Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Chapter 8_________________________________________________________________________
dy
8-1) (a) State variables: x1 = y, x 2 =
dt

State equations: Output equation:

 dx1 
 dt   0 1   x1   0   x1 
 =   x  + 5 r y = 1 0   = x1
 2
dx  −1 −4  2    x2 
 dt 

2
dy d y
(b) State variables: x1 = y, x 2 = , x3 = 2
dt dt

State equations: Output equation:

 dx1 
 dt 
  0 1 0   x1   0   x1 
 = 0  1   x2  +  0  r y = 1 0 0  x2  = x1
dx 2
0
 dt        
 dx   −1 −2.5 −1.5   x3  0.5   x3 
 3
 dt 
2
dx1 dy d y
(c) State variables: x1 = 0 y ( )d , x2 =
t
, x3 = , x4 = 2
dt dt dt

State equations: Output equation:

 x1   0 1 0 0   x1  0   x1 
 x   0 0 1 0   x  0  x 
 2 =   2 + r y = 1 0 0 0    = x1
2

 x3   0 0 0 1   x3  0   x3 
        
 x4   −1 −1 −3 −5   x4  1   x4 
2 3
dy d y d y
(d) State variables: x1 = y, x 2 = , x3 = 2
, x4 = 3
dt dt dt

State equations: Output equation:

 x1   0 1 0 0   x1 0   x1 
x   0 0 1 0   x  0  x 
 2 =   2 +  r y = 1 0 0 0    = x1
2

 x3   0 0 0 1   x3   0   x3 
        
 x4   −1 −2.5 0 −1.5   x4  1   x4 

8-1
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

𝑌(𝑠) 𝑠+3
8-2) a) 𝐺(𝑠) = 𝑈(𝑠) = 𝑠2 +3𝑠+2

 (𝑠 2 + 3𝑠 + 2)𝑌(𝑠) = (𝑠 + 3)𝑈(𝑠)
2 3
 𝑠𝑌(𝑠) + 3𝑌(𝑠) = − 𝑠 𝑌(𝑠) + 5 𝑈(𝑠) + 𝑉(𝑠)
2 3
Let 𝑋(𝑠) = − 𝑠 𝑌(𝑠) + 5 𝑈(𝑠)
𝑠𝑌(𝑠) = 𝑋(𝑠) + 𝑈(𝑠) + 3𝑌(𝑠) 𝑦̇ = −3𝑦 + 𝑥 + 𝑢
Then {  {
𝑠𝑋(𝑠) = −2𝑌(𝑠) + 3𝑈(𝑠) 𝑥̇ = −2𝑦 + 3𝑢

If 𝑦 = 𝑥1 and 𝑥 = 𝑥2 , then

𝑥1̇ = −3𝑥1 + 𝑥2 + 𝑢
{
𝑥̇ 2 = −2𝑥1 + 3𝑢
or
𝑥̇ −3 +1 𝑥1 1
[ 1] = [ ][ ] + [ ]𝑢
𝑥̇ 2 −2 0 𝑥2 3

𝑥1
𝑦 = [1 0 ] [ 𝑥 ]
2

𝑌(𝑠) 6
b) 𝐺(𝑠) = 𝑈(𝑠) = 𝑠3 +6𝑠2 +11𝑠+6

 𝑌(𝑠)(𝑠 3 + 6𝑠 2 + 11𝑠 + 6) = 6𝑈(𝑠)

6 11 6
𝑠𝑌(𝑠) + 6𝑌(𝑠) = − 𝑠2 𝑌(𝑠) − 𝑌(𝑠) + 𝑠2 𝑈(𝑠)
𝑠
6 11 6 6 6
Let X(s) = − s2 𝑌(𝑠) − 𝑌(𝑠) + 𝑠 𝑈(𝑠), therefore 𝑠𝑋(𝑠) = − 𝑠 𝑌(𝑠) − 11𝑌(𝑠) + 𝑠 𝑈(𝑠)
𝑠
6 6
and Let 𝑍(𝑠) = − 𝑠 𝑌(𝑠) + 𝑠 𝑈(𝑠), then 𝑠𝑍(𝑠) = −6𝑌(𝑠) + 6𝑈(𝑠). As a result:
𝑠𝑌(𝑠) = −6𝑌(𝑠) + 𝑋(𝑠)
{𝑠𝑋(𝑠) = −11𝑌(𝑠) + 𝑍(𝑠)
𝑠𝑍(𝑠) = −6𝑌(𝑠) + 6𝑈(𝑠)
or
𝑦̇ = −6𝑦 + 𝑥
{ = −11𝑦 + 𝑧
𝑥̇
𝑧̇ = −6𝑦 + 6𝑢
If 𝑦 = 𝑥1 , 𝑥 = 𝑥2 𝑎𝑛𝑑 𝑧 = 𝑥3 , then
𝑥1̇ −6 1 0 𝑥1 0
𝑥̇
[ 2 ] = [−11 𝑥
0 1] [ 2 ] + [0] u
𝑥̇ 3 −6 0 0 𝑥3 6

8-2
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

𝑥1
𝑦 = [1 0 0] [𝑥2 ]
𝑥3
𝑌(𝑠) 𝑠+2
c) 𝐺(𝑠) = 𝑈(𝑠) = 𝑠2 +7𝑠+12

𝑌(𝑠)(𝑠 2 + 7𝑠 + 12) = (𝑠 + 2)𝑈(𝑠)

12 2
𝑠𝑌(𝑠) = −7𝑌(𝑠) − 𝑌(𝑠) + 𝑈(𝑠) + 𝑠 𝑈(𝑠)
𝑠
12 2
Let 𝑠𝑋(𝑠) = − 𝑌(𝑠) + 𝑠 𝑈(𝑠), then 𝑠𝑋(𝑠) = −12𝑌(𝑠) + 2𝑈(𝑠). As a result:
𝑠
𝑦̇ = −7𝑦 + 𝑥 + 𝑢
{
𝑥̇ = −12𝑦 + 2𝑢
Let 𝑦 = 𝑥1 and 𝑥 = 𝑥2 , then
𝑥1 −7 1 𝑥1 1
[𝑥 ] = [ ][ ] + [ ]𝑢
2 −12 0 𝑥2 2
𝑥1
𝑦 = [1 0 ] [ 𝑥 ]
2

𝑌(𝑠) 𝑠3 +11𝑠2 +35𝑠+250

d) 𝐺(𝑠) = 𝑈(𝑠) = 𝑠2 (𝑠3 +4𝑠2 +39𝑠+108)

35 250
 (𝑠 3 + 4𝑠 + 39𝑠 + 108)𝑌(𝑠) = [𝑠 + 11 + + ] 𝑢(𝑠)
𝑠 𝑠2

39 108 1 11 35 250
 𝑠𝑌(𝑠) = −4𝑌(𝑠) + 𝑌(𝑠) + 𝑌(𝑠) + [𝑠 + 𝑠2 + 𝑠3 + ] 𝑈(𝑠)
𝑠 𝑠2 𝑠4

39 108 1 11 35 250
Let X2 (s) = 𝑌(𝑠) + 𝑌(𝑠) + [𝑠 + 𝑠2 + 𝑠3 + ] 𝑈(𝑠), then
𝑠 𝑠2 𝑠4
108 11 35 250
𝑠𝑋2 (𝑠) = 39𝑌(𝑠) + 𝑌(𝑠) + 𝑈(𝑠) + [ 𝑠2 + 𝑠3 + ] 𝑈(𝑠)
𝑠 𝑠4
108 11 35 250
Now, let 𝑋3 (𝑠) = 𝑌(𝑠) + 𝑠2 𝑈(𝑠) + 𝑠3 𝑈(𝑠) + 𝑈(𝑠), therefore
𝑠 𝑠4
sX2 (s) = 39Y(s) + X3 (s) + U(s)
{ 11 35 250
sX3 (s) = 108Y(s) + U(s) + 2 𝑈(𝑠) + 3 𝑈(𝑠)
s s 𝑠
11 35 250 35 250
Let X4 (s) = U(s) + 2 𝑈(𝑠) + 3 𝑈(𝑠), then 𝑠𝑋4 (𝑠) = 11𝑈(𝑠) + 𝑈(𝑠) + 2 𝑈(𝑠)
s s 𝑠 𝑠 𝑠
35 250 250
Let X5 (s) = 𝑈(𝑠) + 𝑈(𝑠), or 𝑠𝑋5 (𝑠) = 35𝑈(𝑠) + 𝑈(𝑠)
𝑠 𝑠2 𝑠
250
Let 𝑋6 (𝑠) = 𝑈(𝑠) , then 𝑠𝑋6 (𝑠) = 250𝑈(𝑠). If 𝑌(𝑠) = 𝑋1 (𝑠), then:
𝑠
𝑥̇ 1 = −4𝑥1 + 𝑥2
𝑥̇ 2 = 39𝑥1 + 𝑥2 + 𝑢
𝑥̇ 3 = 108𝑥1 + 𝑥4
𝑥̇ 4 = 11𝑢 + 𝑥5
𝑥̇ 5 = 35𝑢 + 36𝑥6
{ 𝑥̇ 6 = 250𝑢
8-3
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

or
𝑥̇ 1 −4 1 0 0 0 0 𝑥1 0
𝑥̇ 2 39 0 1 0 0 0 𝑥2 1
𝑥̇ 3 108 0 0 1 0 0 3 𝑥
= + 0 𝑢
𝑥̇ 4 0 0 0 0 1 0 𝑥4 11
𝑥̇ 5 0 0 0 0 0 1 𝑥5 35
[𝑥̇ 6 ] [ 0 0 0 0 0 ]
0 6[ 𝑥 ] [ 250]

8-3) (a) Alternatively use equations (8-225), (8-232) and (8-233)

𝑌(𝑠) 𝑠+3
𝐺(𝑠) = = 2
𝑈(𝑠) 𝑠 + 3𝑠 + 2

The state variables are defined as

x1 ( t ) = y ( t )
dy ( t )
x2 ( t ) =
dt

Then the state equations are represented by the vector-matrix equation

dx ( t )
= Ax ( t ) + Bu ( t )
dt

where x(t) is the 2  1 state vector, u(t) the scalar input, and

0 1  3
A=  B= 
 −2 −3 1 (Also see section 2-3-3 or 8-6)
C = 1 0 D=0

G ( s ) = C ( sI − A ) B + D
−1

8-4
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

MATLAB

>> clear all

>> syms s

>> A=[0,1;-2,-3]

A=

0 1

-2 -3

>> B=[0;1]

B=

>> C=[3,1]

C=

3 1

>> s*eye(2)-A

ans =

[ s, -1]

[ 2, s+3]

>> inv(ans)

ans =

[ (s+3)/(s^2+3*s+2), 1/(s^2+3*s+2)]

[ -2/(s^2+3*s+2), s/(s^2+3*s+2)]

>> C*ans*B

ans =

3/(s^2+3*s+2)+s/(s^2+3*s+2)
8-5
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Use ACSYS as demonstrate in section 8-19-2

1) Activate MATLAB
2) Go to the folder containing ACSYS
3) Type in Acsys
4) Click the “Transfer Function Symbolic” pushbutton
5) Enter the transfer function
6) Use the “State Space” option as shown below:

You get the next window. Enter the A,B,C, and D values.

8-6
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

-------------------------------------------------------------

State Space Analysis

-------------------------------------------------------------

Inputs:

A=| 0 1| B=|0|

|-2 -3| |1|

C=|3 1| D=|0|

State Space Representation:

Dx = | 0 1|x + |0|u

|-2 -3| |1|

8-7
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

y = |3 1|x + |0|u

Determinant of (s*I-A):

s +3s+2

Characteristic Equation of the Transfer Function:

s +3s+2

The eigen values of A and poles of the Transfer Function are:

-1

-2

Inverse of (s*I-A) is:

[ s+3 1 ]

[ ------------ ------------]

[ 2 2 ]

[s +3s+2 s + 3 s + 2]

[ ]

[ 2 s ]

[- ------------ ------------]

[ 2 2 ]

[ s +3s+2 s + 3 s + 2]

State transition matrix (phi) of A:

[ 2 exp(-t) - exp(-2 t) exp(-t) - exp(-2 t) ]

[ ]

[-2 exp(-t) + 2 exp(-2 t) -exp(-t) + 2 exp(-2 t)]

Transfer function between u(t)and y(t) is:

8-8
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

s+3

------------

s +3s+2

No Initial Conditions Specified

States (X) in Laplace Domain:

[ 1 ]

[---------------]

[(s + 2) (s + 1)]

[ ]

[ s ]

[---------------]

[(s + 2) (s + 1)]

Inverse Laplace x(t):

[ exp(-t) - exp(-2 t) ]

[ ]

[-exp(-t) + 2 exp(-2 t)]

Output Y(s):

s+3

---------------

(s + 2) (s + 1)

Inverse Laplace y(t):

2 exp(-t) - exp(-2 t)

8-9
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Use the same procedure for parts b, c and d.

