Linear Systems Theory Midterm Exam.

(2015 / 1)

1. Answer by True or False. You get +4 for correct answer, +2 for no answer, and 0 for
wrong answer.
(a) A discrete-time system given by
G(z) =

z 2 + 2z 1
z 0.5

is causal.
(b) If the system x = Ax + Bu, y = Cx + Du has a proper transfer function, then
D = 0.
(c) For any matrix C R22 , there is the unique solution M R22 for the matrix
equation:
"
#
"
#
2 0
2 0
M +M
= C.
0 3
0 5
(d) For an m n (m n) matrix H, the matrix H > H is nonsingular if rank H = n.
2. (5 points) For a system
x = A(t)x,

(1)

another system y = A> (t)y is called an adjoint system of (1). Prove that y > (t)x(t) is
a constant.
3. Consider the system

2 0 0
1

x = 0 1 0 x + 0 u,
0 0 1
1

h
i
y = 1 1 0 x + u.

(a) (2 points) Is this system (with zero input) asymptotically stable, marginally stable,
or unstable?
(b) (2 points) Is this system BIBO stable?

4. Consider a system
x 1 = x1 + x1 (x21 + x22 )
x 2 = x2 + x2 (x21 + x22 ).
(a) (2 points) How many equilibrium points are there?
(b) (3 points) Write the linearized system of the above system around x1 = 1 and
x2 = 0. (To avoid confusion use different state notation from x.)
5. (5 points) Consider state-space realizations of the following two systems:

Which system matrix (that is, the matrix A of the state-space form) of the two is not
diagonalizable?
6. Consider a system of the form
" # "
#" # " #
x 1
A1 0
x1
B1
=
+
u,
x 2
0 A2 x2
B2
" #
"
# " #
h
i x
x1 (0)
x10
1
y = C1 C2
,
=
x2
x2 (0)
x20
where x1 Rn , x2 Rn , u Rm , y Rp , and all the matrices are of appropriate size.
Assume that (Ai , Bi ) is controllable and (Ai , Ci ) is observable for i = 1, 2.
(a) (1 point) Express the output y(t) of the above system.
(b) (2 points) When B1 = B2 , C1 = C2 and A1 = A2 , determine observability of the
above system.
(c) (2 points) Suppose that neither x1 nor x2 is measured, but the output y is measured. When B1 = B2 , C1 = C2 and A1 = A2 , can you find x1 (0) + x2 (0)? Explain
your answer.
7. (10 points) Prove that an LTI system x = Ax + Bu is controllable if and only if there
is no left eigenvector of A that is orthogonal to the columns of B.