HW #4

Due: Nov. 15, 2017 (in class)

Problem 1
Given a linear time-invariant system for the three-mass-spring system described in Example 3 of
Section 5.5.3,
r r
x& (t ) = Ax (t ) + Bu (t )
r
y (t ) = Cx (t ) + Du (t )
r
with initial conditions x (0) = 0 , and

0 1 0 0 0 0 0
1 0 1 0 0 0 1

0 0 0 1 0 0 0
A= , B = , C = [ 0 0 1 0 0 0] , D=0
1 0 2 0 1 0 0
0 0 0 0 0 1 0

0 0 1 0 1 0 1
Note that in this problem we have equal forces u(t) applied simultaneously to masses m1
and m3 but in the opposite directions. The measured output y(t)is the position of mass m2.

1. Is the system controllable? Explain.

2. Identify the modes that are controllable and uncontrollable. Provide a physical meaning to each of
the controllable modes (if any).
3. Can you find a control input u(t) that bring the system initial states to the following final states
r
x (t f ) ?
1 1 1
0 0 0

r 0 r 0 r 1
(a) x (t f )= (b) x (t f )= (c) x (t f )=
0 0 0
1 1 1

0 0 0

where tf =10 sec. For the case where you can, find the corresponding control
r
u(t) and show the system responses x (t ) for 0 t 10 sec.

4. Can you find a similarity transformation that places the system into the controllable form? If no,
explain why not.
5. Can you find a similarity transformation that places the system into the controller form ? If no,
explain why not.
6. Is the system observable? Explain.
7. Identify the modes that are observable and unobservable. Provide a physical meaning to the
unobservable modes (if any).
8. Can you find a similarity transformation that places the system into the observable form?.If no,
explain why not.
9. Can you find a similarity transformation that places the system into the observer form? If no,
explain why not.

Problem 2
Recall that all the units in Problem 1 are respectively m and m/sec for the mass positions and
velocities, and the applied force u(t) in N. For some odd reasons, your high-level manager wants you
to present the state-space model of the three-mass-spring system given in Problem 1 to the company
executives in the following units for the states x(t), input u(t) and output y(t):

x1(t)in units of inches, x2(t)in units of inch/sec.

x3(t)in units of feet, x4(t)in units of ft/min.

x5(t)in units of miles, x6(t)in units of mile/hr.

u(t)in units of lbs, y(t)in units of feet.

1. What are your new state model matrices A % , B% , C% , D% ?

2. What are the system eigenvalues of your new state model? Are they the same as the original model?
3. Are any of the system controllability properties changed? If yes, explain.
4. Are any of the system observability properties changed? If yes, explain.