−x4 +u
8-4) a) x1 = ➔ (𝑠 + 2)𝑋1 = −𝑋4 + 𝑈, ➔ 𝑥̇ 1 = −𝑥4 − 2𝑥1 + 𝑢
s+2

𝑥3 +𝑥1
𝑥4 = ➔ 𝑠𝑋4 = 𝑋3 + 𝑋1 ➔ 𝑥̇ 4 = 𝑥1 + 𝑥3
𝑠
0.5
𝑥2 = 𝑥1 ➔ 𝑠𝑋2 = 0.5𝑋1 ➔ 𝑥̇ 2 = 0.5𝑥1
𝑠

𝑥2
𝑥3 = ➔ 𝑠𝑋3 = 𝑋2 ➔ 𝑥̇ 3 = 𝑥2
𝑠

𝑦 = 𝑥1 + 𝑥2 + 𝑥3
As a result:
𝑥̇ 1 −2 0 0 −1 𝑥1 1
𝑥̇ 2 0.5 0 0 0 𝑥2
[ ]=[ ] [ ] + [0] 𝑢
𝑥̇ 3 0 1 0 0 𝑥3 0
𝑥̇ 4 1 0 1 0 𝑥4 0
𝑥1
𝑥2
𝑦 = [1 1 1 0] [𝑥3 ]
𝑥4
1
b) 𝑋1 (𝑠) = 𝑠+2 𝑈(𝑠) ➔ 𝑠𝑋1 (𝑠) = −2𝑋1 (𝑠) + 𝑈(𝑠)➔ 𝑥̇ 1 = −2𝑥1 + 𝑢

𝑠+4
𝑋2 = 𝑠+3 𝑋1➔ 𝑠𝑋2 (𝑠) = 𝑠𝑋1 + 4𝑋1 − 3𝑋2➔𝑥̇ 2 = 𝑥̇ 1 + 4𝑥1 − 3𝑥2 = 2𝑥1 − 3𝑥2 + 𝑢

𝑋2 +𝑋1 −6𝑋3
𝑋3 = ➔ 𝑠𝑋3 (𝑠) = 𝑋2 + 𝑋1 − 6𝑋3 ➔𝑥̇ 3 = 𝑥2 + 𝑥1 − 𝑥3
𝑠

𝑦 = 𝑥3 + 𝑥1
As a result:
𝑥̇ 1 −2 0 0 𝑥1 1
[𝑥2̇ ] = [ 2 −3 0 ] [𝑥2 ] + [1] 𝑢
𝑥̇ 3 1 1 −6 𝑥3 0
𝑥1
𝑦 = [1 0 1] [𝑥2 ]
𝑥3
1
c) 𝑋1 (𝑠) = 𝑠+5 𝑈(𝑠) ➔ 𝑠𝑋1 = −5𝑋1 + 𝑈➔ 𝑥̇ 1 = −5𝑥1 + 𝑢

𝑋1 +𝑈−𝑋3
𝑋2 = 𝑠+2
➔ 𝑠𝑋2 = 𝑋1 − 2𝑋2 − 𝑋3 + 𝑈➔𝑥̇ 2 = 𝑥1 − 2𝑥2 − 𝑥3 + 𝑢

𝑋
2
𝑋3 = 𝑠+4 ➔𝑠𝑋3 = 𝑋2 − 4𝑋3 ➔ 𝑥3̇ = 𝑥2 − 4𝑥3
8-10
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

2𝑋3
𝑋4 = 𝑠
➔ 𝑠𝑋4 = 2𝑋3 ➔ 𝑥̇ 4 = 2𝑥3
𝑦 = 𝑥2 + 𝑥4
As a result:
𝑥̇ 1 −5 0 0 0 𝑥1 1
𝑥̇ 2 1 −2 −1 0 𝑥
[ ]=[ ] [ 2 ] + [1] u
𝑥̇ 3 0 1 −4 0 𝑥3 0
𝑥̇ 4 0 0 2 0 𝑥 4 0
𝑥1
𝑥
𝑦 = [0 1 0 1] [𝑥23 ]
𝑥4

8-5) We shall first show that

2
I A 1 A
 ( s ) = ( sI − A ) =
−1
+ 2
+ 2
+
s s 2! s

We multiply both sides of the equation by ( sI − A ) , and we get I = I. Taking the inverse Laplace transform

on both sides of the equation gives the desired relationship for  (t ) .

8-6)

(a) USE MATLAB

Amat=[0 1;-2 -1]
[mA,nA]=size(Amat);
rankA=rank(Amat);
disp(' Characteristic Polynomial: ')
chareq=poly(Amat);
[mchareq,nchareq]=size(chareq);
syms s;
poly2sym(chareq,s)
[evecss,eigss]=eig(Amat);
disp(' Eigenvalues of A = Diagonal Canonical Form of A is:');
Abar=eigss,
disp('Eigen Vectors are ')
T=evecss
% state transition matrix
ilaplace(inv([s 0;0 s]-Amat))

Results in MATLAB COMMAND LINE

Amat =

0 1
8-11
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

-2 -1

Characteristic Polynomial:

ans =

s^2+s+2

Eigenvalues of A = Diagonal Canonical Form of A is:

Abar =

-0.5000 + 1.3229i 0

0 -0.5000 - 1.3229i

Eigen Vectors are

T=

-0.2041 - 0.5401i -0.2041 + 0.5401i

0.8165 0.8165

phi=ilaplace(inv([s 0;0 s]-Amat))

phi =

[ 1/7*exp(-1/2*t)*(7*cos(1/2*7^(1/2)*t)+7^(1/2)*sin(1/2*7^(1/2)*t)), 2/7*7^(1/2)*exp(-
1/2*t)*sin(1/2*7^(1/2)*t)]

[-4/7*7^(1/2)*exp(-1/2*t)*sin(1/2*7^(1/2)*t), 1/7*exp(-1/2*t)*(7*cos(1/2*7^(1/2)*t)-
7^(1/2)*sin(1/2*7^(1/2)*t))]

% use vpa to convert to digital format. Use digit(#) to adjust level of precision if necessary.

vpa(phi)

ans =

[ .1428571*exp( .5000000*t)*(7.*cos(1.322876*t)+2.645751*sin(1.322876*t)),

.7559289*exp(-.5000000*t)*sin(1.322876*t)]

[ -1.511858*exp(-.5000000*t)*sin(1.322876*t),
8-12
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

.1428571*exp(-.5000000*t)*(7.*cos(1.322876*t)-2.645751*sin(1.322876*t))]

ANALYTICAL SOLUTION:

2
Characteristic equation: ( s) = sI − A = s + s + 2 = 0

Eigenvalues: s = −0.5 + j1323

. , − 0.5 − j1323
.

State transition matrix:

cos1.323t + 0.378 sin1.323t 0.756 sin1.323t  −0.5 t

 (t ) = 
−1.069 sin (1.323t − 69.3 ) 
e
−1.512 sin1.323t
o


Alternatively

USE ACSYS as illustrated in section 8-19-1

1) Activate MATLAB
2) Go to the folder containing ACSYS
3) Type in Acsys
4) Click the “State Space” pushbutton
5) Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
6) Use the “Calculate/Display” menu and find the eigenvalues.

8-13
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

From MATLAB Command Window:

The A matrix is:

Amat =

0 1

-2 -1

8-14
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Characteristic Polynomial:

ans =

s^2+s+2

Eigenvalues of A = Diagonal Canonical Form of A is:

Abar =

-0.5000 + 1.3229i 0

0 -0.5000 - 1.3229i

Eigen Vectors are

T=

-0.2041 - 0.5401i -0.2041 + 0.5401i

0.8165 0.8165

THE REST ARE SAME AS PART A.

(b) Characteristic equation: ( s) = sI − A = s 2 + 5s + 4 = 0 Eigenvalues: s = −4, − 1

State transition matrix:

 1.333e − t − 0.333e −4 t −t
0.333e − 0.333e  −4 t

 (t ) =  −t −4 t −t  −4 t
 −1.333e − 1.333e −0.333e + 1.333e 

(c) Characteristic equation:  ( s ) = ( s + 3 ) = 0 s = −3, − 3

2
Eigenvalues:

State transition matrix:

 e −3t 0
 (t ) =   −3 t
0 e 

(d) Characteristic equation: ( s) = s 2 − 9 = 0 Eigenvalues: s = −3, 3

State transition matrix:

e3t 0 
 (t ) =  
−3 t
0 e 

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(e) Characteristic equation: ( s) = s 2 + 4 = 0 Eigenvalues: s = j 2, − j 2

State transition matrix:

 cos 2t sin 2t 
 (t ) =  
 − sin 2t cos 2t 

(f) Characteristic equation: ( s) = s3 + 5s 2 + 8 s + 4 = 0 Eigenvalues: s = −1, − 2, − 2

State transition matrix:

e − t 0 0 
 
 (t ) = 0
−2 t −2 t
e te
 
 0 0 e 
−2 t

(g) Characteristic equation: ( s) = s3 + 15s 2 + 75s + 125 = 0 Eigenvalues: s = −5, − 5, − 5

e −5 t te
−5 t
0 
 
 (t ) = 0
−5 t −5 t
e te
 
 0 0 e 
−5 t

State transition equation: x (t ) =  (t ) x(t ) +   (t −  ) Br ( ) d

t
 (t ) for each part is given in Problem 5-3.
0

8-7)In MATLAB USE ilaplace to find L−1 ( sI − A ) BR ( s )  see previous problem for codes.
−1

(a)

 1  s + 1 1  0 1  1 1 
  (t −  )Br ( )d = L ( sI − A ) BR ( s )  = L 
t −1
−1 −1

    
0
  ( s )  −2 s  1 0  1 s 
 s+2 
 s ( s2 + s + 2) 
=
1 + 0.378 sin1.323t − cos1.323t 
=L 
−1
t0
 s−2   −1 + 1.134 sin1.323t + cos1.323t 

 s s2 + s + 2 
 ( )

8-16
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(b)
 1  s + 5 1 1 1 1 
  (t −  )Br ( )d = L ( sI − A ) BR ( s )  = L
t −1
−1 −1
     
0
  ( s )  −4 s  1 1 s 
 s+6  1.5 − 1.67 + 0.167 
 s ( s + 1)( s + 2)     1.5 − 1.67e − t + 0.167e −4 t 
=L 
−1
 = L −1  s s + 1 s + 4  =   t0
 s−4   −1 + 1.67 − 0.667   −1 + 1.67e − 0.667e − 4t 
−t

 s ( s + 1)( s + 4)   s s + 1 s + 4 

(c)

 1 0
 

−1  s + 3
  0  1 
0  (t −  )Br ( )d = L ( sI − A ) BR( s)  = L 
t −1
−1
 
 0 1  1  s 
 s + 3  
 0 
=L 
−1 = 0 
t0

1  −3 t 
 0.333 (1 − e ) 
 s ( s + 3 )  

(d)

 1 0
 

−1  s − 3
 0  1 
0  ( ) 
t −1
   
−1
− =  −  =   
1  1  s 
( t ) B r ( ) d L s I A BR ( s ) L
 0
 s + 3  
 0 
=L 
−1 = 0 
t0
  0.333 (1 − e −3t ) 
1

 s ( s + 3 ) 

(e)

 1 2
 
 2
−1  s + 4
 0  1 
0  (t −  )Br ( )d = L ( sI − A ) BR( s)  = L  −2
t −1
−1
 
 s  1  s 
 s 2 + 4 s + 4 
2

 2 
 s   2 
=L  =
−1
t 0

 1  0.5 sin 2t 
 ( s 2 + 4 ) 

(f)

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 1  
 s + 1 0 0  
  0  
−1   1 1  1  1 
0  (t −  )Br ( )d = L ( sI − A ) BR ( s )  = L   0
t −1
−1
2  
 s+2 ( s + 2)    s 
 
0
 1  
 0 0  
 s+2  

 0 
   0 
=L 
−1 1  −2 t 
 = 0.5 (1 − e ) t0
 s ( s + 2)   
   0 
 0 

(g)

 1 1
0
 
 s + 5 ( s + 5) 2  
  0  
−1  1 1    1
0  (t −  )Br ( )d = L ( sI − A ) BR( s)  = L  0
t −1
−1
2 
0 
 s+5 ( s + 5)    s 
1 
 1  
 0 0  
 s+5  

   
   
 0
 
0
  0 
−1
 1  −1  0.04 0.04 0.2   −5 t −5 t 
=L  =L
2   s − s + 5 − ( s + 5 )2  =  0.04 − 0.04e − 0.2te  us (t )
 s ( s + 5)     0.2 − 0.2e
−5 t

 1   0.2 0.2 
   − 
 s ( s + 5 )  s s+5

8-8) State transition equation: x(t ) =  (t ) x(t ) + 0  (t −  )Br ( ) d  (t ) for each part is given in Problem 5-3.
t

(a)

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 1  s + 1 1  0 1  1 1 
  (t −  )Br ( )d = L ( sI − A ) BR ( s )  = L 
t −1
−1 −1

    
0
  ( s )  −2 s  1 0  1 s 
 s+2 
 s ( s + s + 2) 
2

=
1 + 0.378 sin1.323t − cos1.323t 
=L 
−1
t0
 s−2 
  −1 + 1.134 sin1.323t + cos1.323t 
 s s2 + s + 2 
 ( )
(b)
 1  s + 5 1 1 1 1 
  (t −  )Br ( ) d = L ( sI − A ) BR ( s )  = L 
t −1
−1 −1

