Control Engineering

NPTEL Online Course (Jan-Apr 2019)

Indian Institute of Technology Madras
Assignment 12
1. Consider the following system in below Figure 1 vi is the input voltage and vo is the output
voltage. Find the state space representation.

Figure 1:

   1 −1      
v˙c 0 C C vc 0 vc
−R1
a IL˙ 1  =  −1 0  IL1  +  L11  vi , vo = 0 0 R2 IL1 
 
L1 L1
−R2
IL˙ 2 1
L2 0 L2
IL2 0 IL2
   1 −1       
v˙c 0 C C vc 0 vc
−R2  
b IL˙ 1  =  L12 IL1  + L11  vi , vo = 0 0 R2 IL1 
 
0 L2
−1 −R1
IL˙ 2 L1 L1 0 IL2 0 IL2
   1 −1       
v˙c 0 C C vc 0 vc
−R1
c IL˙ 1  =  −1 0  IL1  + L11  vi , vo = 0 0 R2 IL1 
 
L1 L1
IL˙2
1
L2 0 R2
L2
IL2 0 IL2
d None of the above
Solution: State variables are vc , IL1 , IL2
Applying KCL at the capacitor junction we get,

Ic = IL1 − IL2
dvc
C = IL1 − IL2
dt
1 1
v˙c = IL1 − IL2
C C

1
 Figure 2:

KVL 1
dIL1
vi = R1 IL1 + L1 + vc
dt
vi R1 vc
IL˙ 1 = − IL1 −
L1 L1 L1
KVL 2
dIL2
vc = L2 + IL2 R2
dt
˙ = vc − R2 IL
IL2
L2 L2 2
Hence the option (a) is correct.
2. State space representations are, in general, not unique. One system can be represented in several
possible ways. Which of the following is not the state space representation of the system given
as
21
G(s) =
s+5
a ẋ = −5x + 3u , y = 7x
        
x˙1 −5 0 x1 3 x1
b = + ,y= [7 0]
x˙2 0 −1 x2 1 x2
        
x˙1 −5 0 x1 3 x
c = + ,y= [7 3] 1
x˙2 0 −1 x2 0 x2
        
x˙1 −5 0 x1 3 x
d = + ,y= [7 3] 1
x˙2 0 −1 x2 1 x2

2
 Solution:
21
(a) G(s) = C(sI − A)−1 B = 7(s + 5)−1 3 =
s+5
 −1  
−1 s+5 0 3
(b) G(s) = C(sI − A) B = [7 0]
0 s+1 1
 1  
0 3
= [7 0] s+5 1
0 s+1 1
 
7 3
= [ 0]
s+5 1
21
=
s+5
 −1  
−1 s+5 0 3
(c) G(s) = C(sI − A) B = [7 3]
0 s+1 0
 1  
0 3
= [7 3] s+5 1
0 s+1 0
 3 
= [7 3] s+5
0
21
=
s+5
 −1  
−1 s+5 0 3
(d) G(s) = C(sI − A) B = [7 3]
0 s+1 1
 1  
0 3
= [7 3] s+5 1
0 s+1 1
 3 
= [7 3] s+5
1
s+5
24
=
s+5
Common Data for Q3-Q4
Let P = {p1 , p2 , · · · , pk } be the set of distinct poles of an LTI system. Let the state space
representation of the LTI is given as follows:
ẋ(t) = Ax(t) + Bu(t); y(t) = Cx(t) + Du(t).
Here, A is a n × n matrix. Let, Λ := {λ1 , λ2 , · · · , λm } denote set of distinct eigen values of A.
3. The relation between m and n is
a m≤n
b m≥n
c m=n
d No relation
Solution: m ≤ n. ’m’ is the number of distinct eigen values of A. ’n’ is the order of the ma-
trix A. The eigen values are the solutions to the characteristic equation of the matrix A (i.e.
|λI − A| = 0) which is a nth order polynomial. A polynomial of degree ’n’ has utmost ’n’ distinct
roots and hence m ≤ n (some of the eigen values may be repeated roots).

3
4. Is P ⊆ Λ, i.e., k ≤ m.
(a) True
(b) False
Solution: True
The transfer function is given by

C.adj(sI − A).B
H(s) = +D
det(sI − A)

Let p ∈ P , i.e. p is a pole of the transfer function H(s). This implies |H(s)| is infinite at p as
this is how the pole is defined. The only way this can happen (see the transfer function H(s)
expression) is when det(pI − A) = 0. But det(pI − A) = 0 is exactly the eigen value defining
equation of the matrix A which means p is an eigen value of A. =⇒ P ⊆ Λ .

