2 ( k ) +u(k )
Let y ( k )=x 1 ( k ) then y ( k +1 )=x 1 ( k +1 )=.4 x 2 ( k )
y ( k +2 )=.4 x 2 ( k +1 )=.08 x 1 ( k )+ .12 x 2 ( k ) +.4 u(k)
y ( k +2 )=.08 y ( k ) +.12 y ( k +1 )+ .4 u(k )
Or y ( k +2 ).12 y ( k +1 ).08 y ( k )=.4 u(k )

2. Find a state-space realization for the following Linear Discrete

Time system:

y ( k +1 )=0.7 y ( k ) y ( k1 ) +0.5 y ( k 2 )+ u(k +1)

Solution:
Let us find the transfer function first. By taking the z-transform
of the difference equation and setting the initial conditions to zero
we will have
z z3
g (z)= 1 2
= 3 2
z.7 + z .5 z z .7 z + z.5
Since the T. F is proper let us rewrite as
.7 z 2z +.5
g (z )= +1
z 3.7 z 2 + z.5
Then the state space representation is given by

[ ][ ][ ] [ ]
x 1 ( k +1 ) 0 1 0 x1 ( k ) 0
x 2 ( k +1 ) = 0 0 1 x 2 ( k ) + 0 u ( k )
x 3 ( k +1 ) .5 1 .7 x ( k ) 1
3

y ( k )=[ .5 1 .7 ] x ( k ) + [ 1 ] u (k )

3. Assume that H(s) is a p x m proper rational transfer function matrix.

Expand H(s) in
a Laurent series about the origin to obtain

ELECTRICAL ENGINEERING DEPARTMENT
EE 550-01 LINEAR CONTROL SYSTEM
Second Semester 2015/2016
February 26, 2017
Due Date: March 7, 2017

H ( s )=H 0 + H 1 s ++ H k s + = H k s
1 k k
(*)
k=0

The elements of the sequence {Ho, H1, Hk, ..} are called the
Markov parameters of the system. These parameters provide an
alternative representation of the transfer function matrix H(s) and they
are useful in Realization Theory.

(a) Show that the impulse response H(t) can be expressed as:

H (t )=H 0 ( t ) + H k
k=1

In the following we assume that the system has the standard state
space representation
(b) Show that
sI A


H ( s )=C

Which shows that the elements of the sequence {D,CB, CAB, ,

CAk-1B, } are the Markov parameters of the system, i.e. Ho = D
and Hk = CAk-1 B, k= 1, 2, ..
Solution:
(a). By taking Laplace transform inverse of equation (*) we will have

t2 t3 t k1
H (t )=H 0 ( t ) + H 1 + H 2 t + H 3 + H 4 + H k + = H 0 ( t ) + H k
2 3 2 ( k1 ) 3 2 k=1
(b). It is well known that the infinite series
F() = (1 )-1 = 1 + + 2 + Converges for | |
< 1.

Now
( sI A) 1 s 1 ( I s 1 A) 1
s 1{I s 1 A s 2 A 2 ...} {s 1 I s 2 A s 3 A 2 ...}

sI A


H ( s )=C

By comparing the above equation to (*) we will have


ELECTRICAL ENGINEERING DEPARTMENT
EE 550-01 LINEAR CONTROL SYSTEM
Second Semester 2015/2016
February 26, 2017
Due Date: March 7, 2017
{D,CB, CAB, , CAk-1B, } are the Markov parameters of
the system, i.e. Ho = D and Hk = CAk-1 B, k= 1, 2, ..

4. Given the transfer function of a system, find a state space model for
the system
H(s) = (s2-1)/(s2 + 2s + 1)

H(s) = (s2-1)/(s2+2s+1)= (s-1)/(s+1)= -2/(s+1)+1

x x u
y 2 x u

5. Using Matlab find the Find the overall transfer function for the following
system:

Print out and hand in the Matlab commands you used to answer
question.

ELECTRICAL ENGINEERING DEPARTMENT
EE 550-01 LINEAR CONTROL SYSTEM
Second Semester 2015/2016
February 26, 2017
Due Date: March 7, 2017