    
0
  ( s )  −4 s  1 1 s 
 s+6  1.5 − 1.67 + 0.167 
 s ( s + 1)( s + 2)   s s + 1 s + 4   1.5 − 1.67e − t + 0.167e −4 t 
=L  =L 
−1 −1
=  t0
 s−4   −1 + 1.67 − 0.667   −1 + 1.67e − 0.667e − 4t 
−t

 s ( s + 1)( s + 4)   s s + 1 s + 4 

(c)

 1 0
 

−1  s + 3
  0  1 
0  ( ) 
t −1
   
−1
− =  −  =   
1  1  s 
( t ) B r ( ) d L s I A BR ( s ) L
 0
 s + 3  
 0 
=L 
−1 = 0 
t0

  0.333 (1 − e −3t ) 
1

 s ( s + 3 ) 

(d)

 1 0
 

−1  s − 3
 0  1 
0  (t −  )Br ( )d = L ( sI − A ) BR( s)  = L 
t −1
−1
 
 0 1  1  s 
 s + 3  
 0 
=L 
−1 = 0 
t0

1  −3 t 
 0.333 (1 − e ) 
 s ( s + 3 )  

(e)

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 1 2
 
 2
−1  s + 4
 0  1 
0  ( ) 
t −1
   
−1
− =  −  =   
s  1  s 
( t ) Br ( ) d L sI A BR ( s ) L
  −2
 s 2 + 4 s + 4 
2

 2 
 s   2 
=L  =
−1
t 0

 1  0.5 sin 2t 
 ( s 2 + 4 ) 

(f)

 1  
 s + 1 0 0  
  0  
−1   1 1  1  1 
0  (t −  )Br ( )d = L ( sI − A ) BR ( s )  = L   0
t −1
−1
2  
 s+2 ( s + 2)    s 
 0 
 1  
 0 0  
 s+2  

 0 
   0 
=L
−1
 1
  −2 t 
= 0.5 (1 − e ) t0
 s ( s + 2)   
   0 
 0 

(g)

 1 1
0
 
 s + 5 ( s + 5) 2  
  0  
−1  1 1    1
0  (t −  )Br ( )d = L ( sI − A ) BR( s)  = L  0
t −1
−1
2 
0 
 s+5 ( s + 5)    s 
1 
 1  
 0 0  
 s+5  

   
   
 0  
0
  0 
−1
 1  −1  0.04 0.04 0.2   −5 t −5 t 
=L  =L
( + ) 2   s − s + 5 − ( s + 5 )2  =  0.04 − 0.04e − 0.2te  us (t )
 s s 5     0.2 − 0.2e
−5 t

 1   0.2 0.2 
   − 
 s ( s + 5 )  s s+5
8-20
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-9) (a) Not a state transition matrix, since  (0)  I (identity matrix).

(b) Not a state transition matrix, since  (0)  I (identity matrix).

(c)  (t ) is a state transition matrix, since  (0) = I and

−1
 1 
0  1 0
 (t )  =  − t
−1

−t 
=  =  ( −t )
1 − e e  1 − e 
t t
e

(d)  (t ) is a state transition matrix, since  (0) = I , and

e 2 t −te
2t
t e / 2
2 2t

 (t )−1 =  0 e
2t
−te
2t 
 =  ( −t )
 0 0 e
2t


𝑠 −1 1 𝑠+3 1
8-10) a) 𝑥̇ = 𝐴𝑥 + 𝐵𝑢 ➔𝑠𝐼 − 𝐴 = [ ] and (𝑠𝐼 − 𝐴)−1 = 𝑠2 +3𝑠+2 [ ]
2 𝑠+3 −2 𝑠
Therefore:
−𝑡 −2𝑡
𝛷(𝑡) = 𝐿−1 {(𝑠𝐼 − 𝐴)−1 } = [ 2𝑒 −𝑡 − 𝑒 −2𝑡 𝑒 −𝑡 − 𝑒 −2𝑡 ]
−2𝑒 + 2𝑒 −𝑒 −𝑡 + 2𝑒 −2𝑡

𝑒 −𝑡 + 0.5𝑒 −2𝑡 ]
If 𝑥(0) = 0, then 𝑥(𝑡) = ∫0 𝛷(𝑡 − 𝜏)𝐵𝑢(𝑡)𝑑 𝜏 = [0.5 − −𝑡
𝑡
𝑒 − 𝑒 −2𝑡
b) 𝛷(𝑡) = 𝐿−1 {(𝑠𝐼 − 𝐴)−1 }

1 𝑠 −0.5
= 𝐿−1 {𝑠2 +𝑠+0.5 [ ]}
1 𝑠+1

𝑒 −0.5𝑡 (𝑐𝑜𝑠 0.5𝑡 − 𝑠𝑖𝑛 0.5𝑡) 𝑒 −0.5𝑡 𝑠𝑖𝑛 0.5𝑡

=[ ]
2𝑒 −0.5𝑡 𝑠𝑖𝑛 0.5𝑡 𝑒 −0.5𝑡 (𝑐𝑜𝑠 5𝑡 + 𝑠𝑖𝑛 0.5𝑡)

If x(0) = 0, then

0 1 0.5𝑒 −0.5𝑡 (𝑐𝑜𝑠 0.5𝑡 – 𝑠𝑖𝑛 0.5𝑡) − 0.5

𝑥(𝑡) = 𝐴−1 (𝑒 𝐴𝑡 − 𝐼)𝐵 = [ ][ ]
−2 −2 𝑒 −0.5𝑡 − 𝑠𝑖𝑛 0.5𝑡
𝑒 −0.5𝑡 𝑠𝑖𝑛 5𝑡
= [ −0.5𝑡 ]
−𝑒 (𝑐𝑜𝑠 0.5𝑡 + 𝑠𝑖𝑛0.5𝑡) + 1
and
x1
y(t) = [1 0] [x ] = x1 = e−0.5t sin 0.5t
2

8-11) (a) (1) Eigenvalues of A: 2.325, − 0.3376 + j 0.5623, − 0.3376 − j 0.5623

8-21
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(2) Transfer function relation:

 s 2 + 3s + 2 1  0 
−1
 s −1 0  0 s+3 1
X ( s ) = ( sI − A ) B U ( s ) =
−1 1 
0 s −1   0  U ( s ) = 1  −1  
s ( s + 3) s 0 U ( s) =
1  
s U (s)
(s)     (s)    (s)  2 
1 2 s + 3 1  
 −s 
−2 s − 1 s  1 
2
 s 

3 2
( s) = s + 3s + 2 s + 1

(3) Output transfer function:

1
Y (s) 1   1
= C( s ) ( sI − A ) B = 1 0
−1
0 s = 3
 ( s )  2  s + 3s + 2 s + 1
2
U (s)
 s 

USE ACSYS as illustrated in section 8-19-1

7) Activate MATLAB
8) Go to the folder containing ACSYS
9) Type in Acsys
10) Click the “State Space” pushbutton
11) Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
12) Use the “Calculate/Display” menu and find the eigenvalues and other State space calculations.

8-22
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

The A matrix is:

Amat =

0 1 0

0 0 1

-1 -2 -3

8-23
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Characteristic Polynomial:

ans =

s^3+3*s^2+2*s+1

Eigenvalues of A = Diagonal Canonical Form of A is:

Abar =

-2.3247 0 0

0 -0.3376 + 0.5623i 0

0 0 -0.3376 - 0.5623i

Eigen Vectors are

T=

0.1676 0.7868 0.7868

-0.3896 -0.2657 + 0.4424i -0.2657 - 0.4424i

0.9056 -0.1591 - 0.2988i -0.1591 + 0.2988i

State-Space Model is:

a=

x1 x2 x3

x1 0 1 0

x2 0 0 1

x3 -1 -2 -3

b=

u1

x1 0

x2 0

x3 1

8-24
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

c=

x1 x2 x3

y1 1 0 0

d=

u1

y1 0

Continuous-time model.

Characteristic Polynomial:

ans =

s^3+3*s^2+2*s+1

Equivalent Transfer Function Model is:

Transfer function:

1.776e-015 s^2 + 6.661e-016 s + 1

---------------------------------

s^3 + 3 s^2 + 2 s + 1

Pole, Zero Form:

Zero/pole/gain:

1.7764e-015 (s^2 + 0.375s + 5.629e014)

---------------------------------------

(s+2.325) (s^2 + 0.6753s + 0.4302)

The numerator is basically equal to 1

8-25
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Use the same procedure for other parts.

(b) (1) Eigenvalues of A: −1, − 1.

(2) Transfer function relation:

 1 
1 s + 1 1  0  ( s + 1)2 
X( s ) = ( sI − A ) BU ( s ) =
−1
=   U (s) ( s ) = s + 2s + 1
2

 ( s )  0 s + 1 1 
U ( s )
 1 
 ( s + 1) 
 

(3) Output transfer function:

 1 
Y (s)  ( s + 1)2  1 1 s+2
= C( s ) ( sI − A ) B = 1 1  =
−1
+ =
 1  ( s + 1) s + 1 ( s + 1)
2 2
U (s)
 s + 1 

(c) (1) Eigenvalues of A: 0, − 1, − 1.

(2) Transfer function relation:

 s + 2s = 1
2
s+2 1  0  1
1    1  
X( s ) = ( sI − A ) BU ( s ) =
−1

( s) 
0 s ( s + 2) ) s 0 U ( s ) =
  ( s)  
s U ( s) ( 2
)
( s ) = s s + 2 s + 1
 0 −s s  1 
2
 s  2

(3) Output transfer function:

1
s +1
= C( s ) ( sI − A ) B = 1 1 0   s  =
Y ( s) −1 1
=
U (s)  2  s ( s + 1) s ( s + 1)
2

 s 

2
dy dx1 dx 2 d y dx 2 dx3
8-12) We write = + = x 2 + x3 = + = − x1 − 2 x 2 − 2 x3 + u
dt dt dt dt dt dt

8-26
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 dx1 
 dt 
   0 1 0   x1   0 
d x  dy  
= = 0 1 1   x2  +  0  u (1)
dt  dt      
 2   −1 −2 −2   x3  1 
d y
 dt 2 

 x1  1 0 0   1 0 0
x =  y  = 1 1 0  x x =  −1 1 0  x (2)
     
 y  0 1 1   1 −1 1 

Substitute Eq. (2) into Eq. (1), we have

 −1 1 0  0 
 
= A 1 x + B1 u = 0 0 1 x =  0  u
dx
dt    
 −1 0 −2  1 

8-13) For MATLAB Codes see 8-15

(a)
s −2 0
3 2 3 2
sI − A = −1 s−2 0 = s − 3s + 2 = s + a2 s + a1 s + a0 a0 = 2, a1 = 0, a2 = −3

1 0 s −1

 a1 a2 1  0 −3 1  0 2 4 
M =  a2 
0 =  −3 1 0  S =  B AB A B  = 1 2 6 
2
1
     
 1 0 0   1 0 0  1 1 −1

 −2 2 0 
P = SM =  0 −1 1 
 
 −4 −2 1 

8-27
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(b)
s −2 0
3 2 3 2
sI − A = −1 s −1 0 = s − 3 s + 2 = s + a2 s + a1 s + a0 a0 = 2, a1 = 0, a2 = −3

1 −1 s −1

 a1 a2 1  0 −3 1  1 2 6 
M =  a2 
0 =  −3 1 0  S = B AB A B  = 1 3 8 
2
1
     
 1 0 0   1 0 0  0 0 1 

 0 −1 1 
P = SM =  −1 0 1 
 
 1 0 0 

(c)
s+2 −1 0
3 2 3 2
sI − A = 0 s+2 0 = s + 7 s + 16 s + 12 = s + a2 s + a1 s + a0 a0 = 12, a1 = 16, a2 = 7

1 2 s+3

 a1 a2 1 16 7 1  1 −1 0 
M =  a2 
0 =  7 1 0 S = B AB A B  = 1 −2 4 
2
1
     
 1 0 0   1 0 0  1 −6 23

 9 6 1
P = SM =  6 5 1
 
 −3 1 1

(d)
s +1 −1 0
3 2 3 2
sI − A = 0 s=1 −1 = s + 3s + 3s + 1 = s + a2 s + a1 s + a0 a0 = 1, a1 = 3, a2 = 3

0 0 s +1

8-28
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 a1 a2 1 3 3 1  0 1 −1
M =  a2 
0 = 3 1 0  S = B AB A B  = 1 0 −1
2
1
     
 1 0 0  1 0 0  1 −1 1 

2 1 0
P = SM =  2 3 1 
 
1 2 1 

(e)
s −1 −1
2 2
sI − A = = s + 2 s − 1 = s + a1s + a0 a0 = −1, a1 = 2
2 s+3

 a1 1 2 1 0 1 
M= 1 = S = B AB  =
 0   1 0 
 1 −3
 

 1 0
P = SM =  −1 1 
 

8-14) For MATLAB codes see 8-15

(a) From Problem 8-13(a),

 0 −3 1 
M =  −3 1 0 
 
 1 0 0 

Then,

 C   1 0 1  0.5 1 3 
V =  CA  =  −1 2 1 Q = ( MV ) =  0.5 1.5 4 
−1

 2    
CA   1 2 1  −0.5 −1 −2 

(b) From Problem 8-13(b),

16 7 1 
M =  7 1 0
 
 1 0 0 

8-29
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 C   1 0 1  0.2308 0.3077 1.0769 

V =  CA  =  −1 3 1 Q = ( MV ) =  0.1538 1.3846 
−1
0.5385
 2    
CA   2 5 1  −0.2308 −0.3077 −0.0769 

(c) From Problem 8-13(c),

 C   1 0 0
V =  CA  =  −2 1 0 
 2  
CA   4 −4 0 

Since V is singular, the OCF transformation cannot be conducted.

