Linear Systems Theory Final Exam.

(2015 / 1)

1. (2 points) Feedback control can move the poles of a transfer function, but cannot move
the zeros. Just say TRUE or FALSE.
2. (3 points) Find the controllability indices i and the controllability index for the
system
x = Ax + Iu
where x Rn and I is the identity matrix.
3. (5 points) Consider a transfer function
P (s) =

s+1
.
s2 + 4s + 5

What is the relative degree of P (s)? Realize P (s) in the normal form.
4. (8 points) Reduce the state equation

1 1

0 1

x =
0 0

0 0
0 0
h
y= 0 1 1

0 0
1 0
1 0
0 2
0 0
i
0 1 x

0
0

1
0

0
x + 0 u

1
0
2
1

where 1 6= 2 , to a controllable and observable equation.

5. Consider an LTI system
x = Ax + Bu,

x Rn ,

y = Cx + Du
where (A, B) is controllable and (A, C) is observable, with a feedback control
u = K x
+v
where x
is the estimate of x and v is an external input.
1

(a) (2 points) Write down a full-order state estimator (with the observer gain matrix
L) whose state is the estimate x
of x.
(b) The closed-loop system then becomes the 2n-dimensional LTI system with input v
and output y. Answer the following question by proving it, or by giving a counterexample, or by discussion.
i. (7 points) Is this system always uncontrollable?
ii. (8 points) Is this system always unobservable?
6. Consider a (SISO) plant written in the normal form:
y = x1 ,

x 1 = x2
..
.
x r = T x + T z + b(u + aa )
z = Sz + px1

where z Rnr , b is a scalar, and p, and are column vectors of suitable size. The
signal aa represents the (external) actuator attack signal. Suppose that the plant is
stabilized by an output feedback controller written as
= F + Gy
u = H + Jy
of suitable dimension.
(a) (10 points) Find the zero dynamics of the closed-loop system in view of the input
aa and the output y.
(b) (5 points) Find the hackers signal aa (t) that is stealthy and effective for attacking
the closed-loop system. Find a condition that the closed-loop system is vulnerable
to (that is, risky under) a hackers attack.