Multivariable Control Systems

EE640
Assignment-5

1. For the (A, B) pair

   
1 1 0 0 0 0 0 0 0
0 1 1 0 0 0 0 0 0
   
0 0 1 0 0 0 , B = 1 0 0

A=
0

 0 0 2 1 0 0
 0 0

0 0 0 0 2 0  0 1 0
0 0 0 0 0 3 0 0 1

(a) Find the controllability indices and a basis corresponding to these

indices.
(b) Are controllability indices invariant under similarity transformation?
Justify your answer.
(c) Find the dimensions of all possible nonzero controllability subspaces.
(d) Find controllability subspaces that are unique for a given dimension.

2. Consider the controllable system ẋ(t) = Ax(t) + Bu(t), where A ∈ R9×9

and B ∈ R9×m . The system holds the following properties:
(i) The cyclic index of A is 3.
(ii) For every 3-dimensional (A,B)-invariant subspace V , there exist λ1 , λ2 ∈
C such that

λ1 , λ2 ∈ σ((A + BF )|V ) for all F ∈ F(V ).

Find out the value of m, i.e., the number of inputs in the system, and the
controllability indices.
3. Consider the system

ẋ(t) = Ax(t) + Bu(t),

y(t) = Cx(t),
z(t) = Dx(t) + Eu(t),

where
   
A11 0 0    
A := , B := , C := C1 C2 , and D := D1 D2 .
A21 A22 B2

1
 Assume that A22 is Hurwitz. Then, prove that the variable z(t) can be
regulated with u(t) = 0, if there exists T such that
T A11 − A22 T = A21 ,
D2 T + D1 = 0.

4. Consider the system

ẋ(t) = Ax(t) + Bu(t),
y(t) = Cx(t),
z(t) = Dx(t),
where
       
1 2 0 0 0 0 0 0 0 0
0 3 0 0 0 0 0 0 0 0
       
0 0 2 0 1 0 , B = 0 , C T = 0 , and DT = 0 0
    
A= 0
.
 0 0 0 0 1
0
 
1
  0
 0
0 0 −1 0 0 1  1  0 1 0
0 0 0 1 0 1 0 0 0 1
Can a regulator be designed to regulate the variable z(t)? Justify your
answer.
5. Consider the system shown below:
ẋ = Ax + Bu
y = Cx
z = Dx
where
       
0 1 0 0 0 0 0 0 0 0 0 1 0 1
0 0 1 0 0 0 0 0 0 0 0 −1 0 0
       
−6 −11 −6 0 0 0 , B = 1  , C0 =  0
0  , D0 =  0
0 0 1 0
  
A=
0

 0 0 1 1 0 0
 1
 1
 0 0
 0
 0 1

0 0 0 0 1 0  0 0 −1 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0
Check if the output z can be regulated. If so find a suitable F that does
the job.
6. For the system given in question 5, is extended regulator problem solvable?
If so find an extended feedback Fe that does the job.
7. For a system given by
   
1 1 0 0 0 0 0 0 0 0 0
 0 0 0 0 0 0 0 0   1 0 0 
   
 0 0 2 0 0 0 0 0   0 1 0 
   
 0 0 0 1 1 0 0 0   0 0 0 
A=  B= 
 0 0 0
 0 −2 1 0 0 


 0 0 1 

 0 0 0 0 0 0 0 0   0 0 0 
   
 0 0 0 0 0 0 0 0   0 0 0 
0 0 0 0 0 0 0 −3 0 0 0

2
  
1 0 0 0 0 0 0 0
C= 0 0 1 0 0 0 0 0 
0 0 0 −1 0 0 1 0
 
0 1 0 0 0 0 0 0
D =  0 0 0 −1 0 0 1 0 
0 0 0 0 0 0 0 1
is it posible to solve the RRP ? Explain the need of the condition imposed
by
Ker F ⊃ N
(Equation (1.4) in Chapter 6 of Wonham) in formulation of RRP . (Note:
The notation is same as that used in Wonham for discription of RRP .)
8. For the system given in question 7, find a feedback matrix F which solves
the RRP . If not solvable then give a procedure to find F assuming that
it is solvable.
9. Solve the ERP by finding d(Xa ) and feedback matrix Fe : Xe → Ue for
the system given by Equation (7). If not solvable then state the procedure
for finding d(Xa ) and Fe . (Note: The notation is same as that used in
Wonham for discription of ERP .)