(d) From Problem 8-13(d),

3 3 1 
M = 3 1 0 
 
1 0 0 

Then,

 C  1 0 1  −1 1 0 
V =  CA  =  −1 1 −1 Q = ( MV ) =  0 1 −2 
−1

 2    
CA   1 −2 2   1 −1 1 

(e) From Problem 8-13(e),

2 1  C  1 0  0 1 
Q = ( MV ) =
−1
M= 1 0  Then, V= CA 2  = 1 1  1 −3
       

8-15) (a) Eigenvalues of A: 1, 2.7321, −0.7321

0 0.5591 0.8255 
T =  p1 p2 p 3  =  0 0.7637 −0.3022 
 
1 −0.3228 0.4766 

8-30
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

where p1, p2 , and p3 are the eigenvectors.

(b) Eigenvalues of A: 1, 2.7321, −0.7321

0 0.5861 0.7546 
T = p1 p2 p 3  =  0 0.8007 −0.2762 
 
1 0.1239 0.5952 

where p1, p2 , and p3 are the eigenvalues.

(c) Eigenvalues of A: -3, -2, -2. A nonsingular DF transformation matrix T cannot be found.

(d) Eigenvalues of A: −1, −1, −1

The matrix A is already in Jordan canonical form. Thus, the DF transformation matrix T is the identity

matrix I.

(e) Eigenvalues of A: 0.4142, −2.4142

 0.8629 −0.2811
T = p 2 p2  =  −0.5054 0.9597 
 

USE ACSYS as illustrated in section 8-19-1

1) Activate MATLAB
2) Go to the folder containing ACSYS
3) Type in Acsys
4) Click the “State Space” pushbutton
5) Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
6) Use the “Calculate/Display” menu and find the eigenvalues.
7) Next use the “Calculate/Display” menu and conduct State space calculations.
8) Next use the “Calculate/Display” menu and conduct Controlability calculations.

NOTE: the above order of calculations MUST BE followed in the order stated, otherwise you will get an
error.

8-31
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

SOLVE PART (a)

The A matrix is:

8-32
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Amat =

0 2 0

1 2 0

-1 0 1

Characteristic Polynomial:

ans =

s^3-3*s^2+2

Eigenvalues of A = Diagonal Canonical Form of A is:

Abar =

1.0000 0 0

0 2.7321 0

0 0 -0.7321

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Eigen Vectors are

T=

0 0.5591 0.8255

0 0.7637 -0.3022

1.0000 -0.3228 0.4766

State-Space Model is:

a=

x1 x2 x3

x1 0 2 0

x2 1 2 0

x3 -1 0 1

b=

u1

x1 0

x2 1

x3 1

c=

x1 x2 x3

y1 0 1 1
8-34
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

d=

u1

y1 0

Continuous-time model.

Characteristic Polynomial:

ans =

s^3-3*s^2+2

Equivalent Transfer Function Model is:

Transfer function:

2 s^2 - 3 s - 4

------------------------------

s^3 - 3 s^2 + 8.882e-016 s + 2

Pole, Zero Form:

Zero/pole/gain:

2 (s-2.351) (s+0.8508)

--------------------------
8-35
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(s-2.732) (s-1) (s+0.7321)

The Controllability Matrix [B AB A^2B ...] is =

Smat =

0 2 4

1 2 6

1 1 -1

The system is therefore Controllable, rank of S Matrix is =

rankS =

Mmat =

0 -3 1

-3 1 0

1 0 0

The Controllability Canonical Form (CCF) Transformation matrix is:

8-36
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Ptran =

-2 2 0

0 -1 1

-4 -2 1

The transformed matrices using CCF are:

Abar =

0 1.0000 0.0000

0 -0.0000 1.0000

-2.0000 0.0000 3.0000

Bbar =

Cbar =

-4 -3 2

Dbar =

0
8-37
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

𝑌(𝑠) 𝑠2 −1
8-16) a) 𝑈(𝑠) = 𝑠2 (𝑠2 −2)

Consider:

𝑌(𝑠) = (𝑠 −2 − 𝑠 −4 )𝑋(𝑠)
𝑋(𝑠) = 𝑈(𝑠)— 2𝑠 −2 𝑋(𝑠) = 𝑈(𝑠) + 2𝑠 −2 𝑋(𝑠)
Therefore:
𝑥̇ 1 0 1 0 0 𝑥
0
𝑥̇ 0 0 1 0 𝑥12
[ 2] = [ ] [ ] + [0] 𝑢
𝑥̇ 3 0 0 0 1 𝑥3
1
𝑥̇ 4 0 0 2 0
𝑥1
𝑥
𝑦 = [−1 0 1 0] [𝑥23 ]
𝑥4
𝑌(𝑠) 𝑠2 −1 2 U(s) U(s)
As 𝑈(𝑠) = 𝑠2 (𝑠2 −2), therefore sY(s) = s Y(s) + −
s s3

2 U(s) U(s)
Let X2 (s) = s Y2 (s) + − . If y = x1 , then sY(s) = sX1 (s) = X2 , or ẋ 1 = x2 . As a
s s3
result:

𝑈(𝑠)
𝑠𝑋2 = 2𝑋1 + 𝑈(𝑠) −
𝑠2
𝑈(𝑠) 𝑈
Now consider X3 = − , and 𝑠𝑋3 = = 𝑋4, then
𝑠2 𝑠

𝑥̇ 2 = 2𝑥1 − 𝑥3 + 𝑢

𝑥̇ 3 = 𝑥4
𝑥̇ 4 = 𝑢
Therefore:
𝑥̇ 1 0 1 0 0 𝑥1 0
𝑥2̇ 2 0 −1 0 𝑥
[ ]=[ ] [ 2 ] + [1] u
𝑥̇ 3 0 0 0 1 𝑥3 0
𝑥̇ 4 0 0 0 0 𝑥4 1
𝑌(𝑠) 2𝑠+1
b) 𝑈(𝑠) = 𝑠2 +4𝑠+4

Consider:

𝑌(𝑠) = (2𝑠 −1 + 𝑠 −2 )𝑋(𝑠)

8-38
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

𝑋(𝑠) = 𝑈(𝑠) − (4𝑠 −1 + 4𝑠 −2 )𝑋(𝑠)

Therefore:
𝑥̇ 0 1 𝑥1 0
[ 1] = [ ][ ] + [ ]𝑢
𝑥̇ 2 −4 −4 𝑥2 1
𝑥1
𝑦 = [1 2 ] [ 𝑥 ]
2
𝑌(𝑠) 2𝑠+1 4 𝑈(𝑠)
As 𝑈(𝑠) = 𝑠2 +4𝑠+4 , therefore 𝑠𝑌(𝑠) = −4𝑌(𝑠) + 𝑠 𝑌(𝑠) + 2𝑈(𝑠) + . As a result:
𝑠

𝑦 = 𝑥1 → 𝑥̇ 1 = −4𝑥1 + 2𝑢 + 𝑥2
{ 21 𝑈(𝑠)
𝑋2 = 𝑌 (𝑠 ) + −→ 𝑠𝑋2 = 4𝑌(𝑠) + 𝑈(𝑠) → 𝑥̇ 2 = 4𝑥1 + 𝑢
𝑠 𝑠

8-17) For MATLAB codes see 8-15

(a)

1 −2 
S = B AB  =   S is singular.
0 0 

(b)

1 −1 1 
S =  B AB A B  =  2 −2 2 
2
S is singular.
 
 3 −3 3 

(c)

 2 2 + 2 2
S = B AB  =   S is singular.
 2 2+ 2 

(d)

1 −2 4 
S = B AB A B  = 0 0 0
2
S is singular.
 
1 −4 14 

8-18) a, d and e are controllable

b, c, and f are not controllable

8-39
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

USE ACSYS as illustrated in section 8-19-1

9) Activate MATLAB
10) Go to the folder containing ACSYS
11) Type in Acsys
12) Click the “State Space” pushbutton
13) Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
14) Use the “Calculate/Display” menu and find the eigenvalues.
15) Next use the “Calculate/Display” menu and conduct State space calculations.
16) Next use the “Calculate/Display” menu and conduct Controlability calculations.

NOTE: the above order of calculations MUST BE followed in the order stated, otherwise you will get an
error.

8-40
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

For part b, the system is not Controllable because [B AB] is singular (rank is less than 2):

The A matrix is:

Amat =

-1 0

0 -2

Characteristic Polynomial:

ans =

s^2+3*s+2

Eigenvalues of A = Diagonal Canonical Form of A is:

Abar =

-2 0

0 -1

Eigen Vectors are

T=

0 1

1 0

Characteristic Polynomial:

ans =

s^2+3*s+2

Equivalent Transfer Function Model is:

Transfer function:

-----

s+1

Pole, Zero Form:

8-41
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Zero/pole/gain:

-----

(s+1)

The Controllability Matrix [B AB A^2B ...] is =

Smat =

2 -2

0 0 Rank is 1, and this is a singular matrix

The system is therefore Not Controllable, rank of S Matrix is =

rankS =

Mmat =

3 1

1 0

The Controllability Canonical Form (CCF) Transformation matrix is:

Ptran =

4 2

0 0

8-19) a, d, and e are observable

b, c, and f are not observable

Using ACSYS (also see the previous problem for more details):

8-42
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

For part b, the system is not observable. Note: you must choose a B matrix arbitrarily.

The A matrix is:

Amat =

-1 0

0 -2

Characteristic Polynomial:

ans =

s^2+3*s+2

Eigenvalues of A = Diagonal Canonical Form of A is:

8-43
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Abar =

-2 0

0 -1

Eigen Vectors are

T=

0 1

1 0

Characteristic Polynomial:

ans =

s^2+3*s+2

Equivalent Transfer Function Model is:

Transfer function:

Pole, Zero Form:

Zero/pole/gain:

The Observability Matrix (transpose:[C CA CA^2 ...]) is =

Vmat =

0 1

0 -2

The System is therefore Not Observable, rank of V Matrix is =

rankV =

1
8-44
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Mmat =

3 1

1 0

8-20) (a) Rewrite the differential equations as:

d m B d m K b d m
2 2
K Ki dia Ra Ka Ks
2
=− 2
− m + ia =− − ia + ( r
−m )
dt J dt J J dt La dt La La

d m
State variables: x1 =  m , x 2 = , x3 = ia
dt

State equations: Output equation:

 dx1   
 
 dt   0 0   0 
1
     x1 
 dx2  =  − K B Ki     
− x2 +  0   r y= 1 0 0 x = x1
 dt   J J   
 x  K K 
J
 dx   K K Ra   3   a s 
 3  − a s
Kb
− −  La 
 dt   La La La 

(b) Forward-path transfer function:

−1
 
s  
−1 0  0 
 
m (s) K B Ki    Ki Ka
G(s) = = 1 0 0  s+ −  0 =
J J 
E (s)

J
  K  o (s)
0  a
s+ a
Kb R
  La 
La La 

 o ( s ) = JLa s + ( BLa + Ra J ) s + ( KLa + K i K b + Ra B ) s + KRa = 0

3 2

Closed-loop transfer function:

8-45
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

−1
 
 s  
−1 0   0 
 
m (s)  K B Ki    K sG (s)
M (s) = = 1 0 0  s+ −  0 =
r (s)  J J 

J
  K K  1 + K s (s)
 Ka Ks  a s
s+ a
Kb R
 La  La 
La La 

Ki Ka K s
=
JLa s + ( BLa + Ra J ) s + ( KLa + K i K b + Ra B ) s + K i K a K s + KRa
3 2

8-21) (a)

 0 1  −1 0  0 −1 1 0 
A= A = A = A =
2 3 4

   
 −1 0   0 −1 1 0  0 1 

(1) Infinite series expansion:

 t2 t4 t
3
t
5

1  1 − 2! + 4! − t−
3!
+
5!
−   cos t sin t 
 (t ) = I + At + At + = =
2 2


   − sin t cos t 
3 5 2 4
2! t t t t
−t + − + 1− +
 3! 5! 2! 4! 