Common Data for Q5-Q10

Consider the system given below.

x2 + u2
   
x˙1
= y = x1 + x2
x˙2 −x1 + 5(1 − x21 )x2 + u

5. The equilibrium point of the system for zero input is

 
1
a. x? =
0
 
0
b. x? =
1
 
0
c. x? =
0
d. None of these
 
? 0
Solution: x =
0
Given system is ẋ = f (x, u) where

x2 + u2
   
x˙1
=
x˙2 −x1 + 5(1 − x21 )x2 + u

 
0
At u = 0, x˙1 = 0, x˙2 = 0 ⇒ x2 = 0, x1 = 0. Hence, equilibrium points are at x? = .
0
6. Linearize the system about the above equilibrium point with u = 0 to get the linearized system
matrices A and B.
   
0 −1 0
a. A = and B =
−1 5 −1
   
0 1 0
b. A = and B =
−1 5 1

4
    
0 −1 0
c. A = and B =
1 −5 1
   
0 1 0
d. A = and B =
1 5 −1
   
0 1 0
solution: A = and B =
−1 5 1
   
∂f (x, u) 0 1 ∂f (x, u) 2u
= , =
∂x −1 − 10x1 x2 5(1 − x21 ) ∂u 1
 
0
At equilibrium point x? = with u = 0, the linearized system is given by
0

δx˙ 1
      
0 1 δx1 0
˙ = + δu
δx2 −1 5 δx2 1

7. The poles of the linearized system are at?

√
5± 21
a. s = 2
√
−5± 12
b. s = 2
√
−5± 11
c. s = 2
d. None of these
√
5± 21
solution: s = 2  
s −1
Poles of the linearized system are given by |sI − A| = 0 ⇒ | | = s2 − 5s + 1 = 0.
1 s−5
√
5± 21
Hence, poles are at s = 2 .

8. The system is
a. Controllable and observable
b. Controllable and unobservable
c. Uncontrollable and observable
d. Uncontrollable and unobservable
Solution  
  0 1
Controllability matrix for the linearized system C = B AB = . Since it is of full rank,
1 5
the system is controllable.
   
C 1 1
Observability matrix for the linearized system O = = . Since it is of full rank,
CA −1 6
the system is observable.
9. If the Linearized system is controllable, place its poles at −3 and −5 using a state feedback
controller u = −Kx. Find K.
 
a. K = 14 13
 
b. K = 10 5
 
c. K = 8 5
d. The system is not controllable.

5
  
Solution: K = 14 13
Required characteristic equation is

(s + 3)(s + 5) = 0 ⇒ s2 + 8s + 15 = 0
 
Let the state feedback gain matrix be K = K1 K2 so that the closed loop linearized system
˙ = (A − BK)δx where
is δx  
0 1
A − BK =
−1 − K1 5 − K2
The characteristic equation is

|sI − (A − BK)| = 0
 
s −1
| |=0
1 + K1 s − 5 + K2
 
Comparing (1) with (9), we get K = 14 13 .
10. The matrix exponential of the closed loop linearized system obtained in Q9 is
a. The system is not controllable, hence, we cannot find the closed loop system.
2.5e−3t − 1.5e−5t 0.5e−3t − 0.5e−5t
 
b.
−7.5e−3t + 7.5e−5t −1.5e−3t + 2.5e−5t
1.5e−3t − 2.5e−5t 0.5e−3t − 0.5e−5t
 
c.
−7.5e−3t + 7.5e−5t −1.5e−3t + 2.5e−5t
2.5e−3t − 1.5e−5t 0.5e−3t + 0.5e−5t
 
d.
−7.5e−3t − 7.5e−5t 1.5e−3t + 2.5e−5t
e. None of these
2.5e−3t − 1.5e−5t 0.5e−3t − 0.5e−5t
 
Solution:
−7.5e−3t + 7.5e−5t −1.5e−3t + 2.5e−5t

0 1
Closed loop system matrix A − BK = . Matrix exponential,
−15 −8

e(A−BK)t = L−1 (sI − A + BK)−1

 

 
s −1
We have sI − (A − BK) = so that |sI − (A − BK)| = s2 + 8s + 15 = (s + 3)(s + 5).
15 s + 8

adj(sI − A + BK)
(sI − (A − BK))−1 =
|sI − A + BK|
" #
s+8 1
(s+3)(s+5) (s+3)(s+5)
= −15 s
(s+3)(s+5) (s+3)(s+5)
 2.5 1.5 0.5 0.5 
= s+3 − s+5 s+3 − s+5
−7.5 7.5 −1.5 2.5
s+3 + s+5 s+3 + s+5

Hence, the matrix exponential is given as

2.5e−3t − 1.5e−5t 0.5e−3t − 0.5e−5t

 
(A−BK)t −1 −1
 
e =L (sI − A + BK) =
−7.5e−3t + 7.5e−5t −1.5e−3t + 2.5e−5t