EECS 460: Control System Analysis and Design

Homework #2
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Reading: Sections 3-4, 3-5, and Chapter 4 in GK.

1. Write state variable models for each of the two networks shown in Figure 1.

Figure 1: Problem 1

Note: for an isolation amplifier, the output voltage is proportional to the input voltage, and
there is NO current flow from one side of the amplifier to the other.

2. (a) Determine the transfer functions for each of the networks in Problem 1. Why are they
different?
(b) Both of the transfer functions computed above are second-order (degree of denominator is
two). One of them is the product of two first-order transfer functions. Which one? Based
on this observation, answer the following general question: what implicit assumption is
being made when two systems in series are modeled by the product of their transfer
functions? See Figure 2.

Figure 2: What assumption is being made here?

3. Consider the LTI system below with inputs r1 (t) and r2 (t) and outputs c1 (t) and c2 (t):

d2 c1 (t) dc1 (t)

2
+2 + 3c2 (t) = r1 (t) + r2 (t)
dt dt
d2 c2 (t) dc1 (t) dr1 (t)
2
+3 + c1 (t) − c2 (t) = r2 (t) +
dt dt dt
Determine the transfer function matrix.
Hint: Use Laplace transforms.

4. Determine a state variable model for the system in Problem 3 above. Assign state variables
x1 = c1 , x2 = ċ1 , x3 = c2 , and x4 = ċ2 − r1 . In addition, let u1 = r1 , u2 = r2 , y1 = c1 , and
y2 = c2 . Write the system in the usual form: ẋ = Ax + Bu, y = Cx + Du. Clearly specify
the matrices A, B, C, and D.
 Hint: Note that the model in Problem 3 can be rewritten as:
d2 c1 (t) dc1 (t)
2
+2 + 3c2 (t) = r1 (t) + r2 (t)
  dt dt2
d dc2 (t) dc1 (t)
− r1 + 3 + c1 (t) − c2 (t) = r2 (t)
dt dt dt

This eliminates the derivative on the input!

Optional but highly recommended: Once you have your state variable model, use the
MATLAB command ss2tf to compute the transfer function matrix, and hence to verify your
answers in Problem 3. Type help ss2tf to see how to use the command.

5. GK Problem 4-12 on Page 216.

Hints: In order to make sure that you do not get stuck on Part (a), I will give you the answer,
but you should still show why it is true. The hint is to think about the fact that Golnaraghi-
Kuo have given you the step response of the controller, assuming zero initial conditions, that
is, f (t) = L−1 {Gc (s) 1s }.
 
100 30 70 880(s + 6.818)
Gc (s) = − − s=
s s + 6 s + 10 (s + 6)(s + 10)

For Part (d), apply the Final Value Theorem. For this particular problem, you will find
that the answer is independent of the value of the gain K, as long as the closed-loop system
has poles in the OLHP (thereby meeting the conditions for applicability of the Final Value
Theorem). The term M1 s is an integrator in the plant model.
Remark: You have to admire the units being used in the problem! Ouch! I would ignore
them and just use the numbers.