(2) Inverse Laplace transform:

−1
 s −1 1  s 1  cos t sin t 
 ( s ) = ( sI − A ) = 
−1

 =  (t ) = 
1 s  s + 1  −1 s  
 − sin t cos t 
2

(b)

 −1 0  1 0   −1 0   −1 0 
A= A = A = A =
2 3 4

 0 −2  0 4   
     0 −8  0 16 

(1) Infinite series expansion:

 t
2
t
3
t
4

1 1 − t + 2! − 3! + 4! + 0  e− t 0 
 (t ) = I + At + At + = =
2 2

−2 t 
  0 e 
2 3
2! 4t 8t
1 − 2t + − +
 0
2! 3! 

8-46
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(2) Inverse Laplace transform:

 1 0

s + 1 0   s +1 −1
 e− t 0 
 ( s ) = ( sI − A ) = 
−1

 =   (t ) =  
 0 s + 2
−2 t
 0 1  0 e 
 s + 2 

(c)

0 1  1 0  0 1  1 0 
A= A = A = A =
2 3 4

1 0    
  0 1  1 0  0 1 

(1) Infinite series expansion:

 t2 t4 t
3
t
5

1 1 + 2! + 4! + t+
3!
+
5!   e − t + et −e + e 
−t t

 (t ) = I + At + At + =  =  −t t
2 2

−t 
   −e + e e +e 
3 5 2 4 t
2! t t t t
t+ + 1+ + +
 3! 5! 2! 4! 

(2) Inverse Laplace transform:

 0.5 − 0.5 −0.5

+
0.5 
s −1
−1
1  s +1 s −1
s 1 s +1 s − 1
 ( s ) = ( sI − A ) = 
−1
= =  
 −1 s  s − 1 1 s   −0.5 0.5
2
0.5 0.5 
+ +
 s + 1 s − 1 s + 1 s − 1 

 e − t + et −t
−e + e t

 (t ) = 0.5  −t −t 
 −e + e e +e 
t t

8-22) (a) e = K s ( r −  y ) ea = e − es es = Rs ia eu = Kea

eu − eb d y d y
2

ia = eb = K b Tm = K i ia = ( J m + J L )
Ra + Rs
2
dt dt

d y
Solve for ia in terms of  y and , we have
dt

d y
KK s ( r −  y ) − K b
ia = dt
Rs + Rs + KRs
8-47
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Differential equation:

d y  d y 
2
K i ia Ki
= =  − Kb − KK s y + KK s y 
dt
2
Jm + JL ( J m + J L )( Ra + Rs + KRs )  dt 
d y
State variables: x1 =  y , x 2 =
dt

State equations:

 dx1   0 
1  0 
 dt     x   
 = − KK s K i − Kb Ki + − KK s K i
1

 dx2   ( J + J )( R + R + KR )   x2    r
   m L a s s
( J m + J L )( Ra + Rs + KRs )   ( J m + J L )( Ra + Rs + KRs ) 
dt

 0 1   x1   0 
=  + r
 −322.58 −80.65  x2  322.58

We can let v (t ) = 322.58 r , then the state equations are in the form of CCF.

(b)
−1
 s −1  1  s + 80.65 1
( sI − A ) =  −1

 = 2
322.58 s + 80.65 s + 80.65s + 322.58  −322.58 s 

 −0.06 − 1.059 −0.014

+
0.014 
 s + 76.42 s + 4.22 s + 76.42 s + 4.22 
= 
 4.468 − 4.468 1.0622
−
0.0587 
 s + 76.42 s + 4.22 s + 76.42 s + 4.22 

For a unit-step function input, us (t ) = 1 / s.

 322.2   1 0.0584 1.058 

  + −
+ +  
 =  s s + 76.42 s + 4.22 
1 s ( s 76.42)( s 4.22)
( sI − A )−1 B = 
s  322.2   −4.479 + 4.479 
 s ( s + 76.42)( s + 4.22)   s + 76.42 s + 4.22 

 −0.06e −76.42 t − 1.059e −4.22 t −0.014e

−76.42 t
+ 0.01e
−4.22 t

x (t ) =  −76.42 t −4.22 t −76.42 t −4.22 t  x(0)
 4.468e − 4.468e 1.0622e − 0.0587e 

1 + 0.0584e −76.42 t
− 1.058e
−4.22 t

= −76.42 t −4.22 t  t0
 −4.479e + 4.479e 

8-48
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(c) Characteristic equation: ( s) = s 2 + 80.65s + 322.58 = 0

(d) From the state equations we see that whenever there is Ra there is (1 + K ) Rs . Thus, the purpose of Rs is
to increase the effective value of Ra by (1 + K ) Rs . This improves the time constant of the system.

8-23) (a) State equations:

 dx1   0 1   0 
 dt     x1   
 = − KK s K i −Kb Ki +
  x2  
KK s K i
 r
 dx2   J ( R + R + KR ) J ( R + Rs + KRs )   J ( R + Rs + KRs ) 
  
dt
s s

 0 1   x1   0 
=  + r
 −818.18 −90.91  x2  818.18

.  r . The equations are in the form of CCF with v as the input.

Let v = 81818

−1
 s −1  1  s + 90.91 1
(b) ( sI − A ) = 
−1

 =
818.18 s + 90.91 ( s + 10.128 )( s + 80.782 )  −818.18 s 

 1.143e −10.128 t − 0.142e −80.78 t 0.01415e

−10.128 t
− 0.0141e
−80.78 t
  x1 (0) 
x (t ) =    x (0) 
 2 
−10.128 t −80.78 t −10.128 t −80.78 t
 −11.58e + 0.1433e −0.1433e + 1.143e

 11.58e −10.128 t
− 11.58e
−80.78 t

+ −10.128 t −80.78 t 
t0
1 − 1.1434e + 0.1433e 

(c) Characteristic equation: ( s) = s 2 + 90.91s + 81818

. =0

Eigenvalues: −10.128, −80.782

(d) Same remark as in part (d) of Problem 5-14.

8-24) If 𝑥̇ = 𝐴𝑥 and P diagonalizing A, let consider 𝑥 = 𝑃𝑥̂ , therefore 𝑥̇ = 𝑃𝑥̂̇ or 𝑥̂̇ = 𝑃−1 𝐴𝑃𝑥̂ = 𝐷𝑥̂

The solution for 𝑥̂ is 𝑥̂ = 𝑒 𝐷𝑡 𝑥̂(0), therefore

𝑥(𝑡) = 𝑃𝑥̂(𝑡) = 𝑃𝑒 𝐷𝑡 𝑃−1 𝑥(0) (1)

on the other hand

8-49
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

𝑥(𝑡) = 𝑒 𝐴𝑡 𝑥(0) (2)

From equation (1) and (2):

𝑒 𝐴𝑡 = 𝑃𝑒 𝐷𝑡 𝑃−1

8-25) Consider 𝑥̇ = 𝐴𝑥 and 𝑠 −1 𝐴𝑠 = 𝐽. If 𝑥 = 𝑆𝑥̂ , then 𝑥̇ = 𝑆𝑥̂̇ or 𝑥̂̇ = 𝑠 −1 𝐴𝑠𝑥̂ = 𝐽𝑥̂

The solution for x̂ is 𝑥̂(𝑡) = 𝑒 𝐽𝑡 𝑥̂(0), therefore:

𝑥(𝑡) = 𝑠𝑥̂(𝑡) = 𝑠𝑒 𝐽𝑡 𝑠 −1 𝑥(0) (1)

On the other hand:

𝑥(𝑡) = 𝑒 𝐴𝑡 𝑥(0) (2)

From equation (1) and (2):

𝑒 𝐴𝑡 = 𝑠𝑒 𝐽𝑡 𝑠 −1

8-26 (a) Forward-path transfer function: Closed-loop transfer function:

Y (s) 5 ( K1 + K 2 s ) Y (s) G(s) 5 ( K1 + K 2 s )

G( s) = = M (s) = = =
s  s ( s + 4)( s + 5) + 10  1 + G( s) s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4 3 2
E (s) R( s)

(b) State diagram by direct decomposition:

State equations: Output equation:

 x1   0 1 0 0   x1 
0 
x   0 0 1 0   x  0 
 2 =   2 +  r y = 5 K1 5K2 0x
 x3   0 0 0 1   x3   0 
   −5 K    
− (10 + 5 K 2 ) −20 −9   x4  1 
 x4  

8-50
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

1
(c) Final value: r ( t ) = u s ( t ), R( s ) = .
s

5 ( K1 + K 2 s )
lim y (t ) = lim sY ( s ) = lim =1
s + 9 s + 20 s + (10 + 5 K 2 ) s + 5 K1
4 3 2
t → s →0 s →0

8-27 In CCF form,

 0 1 0 0 0  0 
 0 0 1 0 0  0 
   
A=  B= 
   
 0 0 0 0 1
 0 
 − a0 − a1 − a2 − a3 − an −1  1 

s −1 0 0 0
0 s −1 0 0 
 
sI − A =  
 
−1
0 0 0 0 0

 a0 a1 a2 a3 s + an 

n n−1 n− 2
sI − A = s + an−1s + an− 2 s +  + a1s + a0

Since B has only one nonzero element which is in the last row, only the last column of adj ( sI − A ) is

going to contribute to adj ( sI − A ) B . The last column of adj ( sI − A ) is obtained from the cofactors of

'
the last row of ( sI − A ) . Thus, the last column of adj ( sI − A ) B is 1
2 n −1
s s  s .

2
dy d y
8-28 (a) State variables: x1 = y, x 2 = , x3 = 2
dt dt

State equations: x (t ) = Ax(t ) + Br (t )

8-51
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

0 1 0 0
A=0 0 1 B = 0 
   
 −1 −3 −3 1 

(b) State transition matrix:

 s 2 + 3s + 3 s + 3 1 
−1
 s −1 0 
1  
 ( s ) = ( sI − A ) =  0 s −1  =
−1
−1 s + 3s s
2

  (s)  
1 3 s + 3  − s −3s − 1 s 
2

 1 1 1 1 2 1 
 + + + 
 s + 1 ( s + 1) ( s + 1) ( s + 1) ( s + 1) ( s + 1) 
2 3 2 3 3

 −1 1 1 2 s 
= + − 
 ( s + 1)3 s +1 ( s + 1) 2
( s + 1) 3
( s + 1)3 
 
−s −3
2

 +
2 s 
 ( s + 1)3 ( s + 1) 2
( s + 1) 3
( s + 1)3 

 ( s ) = s + 3s + 3s + 1 = ( s + 1)
3 2 3

(1 + t + t 2 / 2 ) e − t (t + t ) e 2 −t 2
t e /2
−t


 (t ) =
2 −t

 −t e / 2 (1 + t − t ) e 2 −t
( t − t / 2 ) e 
2 −t

 ( −t + t 2 / 2 ) e − t 2
te
−t
(1 − 2t + t 2 / 2 ) e−t 
(c) Use ACSYS or MATLAB and follow the procedure shown in solution to 8-3.

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

-------------------------------------------------------------
State Space Analysis
-------------------------------------------------------------
Inputs:
A=| 0 1 0| B=|0|
| 0 0 1| |0|
|-1 -3 -3| |1|

C=|1 0 0| D=|0|

State Space Representation:

| 0 1 0| |0|
Dx = | 0 0 1|x + |0|u
|-1 -3 -3| |1|

y = |1 0 0|x + |0|u

Determinant of (s*I-A):

3 2
s +3s +3s+1
Characteristic Equation of the Transfer Function:

3 2

8-53
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

s +3s +3s+1
The eigen values of A and poles of the Transfer Function are:
-1
-1
-1
Inverse of (s*I-A) is:

[2 ]
[s + 3 s + 3 s + 3 1 ]
[------------ ----- ----]
[ %1 %1 %1 ]
[ ]
[ 1 s (s + 3) s ]
[ - ---- --------- ----]
[ %1 %1 %1 ]
[ ]
[ 2]
[ s 3s+1 s ]
[ - ---- - ------- ----]
[ %1 %1 %1 ]

3 2
%1 := s + 3 s + 3 s + 1
State transition matrix (phi) of A:

[ 2 2 2 ]
[1/2 exp(-t) (2 + 2 t + t ) , (t + t ) exp(-t) , 1/2 t exp(-t)]

[ 2 2 2
[- 1/2 t exp(-t) , -(-t - 1 + t ) exp(-t) , - 1/2 exp(-t) (-2 t + t )

]
]

[ 2 2
[1/2 exp(-t) (-2 t + t ) , exp(-t) (-3 t + t ) ,

2]
1/2 exp(-t) (2 - 4 t + t )]
Transfer function between u(t)and y(t) is:

1
-------------------
3 2
s +3s +3s+1
No Initial Conditions Specified
States (X) in Laplace Domain:

8-54
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

[ 1 ]
[--------]
[ 3]
[(s + 1) ]
[ ]
[ s ]
[--------]
[ 3]
[(s + 1) ]
[ ]
[ 2 ]
[ s ]
[--------]
[ 3]
[(s + 1) ]
Inverse Laplace x(t):

[ 2 ]
[ 1/2 t exp(-t) ]
[ ]
[ 2 ]
[- 1/2 exp(-t) (-2 t + t ) ]
[ ]
[ 2]
[1/2 exp(-t) (2 - 4 t + t )]
Output Y(s):

1
--------
3
(s + 1)
Inverse Laplace y(t):

