December 4, 2013 EE 453 Homework # 4 1.

Consider 1 x = 0 1 1 2 1 0 1 x + 0 u 1 1 1

First show that (A, b) is a controllable pair and then nd a state feedback matrix k so that |sI (A bk )| = s3 + 3s2 + 3s + 1. 2. Consider the realization below: 1 1 1 1 1 1 x + 1 u ; y = x = 1 1 1 1 1

(a) Show that this realization has one uncontrollable and two controllable modes. (b) Find the set of all feedback matrices k such that |sI (A bk )| has a complex conjugate pair of eigenvalues at 1 j . 3. Consider the realization given in the previous question. Modify the B 1 0 1 . Find a feedback matrix K so that the matrix to be B = 1 1 2 eigenvalues of (A BK ) are at 3, 4, 5. and B 4. Let A, A 1 2 A= 4 3 0 0 be as follows. 3 0 = 1 0 ; A 0 1

3 1 0 0 1 0

1 1 2 ; B= 0 0 0

Show that there exists no state feedback matrix K that makes (A BK ) . similar to A 5. Consider a minimal realization : (A, B, C, D). Apply a state feedback to obtain a closed-loop realization cl : (A BK, B, C DK, D). (a) Use the PBH Test to show that (A BK, B ) is controllable for all K . That is to say, controllability of is preserved by state feedback. (b) Give a simple example for and for K to show that observability is not preserved by state feedback. That is to say cl may not be observable although is. (c) Show that minimality of a realization is not preserved by state feedback. That is to say, is minimal does not necessarily imply cl is minimal. 1

6. Let (A, b, c, 0) be the controller form realization of the transfer function +1)(s+2)(s+3) h(s) = ((s s+4)2 (s2 +s+1) . Use a state feedback law u(t) = kx(t) + v (t) (where v (t) is the new external input) around (A, b, c, 0). Characterize the set {hcl (s)|k hcl (s) = c[sI (A bk )]1 b} of all possible closed-loop transfer functions. 7. Relative degree of a transfer function h(s) = p(s)/q (s) is dened as = deg q (s) deg p(s). Note that is the number of zeroes of that transfer function at innity. Show that state feedback preserves the relative degree. More precisely, if (A, b, c, d) is a realization with nominal transfer function h(s) = c(sI A)1 b + d that has relative degree , and if (A bk, b, c dk, d) is the closed-loop realization with nominal transfer function hcl (s) = (c dk )[sI (A bk )]1 b + d that has relative degree cl , show that = cl . Consider the two cases, d = 0 and d = 0, separately.