L INEAR S YSTEMS T HEORY

Jo o P. Hespanha a November 24, 2010

Comments and information about typos are very welcome. Please contact the author at hespanha@ece.ucsb.edu.

Errata
1. In Figure 2.3, the angle 2 is incorrectly drawn, it should be drawn as follows: m2

2
2 m1 1

1
Moreover, the matrix M q and the vector Gq in Example 2.2 should be as follows: M q m2 2 2m21 2 cos 2 m1 m2 2 2 1 m2 1 2 cos 2 m2 2 2 Gq 2. Equation (2.8) should be as follows: x 0 I 0 x v, 0 0 I y I 0 x, x q q m2 2 m2 1 2 cos 2 2 m2 2 2

m2 g2 cos1 2 m1 m2 g1 cos 1 . m2 g2 cos1 2

R2k .

(2.8)

(note the change in the B matrix) 3. The rst equation in Section 2.4.4 should be as follows: x1 x2 x2 M 1 x1

Bx1, x2 x2 Gx1 u
q . q

(note parenthesis in the equation for x2 ). 4. In Figure 2.5, the label y at the right should be replaced by

5. Condition 3. in Theorem 7.2 is incorrect. It should read as follows: Theorem 7.2. For an n n matrix A, the following three conditions are equivalent:

(a) A is semisimple. (b) A has n linearly independent eigenvectors. (c) There is a nonzero polynomial without repeated roots that annihilates A; i.e., there is a nonzero polynomial ps without repeated roots for which pA 0. Note that condition 5c provides a simple procedure to check for diagonalizability. Since every polynomial that annihilates A must have each eigenvalue of A as a root (perhaps with different multiplicities), one simply needs to compute all the distinct eigenvalues 1 , . . . , k (k n) of A and then check if the polynomial ps s 1s k annihilates A. 6. In the sidebar example in Section 4.3.2, the matrix N3 should be N3

24 3 . 1 1 2

7. In the proof of Proposition 4.1, the second equation that relates the several Zk should be as follows Zn 1 Zn1 , Zn1 s
1 s Zn 2

1 Zn2 , . . . , Z2 s
1 s Zn 1 .

1 Z1 s

Zk

1 Z1 . sk1

Note, in particular that Zn1

and not Zn1

xt

8. In Denition 8.1, the condition for exponential stability should be ce t t0 xt0 ,

t

0.

Note the sign in front of . 9. The second inequality in the Attention! box below Theorem 8.1 should be xt eAt t0 x0 eAt t0 x0 c e t t0 x0 ,

t R.

10. At the end of the proof of Theorem 8.2, the denition of should be

min Q . max P

11. In equation (16.4a), the dimensions of the vectors xo and xu should read xo x o xu x u Ao A21 0 Au xo xu

Bo u, Bu

xo Rnn , xu Rn ,

(16.4a)

where n denotes the dimension of the unobservable subspace UO of the original system. Just below, the denition for detectability should read Denition 16.1 (Detectable system). The pair A,C is detectable if it is algebraically equivalent to a system in the standard form for unobservable systems (16.4) with n 0 (i.e., Au nonexistent) or with Au a stability matrix.

Note the condition n

0, instead of n

n.

Acknowledgements
I would like to thank several UCSB students, Prof. Bogdan Udrea, and Prof. Maurice Heemels for helping me to nd and correct several typos in the book.