2
1/2 t exp(-t)
-------------------------------------------------------------
State Space Analysis
-------------------------------------------------------------
Inputs:
A=| 0 1 0| B=|0|
| 0 0 1| |0|
|-1 -3 -3| |1|

C=|1 0 0| D=|0|

State Space Representation:

8-55
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

| 0 1 0| |0|
Dx = | 0 0 1|x + |0|u
|-1 -3 -3| |1|

y = |1 0 0|x + |0|u

Determinant of (s*I-A):

3 2
s +3s +3s+1
Characteristic Equation of the Transfer Function:

3 2
s +3s +3s+1
The eigen values of A and poles of the Transfer Function are:
-1
-1
-1
Inverse of (s*I-A) is:

[2 ]
[s + 3 s + 3 s + 3 1 ]
[------------ ----- ----]
[ %1 %1 %1 ]
[ ]
[ 1 s (s + 3) s ]
[ - ---- --------- ----]
[ %1 %1 %1 ]
[ ]
[ 2]
[ s 3s+1 s ]
[ - ---- - ------- ----]
[ %1 %1 %1 ]

3 2
%1 := s + 3 s + 3 s + 1
State transition matrix (phi) of A:

[ 2 2 2 ]
[1/2 exp(-t) (2 + 2 t + t ) , (t + t ) exp(-t) , 1/2 t exp(-t)]

[ 2 2 2
[- 1/2 t exp(-t) , -(-t - 1 + t ) exp(-t) , - 1/2 exp(-t) (-2 t + t )

]
]

8-56
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

[ 2 2
[1/2 exp(-t) (-2 t + t ) , exp(-t) (-3 t + t ) ,

2]
1/2 exp(-t) (2 - 4 t + t )]
Transfer function between u(t)and y(t) is:

1
-------------------
3 2
s +3s +3s+1
Initial Conditions:
x(0)= 1
0
0
States (X) in Laplace Domain:

[2 ]
[s + 3 s + 4]
[------------]
[ 3 ]
[ (s + 1) ]
[ ]
[ s-1 ]
[ -------- ]
[ 3 ]
[ (s + 1) ]
[ ]
[ s (s - 1) ]
[ --------- ]
[ 3 ]
[ (s + 1) ]
Inverse Laplace x(t):

[ 2 ]
[ (t + 1 + t ) exp(-t) ]
[ ]
[ 2 ]
[ -(-t + t ) exp(-t) ]
[ ]
[ 2 ]
[(-3 t + 1 + t ) exp(-t)]
Output Y(s) (with initial conditions):

2
s +3s+4
------------

8-57
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

3
(s + 1)
Inverse Laplace y(t):

2
(t + 1 + t ) exp(-t)

(d) Characteristic equation: ( s) = s3 + 3s 2 + 3s + 1 = 0

Eigenvalues: −1, −1, −1

dy
8-29 (a) State variables: x1 = y, x 2 =
dt

State equations:

 dx1 (t ) 
 dt   0 1   x1 (t )   0 
 =   +   r (t )
 dx2 (t )   −1 −2   x2 (t )  1 
 dt 

State transition matrix:

 s+2 1 
 ( s + 1)2
−1
( s + 1)2   (1 + t )e − t 
 s −1 
−t
te
 ( s ) = ( sI − A ) = 
−1
   (t ) = 
 =  −1 s 

1 s + 2 
−t −t
 −te (1 − t )e 
 s +1 2
( ) ( s + 1)2 

 ( s ) = ( s + 1) = 0
2
Characteristic equation:

dy
(b) State variables: x1 = y, x 2 = y +
dt

State equations:
2
dx1 dy dx2 d y dy dy
= = x 2 − y = x 2 − x1 = 2
+ = −y − + r = − x2 + r
dt dt dt dt dt dt

 dx1 
 dt   −1 2   x1   0 
 =  + r
 dx2   0 −1  x2  1 
 dt 

State transition matrix:

8-58
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 1 −2 
 s + 1 −2   s + 1 ( s + 1) 
−1 2
e − t 
−te
−t

(s) =   =   (t ) =  
 0 s + 1  1 
−t
0 e 
 0 s +1 


(c) Characteristic equation:  ( s ) = ( s + 1) = 0

2
which is the same as in part (a).

8-30 (a) State transition matrix:

s −    s −  − 
( )
1
sI − A =  − ( sI − A ) −1
=  ( s ) = s − 2 +  + 
2 2 2

 s −    ( s )   s −  

cos  t − sin  t 
 (t ) = L ( sI − A )  = 
−1 −1 t

cos  t 
e
 sin  t

(b) Eigenvalues of A:  + j ,  − j

8-31 (a)
−3
Y1 ( s ) s 1
= −1 −2 −3
= 3 2
U1 ( s ) 1+ s + 2s + 3s s + s + 2s + 3

−3
Y2 ( s ) s 1 Y1 ( s )
= −1 −2 −3
= 3 2
=
U 2 ( s) 1+ s + 2s + 3s s + s + 2s + 3 U1 ( s )

(b) State equations [Fig. 5-21(a)]: x = A1x + B1u1 Output equation: y1 = C1x

0 1 0 0 
A1 =  0 0 1 B1 =  0  C1 = 1 0 0
   
 −3 −2 −1 1 

State equations [Fig. 5-21(b)]: x = A 2x + B 2u2 Output equation: y 2 = C2 x

0 0 −3 1 
A 2 = 1 0 −2  B 2 = 0 C2 =  0 0 1
   
0 1 −1 0 
'
Thus, A 2 = A1

8-59
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-32 (a) State diagram:

(b) State diagram:

8-33 (a)
−3
Y ( s) 10 s X ( s)
G( s) = = −1 −2 −3
Y ( s ) = 10 X ( s )
U ( s) 1 + 8.5s + 20.5s + 15s X ( s)

−1 −2 −3
X ( s) = U ( s) − 8.5s X ( s) − 20.5s X ( s) − 15s X ( s)

State diagram:

8-60
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

State equation: x (t ) = Ax(t ) + Bu(t )

 0 1 0  0

A= 0 0 1  B = 0  A and B are in CCF
   
 −15 −20.5 −8.5 1 

(b)
−3 −4
Y ( s) 10 s + 20 s X ( s)
G( s) = = −1 −2
U ( s) 1 + 4.5s + 3.5s X ( s)

−3 −4 −1 −2
Y ( s) = 10s X ( s) + 20s X ( s) X ( s) = −4.5s X ( s) − 3.5s X ( s) + U ( s)

State diagram:

State equations: x (t ) = Ax(t ) + Bu(t )

0 1 0 0  0 
0 0 1 0  0 
A=  B=  A and B are in CCF
0 0 0 1  0
   
0 0 −3.5 −4.5  1 

(c)
−2 −3
Y ( s) 5( s + 1) 5s + 5s X ( s)
G( s) = = = −1 −2
U ( s) s( s + 2)( s + 10) 1 + 12 s + 20 s X ( s)

−2 −3 −1 −2
Y ( s ) = 5s X ( s ) + 5s X ( s ) X ( s) = U ( s) − 12s X ( s) − 20s X ( s)

8-61
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

State equations: x (t ) = Ax(t ) + Bu(t )

0 1 0  0 

A= 0 0 1  B = 0  A and B are in CCF
   
0 −20 −12  1 

(d)
−4
Y (s) 1 s X (s)
G(s) = = =
U (s) (
s ( s + 5 ) s + 2s + 2
2
) −1 −2
1 + 7 s + 12 s + 10 s
−3
X (s)

−4 −1 −2 −3
Y ( s) = s X ( s) X ( s) = U ( s) − 7 s X ( s) − 12s X ( s) − 10s

State diagram:

State equations: x (t ) = Ax(t ) + Bu(t )

8-62
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

0 1 0 0 0 
0 0 1 0 0
A=  B=  A and B are in CCF
0 0 0 1 0
   
 0 −10 −12 −7  1 

8-34 (a)
Y ( s) 10 5.71 6.67 0.952
G( s) = = 3 2
= − +
U ( s) s + 8.5s + 20.5s + 15 s + 15 s+2 s+5

State equations: x (t ) = Ax(t ) + Bu(t )

 −1.5 0 0   5.71 
A= 0 −2 0  B =  −6.67 
   
 0 0 −5  0.952 

The matrix B is not unique. It depends on how the input and the output branches are allocated.

(b)
Y ( s) 10( s + 2) −4.5 0.49 4 5.71
G( s) = = 2
= + + + 2
U ( s) s ( s = 1)( s + 3.5) s s + 3.5 s +1 s

State diagram:

8-63
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

State equation: x (t ) = Ax(t ) + Bu(t )

0 1 0 0  0 
0 0 0 0  1 
A=  B= 
0 0 −1 0  1 
   
0 0 0 −3.5  1 

(b)
Y ( s) 5( s + 1) 2.5 0.313 0.563
G( s) = = = + −
U ( s) s( s + 2)( s + 10) s s+2 s + 10

State equations: x (t ) = Ax(t ) + Bu(t )

0 0 0  1
A =  0 −2 0  B = 1
  
0 0 −10  1

(d)

Y (s) 1 0.1 0.0118 0.0882 s + 0.235

G(s) = = = − −
U (s) (
s ( s + 5) s + 2s + 2
2
) s s+5 s + 2s + 2
2

8-64
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

State equations: x (t ) = Ax(t ) + Bu(t )

0 0 0 0  1 
 0 −5 0 0  1 
A=  B= 
0 0 0 1  0
   
 0 0 −2 −2  1 

8-35 (a)
Y ( s) 10
G( s) = =
U ( s) ( s + 15)(
. s + 2)( s + 5)

State diagram:

State equations: x (t ) = Ax(t ) + Bu(t )

 −5 1 0  0

A = 0 −2 1  B=0
   
 0 0 −1.5 10 

(b)

8-65
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

G(s) =
Y (s)
=
10( s + 2)  10  s + 2  1 
= 2   
s ( s + 1)( s + 3.5)  s  s + 1  s + 3.5 
2
U (s)

State diagram:

State equations: x (t ) = Ax(t ) + Bu(t )

0 1 0 0  0
0 0 1 1  0
A=  B= 
0 0 −1 1  0
   
0 0 0 −3.5  10 

(c)

G(s) =
Y ( s)
=
59 s + 1)
=
 5  s + 1  1 
  
U (s) s ( s + 2)( s + 10)  s  s + 2  s + 10 

State diagram:

State equations: x (t ) = Ax(t ) + Bu(t )

0 1 0 0
A =  0 −10 −1 B = 0
   
0 0 −2  5 

(d)

8-66
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Y (s) 1
G(s) = =
U (s) (
s ( s + 5) s + 2s + 2
2
)
State diagram:

State equations: x (t ) = Ax(t ) + Bu(t )

0 1 0 0  0 
0 0 1 0  0
A=  B= 
 0 −2 −2 1  0 
   
 0 0 0 −5 1 

8-36 (a)
−3
Y ( s) 10 10 s X ( s)
G( s) = = = −1 −2
E ( s) s( s + 4 )( s + 5) 1 + 9 s + 20 s X ( s)

(b) Dynamic equations:

 x1   0 1 0   x1   0 
x  =  0 0 1   x2  +  0  r y = 10 0 0 x
 2     
 x3   −10 −20 −9   x3  1 

8-67
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(c) State transition equation:

 X 1 (s)   s −1 (1 + 9 s −1 + 20 s −2 ) s −2 (1 + 9 s −1 ) s −3   x1 (0)   s −3 
 X (s) = 1  −10 s
−3 −1 −1 −2 
s (1 + 9 s ) s  x2 (0)  +
1  −2  1
 2
 ( s)     ( s ) s  s
 X 3 ( s )   −10 s
−2
−20 s
−2
s   x3 (0) 
−1
 s −1 

1
s 2
+ 9 s + 20 s+9 1   x1 (0)  s
   
s  x2 (0)  +
1 1
= −10 s ( s + 9)
  c ( s)  
1
 c (s)  
 −10 s −10 ( 2 s + 1) s   x3 (0) 
2
s
 
 
−1 −2 −3 3 2
( s) = 1+ 9 s + 20s + 10s  c ( s) = s + 9 s + 20s + 10

 1.612 0.946 0.114   −0.706 −1.117 −0.169  0.0935 0.171 0.055  

  −0.708 t   −2.397 t   −5.895 t 
x(t ) =  −1.14 −0.669 −0.081 e + 1.692 2.678 4.056 e + −0.551 −1.009 −0.325 e  x(0)
     
  0.807 0.474 0.057   −4.056 −6.420 −0.972  3.249 5.947 1.915  
  

0.1 − 0.161e −0.708 t + 0.0706e −2.397 t − 0.00935e −5.895 t 

 
+
 0.114e
−0.708 t
− 0.169e
−2.397 t
+ 0.055e
−5.895 t

 t0
 −0.087e −0.708 t + 0.406e −2.397 t − 0.325e −5.895 t 

(d) Output:

(
y (t ) = 10 x1 (t ) = 10 1.612e
−0.708 t
− 0.706e
−2.397 t
+ 0.0935e
−5.897 t
) x (0) + 10 ( 0.946e − 1.117e + 0.1711e ) x (0)
1
−0.708 t −2.397 t −5.895 t
2

(
+ 10 1.141e
−0.708 t
− 0.169e
−2.397 t
+ 0.0550e
−5.895 t
) x (0) + 1 − 1.61e−0.708t + 0.706e−2.397t − 0.0935e−5.895t
3
t0

8-37(a) Closed-loop transfer function:

Y ( s) 10
= 3 2
R( s ) s + 9 s + 20 s + 10

(b) State diagram:

8-68
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(c) State equations: (d) State transition equations:

[Same answers as Problem 5-26(d)]

 x1   0 1 0   x1   0 
x  =  0 0 1   x2  +  0  r (e) Output: [Same answer as Problem 5-26(e)]
 2     
 x3   −10 −20 −9   x3  1 

8-38 (a) State diagram:

(b) State equations:

 x1   −2 20 −1 0   x1   0 −1
 x   0 −10 1 0   x2   0 0 u 
 2 =   + 
 x3   −0.1 0 −20 1   x3   0 0  TD 
      
 x4   0 0 0 −5   x4  30 0 

(c) Transfer function relations:

From the system block diagram,

1  −1 0.3
−0.2 s
30e U ( s ) 90U ( s ) 
Y (s) =  T ( s ) + T ( s ) + + 
( s)  s + 2 ( s + 2)( s + 20) ( s + 2)( s + 5)( s + 20) ( s + 5)( s + 20) 
D D

−0. 2 s −0. 2 s
0.1e ( s + 2)( s + 20) + 0.1e
( s ) = 1 + =
( s + 2)( s + 20) ( s + 2)( s + 20)

8-69
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

−0. 2 s
− ( s + 19.7) 30e + 90( s + 2)U ( s )
Y ( s) = T ( s) +
−0. 2 s D −0. 2 s
( s + 2)( s + 20) + 0.1e ( s + 5) ( s + 2)( s + 20) + 0.1e

−0. 2 s
− ( s + 20) 30e U ( s)
( s ) = T ( s) +
−0. 2 s D −0. 2 s
( s + 2)( s + 20) + 0.1e ( s + 5) ( s + 2)( s + 20) + 0.1e

8-39 (a) There should not be any incoming branches to a state variable node other than the s −1 branch. Thus, we

should create a new node as shown in the following state diagram.

(b) State equations: Notice that there is a loop with gain −1 after all the s −1 branches are deleted, so  = 2.
dx1 17 1 dx 2 15 1 1
= x1 + x2 = x1 − x2 + r Output equation: y = 6.5x1 + 0.5x2
dt 2 2 dt 2 2 2

8-40 (a) Transfer function: (b) Characteristic equation:

Ks + 5s + 1
( s + 1) ( s )
2
Y (s)
= + 11s + 2 = 0
2

R( s) ( s + 1) ( s 2
+ 11s + 2 )
Roots of characteristic equation: −1, −0.185, −-10.82. These are not functions of K.

(c) When K = 1:
2
Y ( s) s + 5s + 1
= 3 2
R( s ) s + 12 s + 13s + 2

State diagram:

8-70
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(d) When K = 4:

4 s + 5s + 1 ( s + 1)(4 s + 1) 4s + 1
2
Y (s)
= = =
R( s) ( s + 1) ( s 2
+ 11s + 2 ) ( s + 1) ( s 2
+ 11s + 2 ) s + 11s + 2
2

State diagram:

(e)

Ks + 5s + 1
( s + 1) ( s )
2
Y (s)
= + 11s + 2 = 0
2

R( s) ( s + 1) ( s 2
+ 11s + 2 )
MATLAB

solve(s^2+11*s+2)
ans = -11/2+1/2*113^(1/2)
-11/2-1/2*113^(1/2)
>> vpa(ans)
ans =
-.20
-10.8
Y ( s) Ks 2 + 5s + 1
=
R( s) ( s + 1)( s + 0.2)( s + 10.82)
K = 4, 2.1914, 0.4536

Pole zero cancelation occurs for the given values of K.

8-71
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-41 (a)

Y (s) 1 100
Gp (s) = = =
U (s) (1 + 0.5s ) (1 + 0.2s + 0.02s 2
) s + 12 s + 70 s + 100
3 2

State diagram by direct decomposition:

State equations:

 x1   0 1 0   x1   0 
x  =  0 0 1   x2  +  0  u
 2     
 x3   −100 −70 −12   x3  1 

(b) Characteristic equation of closed-loop system: Roots of characteristic equation:

−588
. , − 3.06 + j 4.965, − 3.06 − j 4.965
3 2
s + 12s + 70s + 200 = 0

8-42 (a)

Y (s) 1 − 0.066 s −20( s − 15)

Gp (s) =  =
U (s) (1 + 0.5s ) (1 + 0.133s + 0.0067 s 2
) s + 22 s + 190 s + 300
3 2

State diagram by direct decomposition:

8-72
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

State equations:

 x1   0 1 0   x1   0 
x  =  0 0 1   x2  +  0 
 2     
 x3   −300 −190 −22  x3   1 

Characteristic equation of closed-loop system: Roots of characteristic equation:

−12, −5 + j5, −5 −j5

3 2
s + 22s + 170s + 600 = 0

8-43 (a) State variables: x1 =  m and x2 =  D

State equations:

d m Kb Ki + Kb Ra KD KKi d D KD KD
=− + D + e = m − D
dt JRa J JRa dt JR JR

(b) State diagram:

(c) Open-loop transfer function:

m (s) KK i ( J R s + K D )
=
JJ R Ra s + ( K b J R K i + K D Ra J R + K D JRa ) s + K D K b K i
2
E (s)

Closed-loop transfer function:

8-73
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

m (s) K s KK i ( J R s + K D )
=
r (s) JJ R Ra s + ( K b J R K i + K D Ra J R + K D JRa + K s KK i J R ) s + K D K b K i + K s KK i K D
2

(d) Characteristic equation of closed-loop system:

 ( s ) = JJ R Ra s + ( K D J R K i + K D Ra J R + K D JRa + K s KK i J R ) s + K D K b K i + K s KK i K D = 0
2

2
( s) = s + 1037s + 20131.2 = 0

Characteristic equation roots: −19.8, −1017.2

8-44 (a) State equations: x (t ) = Ax(t ) + Br (t )

 −b d   −2 1  0 0 1 
A=  c − a  =  2 −1 B=  S = B AB  = 1 −1
    1   

Since S is nonsingular, the system is controllable.

(b)

0 d 
S = B AB  = 1 − a  The system is controllable for d  0.
 

8-45 (a)

1 −1 1
S = B AB A B  = 1 −1 1
2
S is singular. The system is uncontrollable.
 
1 −1 1

(b)

1 −1 1 
S = B AB A B  = 1 −2 4 
2
S is nonsingular. The system is controllable.
 
1 −3 9 

8-46 (a) State equations: x (t ) = Ax(t ) + Bu(t )

8-74
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 −2 3  1 1 1
A=  B= 1 S = B AB  = 1 1 S is singular. The system is uncontrollable.
 1 0   

Output equation: y = 1 0 x = Cx C= 1 0

1 −2 
V = C A C  =
' ' '

0 3  V is nonsingular. The system is observable.

 

(b) Transfer function:

Y ( s) s+3 1
= 2
=
U ( s) s + 2s − 3 s −1

Since there is pole-zero cancellation in the input-output transfer function, the system is either

uncontrollable or unobservable or both. In this case, the state variables are already defined, and the

system is uncontrollable as found out in part (a).

8-47 (a)  = 1, 2, or 4 . These values of  will cause pole-zero cancellation in the transfer function.

(b) The transfer function is expanded by partial fraction expansion,

Y ( s)  −1  −2  −4
= − +
R( s ) 3( s + 1) 2( s + 2) 6( s + 4 )

By parallel decomposition, the state equations are: x (t ) = Ax(t ) + Br (t ) , output equation: y(t ) = Cx(t ).

 −1 0 0   − 1
A =  0 −2 0  B =  − 2  D=
1 − 1 1
     3 2 6 
 0 0 −4   − 4 

The system is uncontrollable for  = 1, or  = 2, or  = 4.

(c) Define the state variables so that

8-75
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

1
3
 −1 0 0   
−1
A =  0 −2 0  B=  D =  − 1  − 2  − 4
  2
 0 0 −4   −1 
 
 6 

The system is unobservable for  = 1, or  = 2, or  = 4.

8-48

1 b 
S = B AB  = S = ab − 1 − b  0
2

b ab − 1
 
2
The boundary of the region of controllability is described by ab − 1− b = 0.

Regions of controllability:

8-49

 b1 b1 + b2 
S = B AB  =  S = 0 when b1b2 − b1b2 − b2 = 0, or b2 = 0
2

b2 b2 

The system is completely controllable when b2  0.

 d1 d2 
V = C A C  =  V = 0 when d1  0.
' ' '

d2 d1 + d 2 

The system is completely observable when d2  0.

8-76
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-50 (a) State equations:

dh 1 K I nN Ko d m d m Ki Kb Ki Ka
= (q
i
− qo ) = m − h = m =− m + ei
2
J = Jm + n J L
dt A A A dt dt JRa JRa

d m
State variable: x1 = h, x 2 =  m , x3 = = m
dt

State equations: x = Ax + Bei

 −Ko K I nN   
 0   −1 0.016 0   0   0 
 A A
   
A= 0 0 1 = 0 0 1  B= 0 = 0 
   
 K i K b   0 −11.767   K K  8333.33
 0 0 − 
0
 i a
  
 JRa   JRa 

State diagram:

(b) Characteristic equation of A:

Ko − K I nN
s+ 0
A A
sI − A = −1

= ss +
Ko  s + Ki Kb 
0 s   = s ( s + 1)( s + 11.767)
 A  JRa 
Ki Kb
0 0 s+
JRa

Eigenvalues of A: 0, −1, −11.767.

(c) Controllability:

8-77
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 0 0 133.33 
S =  B AB A B  =  0
2
8333.33 −98058  S  0. The system is controllable.
 
8333.33 −98058 1153848

(d) Observability:

(1) C = 1 0 0 :

1 −1 1 
V = C 
( A ) C  = 0 0.016 −0.016  V is nonsingular. The system is observable.
' ' ' ' 2 '
AC
 
0 0 0.016 

(2) C = 0 1 0 :

0 0 0 
V = C
' '
AC
' ' 2 
( A ) C  = 1 0
'
0  V is singular. The system is unobservable.
 
0 1 −11.767 

(3) C = 0 0 1 :

0 0 0 
V = C
' '
AC
' ' 2 
( A ) C  = 0
'
0 0  V is singular. The system is unobservable.
 
1 −11.767 138.46 
 4 2
8-51 (a) Characteristic equation: ( s ) = sI − A = s − 25.92 s = 0

Roots of characteristic equation: −5.0912, 5.0912, 0, 0

(b) Controllability:

 0 −0.0732 0 −1.8973
 −0.0732 0 −1.8973 0 
S =  B
 
AB
 2
A B

A B  =
3 
 
 0 0.0976 0 0.1728 
 
 0.0976 0 0.1728 0 

 
S is nonsingular. Thus, A , B is controllable.

(c) Observability:

8-78
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo


(1) C = 1 0 0 0

1 0 25.92 0 
0 1 0 25.92 
V = C ( A ) C  =  
' ' ' ' 2 ' ' 3 '
A C (A ) C
0 0 0 0 
 
0 0 0 0 

S is singular. The system is unobservable.

(2) C = 0 1 0 0

0 25.92 0 671.85 
1 0 25.92 0 
V = C ( A ) C  =  
' ' ' ' 2 ' ' 3 '
A C (A ) C
0 0 0 0 
 
0 0 0 0 

S is singular. The system is unobservable.

(3) C = 0 0 1 0

0 0 −2.36 0 
0 0 0 −2.36 
V = C ( A ) C  =  
' ' ' ' 2 ' ' 3 '
A C (A ) C
1 0 0 0 
 
0 1 0 0 

S is nonsingular. The system is observable.

(4) C = 0 0 0 1

 0 −2.36 0 −61.17 
0 0 −2.36 0 
V = C
' '
A C
' '
(A ) C
2 '
( A ) C  =
' 3 '
 
0 0 0 0 
 
1 0 0 0 

S is singular. The system is unobservable.

8-79
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-52 The controllability matrix is

 0 −1 0 −16 0 −384 
 −1 0 −16 0 −384 0 
 
0 0 0 16 0 512 
S=  Rank of S is 6. The system is controllable.
 0 0 16 0 512 0

0 1 0 0 0 0 
 
 1 0 0 0 0 0 

8-53 (a) Transfer function:

v ( s) KI H
=
R( s) Jvs
2
(J G
s + KPs + KI + KN
2
)
State diagram by direct decomposition:

State equations: x (t ) = Ax(t ) + Br (t )

0 1 0 0
0 0 
0 1 0  0 
 
A = 0 0 0 1  B= 
  0 
− ( KI + KN ) −KP  
0 0  1 
 JG J G 

(b) Characteristic equation: J v s 2 ( J G s 2 + K P s + K I + K N ) = 0

8-80
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-54 (a) State equations: x (t ) = Ax(t ) + Bu1(t )

 −3 1  0 0 1 
A=  B=  S = B AB  = 1 −2 
 0 −2  1   

S is nonsingular. A, B is controllable.

Output equation: y2 = Cx C = −1 1

 −1 3 
V = C A C  =
' ' '

 1 −3 V is singular. The system is unobservable.

 

(b) With feedback, u2 = − kc2 , the state equation is: x (t ) = Ax(t ) + Bu1(t ) .

 −3 − 2k 1  0 1 
0 
A =  1+ g 1+ k  B=  S=  1+ k 
  1   
 0 −2  1 −2 

S is nonsingular for all finite values of k. The system is controllable.

State diagram:

Output equation: y2 = Cx C=
 −1 1 
1 + k 1 + k 

 −1 3 + 2k 
1 + K (1 + k ) 
2

V =  D' A D  =  
' '

 1 3 + 2k 
−
 1 + k (1 + k ) 
2

V is singular for any k. The system with feedback is unobservable.

8-81
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-55 (a)

1 2 
S = B AB  =  2 −7  S is nonsingular. System is controllable.
 

1 −1
V = C A C  = 
' ' '
V is nonsingular. System is observable.
1 −2 

(b) u = − k1 k2 x

 0 1   k1 k2   −k1 1 − k2 
A c = A − BK =  − =
 −1 −3  2k1 2k 2   −1 − 2k1 −3 − 2k 2 

1 − k1 − 2k 2 + 2 
S = B Ac B =   S = −11 − 2k 2  0
 2 −7 − 2k1 − 4k2 
11
For controllabillity, k 2  −
2

 −1 −1 − 3k1 
V = C A c C  = 
' ' '

 1 −2 − 3k2 

For observability, V = −1 + 3k1 − 3k2  0

8-56

Same as 8-21 (a)

8-57

 0 1   x1   0 
=  + r
 −322.58 −80.65  x2  322.58

8-82
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 0 1 
A= 
 −322.58 −80.65
 x1   0 1   x1   0   0 
From 8-22   =   +  r B= 
 x2   −322.58 −80.65  x2  322.58 322.58
C = 1 0
D=0

Use the state space tool of ACSYS

8-83
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

The A matrix is:

Amat =
0 1.0000
-322.5800 -80.6500

Characteristic Polynomial:
ans =
s^2+1613/20*s+16129/50

Eigenvalues of A = Diagonal Canonical Form of A is:

Abar =
-4.2206 0
0 -76.4294
Eigen Vectors are
T=
0.2305 -0.0131
-0.9731 0.9999

8-84
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

State-Space Model is:

a=
x1 x2
x1 0 1
x2 -322.6 -80.65

b=
u1
x1 0
x2 322.6

c=
x1 x2
y1 1 0

d=
u1
y1 0

Continuous-time model.
Characteristic Polynomial:

ans =
s^2+1613/20*s+16129/50

Equivalent Transfer Function Model is:

Transfer function:
322.6
---------------------
s^2 + 80.65 s + 322.6
Pole, Zero Form:
Zero/pole/gain:
322.58
-------------------
(s+76.43) (s+4.221)

8-85
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-58
Closed-loop System Transfer Function.

Y (s) 1
=
s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + k1
3 2
R( s)

For zero steady-state error to a step input, k1 = 1. For the complex roots to be located at −1 +j and −1 − j,

2
we divide the characteristic polynomial by s + 2 s + 2 and solve for zero remainder.

s + ( 2 + k2 )

s + 2 s + 2 s + ( 4 + k3 ) s + ( 3 + k 2 + k3 ) s + 1
2 3 2

s + + 2s
3 2
2s

(2 + k ) s
3
2
+ (1 + k 2 + k 3 ) s + 1

8-86
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

(2 + k ) s
3
2
+ ( 4 + 2k3 ) s + 4 + 2k3

( -3+k 2
− k 3 ) s − 3 − 2k 3

For zero remainder, − 3 − 2k3 = 0 Thus k3 = −15

.

−3 + k2 − k3 = 0 Thus k2 = 15
.

The third root is at −0.5. Not all the roots can be arbitrarily assigned, due to the requirement on the

steady-state error.

8-59 (a) Open-loop Transfer Function.

X 1 (s) k3
G(s) = =
s  s + ( 4 + k 2 ) s + 3 + k1 + k 2 
2
E (s)

Since the system is type 1, the steady-state error due to a step input is zero for all values of k1, k2 , and k3

that correspond to a stable system. The characteristic equation of the closed-loop system is

s + ( 4 + k 2 ) s + ( 3 + k1 + k 2 ) s + k3 = 0
3 2

For the roots to be at −1 + j, −1 − j, and −10, the equation should be:

3 2
s + 12s + 22s + 20 = 0

Equating like coefficients of the last two equations, we have

4 + k2 = 12 Thus k2 = 8

3 + k1 + k2 = 22 Thus k1 = 11

k3 = 20 Thus k3 = 20

(b) Open-loop Transfer Function.

8-87
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Y (s) Gc ( s ) 20 20 ( s + 1)( s + 3 )
= = Thus Gc ( s ) =
E ( s) ( s + 1)( s + 3) (
s s + 12 s + 22
2
) (
s s + 12 s + 22
2
)

8-60 (a)

 0 1 0 0  0 
 25.92 0 0 0  −0.0732 
A =  B = 
 

 0 0 0 1  0 
   
 −2.36 0 0 0  0.0976 

The feedback gains, from k1 to k4 :

−2.4071E+03 −4.3631E+02 −8.4852E+01 −1.0182E+02

The A − B K matrix of the closed-loop system

0.0000E+00 1.0000E+00 0.0000E+00 0.0000E+00

−1.5028E+02 −3.1938E+01 −6.2112E+00 −7.4534E+00

0.0000E+00 0.0000E+00 0.0000E+00 1.0000E+00

2/3258E+02 4.2584E+01 8.2816E+00 9.9379E+00

The B vector

0.0000E+00

−7.3200E−02

0.0000E+00

8-88
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

9.7600E−02

Time Responses:

8-60
(b)

The feedback gains, from k1 to k2 :

−9.9238E+03 −1.6872E+03 −1.3576E+03 −8.1458E+02

The A − B K matrix of the closed-loop system

0.0000E+00 1.0000E+00 0.0000E+00 0.0000E+00

−7.0051E+02 −1.2350E+02 −9.9379E+01 −5.9627E+01

0.0000E+00 0.0000E+00 0.0000E+00 1.0000E+00

9.6621E+02 1.6467E+02 1.3251E+02 7.9503E+01

The B vector

8-89
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

0.0000E+00

−7.3200E−02

0.0000E+00

9.7600E−02

Time Responses:

8-61
The

solutions using MATLAB

(a) The feedback gains, from k1 to k2 :

−6.4840E+01 −5.6067E+00 2.0341E+01 2.2708E+00

8-90
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

The A − B K matrix of the closed-loop system

0.0000E+00 1.0000E+00 0.0000E+00 0.0000E+00

−3.0950E+02 −3.6774E+01 1.1463E+02 1.4874E+01

0.0000E+00 0.0000E+00 0.0000E+00 1.0000E+00

−4.6190E+02 −3.6724E+01 1.7043E+02 1.477eE+01

The B vector

0.0000E+00

−6.5500E+00

0.0000E+00

−6.5500E+00

'
(b) Time Responses: x(0) = 01
. 0 0 0

8-91
Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

With the
initial
states

'
. 0 0 0 , the initial position of x1 or y1 is preturbed downward
x(0) = 01

from its stable equilibrium position. The steel ball is initially pulled toward the magnet, so x3 = y2 is

negative at first. Finally, the feedback control pulls both bodies back to the equilibrium position.

'
. 0 , the initial position of x3 or y2 is preturbed
With the initial states x(0) = 0 0 01

downward from its stable equilibrium. For t > 0, the ball is going to be attracted up by the magnet

toward the equilibrium position. The magnet will initially be attracted toward the fixed iron plate, and

then settles to the stable equilibrium position. Since the steel ball has a small mass, it will move more

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

actively.

8-62 (a) Block Diagram of System.

u = − k1 x1 + k 2  ( − x1 + w1 ) dt

State Equations of Closed-loop System:

 dx1 
 dt   −2 − k1 1   x1  0 1   w1 
 =    +
 dx2   − k 2 0   x2   k 2 0   w2 
 dt 

Characteristic Equation:

s + 2 + k1 −1
sI − A = = s + ( 2 + k1 ) s + k 2 = 0
2

k2 s

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

For s = −10, −10, sI − A = s 2 + 20s + 200 = 0 Thus k1 = 18 and k2 = 200

200W1 ( s) s −2 + s −1W2 ( s) 200W1 ( s) + sW2 ( s)

X ( s) = X 1 ( s) = −1 −1 −2
=
1 + 2 s + 18 s + 200s s 2 + 20 s + 200

1 W2
W1 ( s ) = W2 ( s ) = W2 = constant
s s

200 + W2 s
X (s) = lim x (t ) = lim sX ( s ) = 1
(
s s + 20 s + 200
2
) t → s →0

8-62 (b) With PI Controller:

Block Diagram of System:

(K s + K I ) W1 ( s ) + sW2 ( s ) ( 2 s + 200 ) W ( s ) + sW ( s )
Set KP = 2 and KI = 200 . X (s) = P
= 1 2

s + 20 s + 200 s + 20 s + 200
2 2

Time Responses:

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

8-63)

𝑌(𝑠) 10 10
𝐺(𝑠) = = = 3 2
𝑈(𝑠) (𝑠 + 1)(𝑠 + 2)(𝑠 + 3) 𝑠 + 6𝑠 + 11𝑠 + 6

Consider:

𝑌(𝑠) = 𝑠 −3 𝑋(𝑠)
{
𝑋(𝑠) = 10𝑈(𝑠) − (6𝑠 −1 + 11𝑠 −2 + 6𝑠 −3 )𝑋(𝑠)

Therefore:

𝑥̇ 1 0 1 0 𝑥1 0
[𝑥2̇ ] = [ 0 0 1 ] [𝑥2 ] + [ 0 ] 𝑢
𝑥̇ 3 −6 −11 −6 𝑥3 10
𝑥1
𝑥
𝑦 = [ 1 0 0] [ 2 ]
𝑥3
As a result:
0 1 0 0
𝐴=[0 0 1] 𝐵 = [ 0 ] 𝐶 = [1 0 0] 𝐷 = [0]
−6 −11 −6 10

Using MATLAB, we’ll find:

𝐾 = [15.4 4.5 0.8]

8-64)

Inverted Pendulum on a cart

The equations of motion from Problem 4-21 are obtained (by ignoring all the pendulum inertia term):

( M + m) x − ml cos  + ml 2 sin  = f

ml (− g sin  − x cos  + l ) = 0

These equations are nonlinear, but they can be linearized. Hence

 0
cos   1
sin   

( M + m) x + ml = f
ml (− g − x + l ) = 0
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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Or

( M + m) ml   x   f 
 −ml =
 ml 2     mlg 

Pre-multiply by inverse of the coefficient matrix

inv([(M+m),m*l;-m*l,m*l^2])

ans =

[ 1/(M+2*m), -1/l/(M+2*m)]

[ 1/l/(M+2*m), (M+m)/m/l^2/(M+2*m)]

For values of M=2, m=0.5, l=1, g=9.8

ans =

0.3333 -0.3333

0.3333 1.6667

Hence

 x  1/ 3 −1/ 3  f 
  = 1/ 3 5 / 3   49 /10 
    

 x  1/3*f-49/30 
  =  1/3*f+49/6 
   

The state space model is:

 x4  1/3*f-49/30x1 
 x  =  1/3*f+49/6x 
 2  1

Or:

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

 x2   1/3*f+49/6x1 
 x  = 1/3*f-49/30x 
 4  1

 x1   0 1 0 0   x1   0 
 x   49/6 0 0 0   x2  1/ 3
 2 =  + f
 x3   0 0 0 1   x3   0 
      
 x4  -49/30 0 0 0   x4  1/ 3

 0 1 0 0
 49/6 0 0 0 
A=
 0 0 0 1
 
-49/30 0 0 0
 0 
1/ 3
B= 
 0 
 
1/ 3
C = 1 0 1 0
D=0

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Use ACSYS State tool and follow the design process stated in Example 8-17-1:

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

The A matrix is:

Amat =

0 1.0000 0 0
8.1667 0 0 0
0 0 0 1.0000
-1.6333 0 0 0

Characteristic Polynomial:

ans =

s^4-49/6*s^2

Eigenvalues of A = Diagonal Canonical Form of A is:

Abar =

0 0 0 0
0 0 0 0
0 0 2.8577 0
0 0 0 -2.8577

Eigen Vectors are

T=

0 0 0.3239 -0.3239
0 0 0.9256 0.9256
1.0000 -1.0000 -0.0648 0.0648
0 0.0000 -0.1851 -0.1851

State-Space Model is:

a=
x1 x2 x3 x4
x1 0 1 0 0
x2 8.167 0 0 0
x3 0 0 0 1
x4 -1.633 0 0 0

b=
u1
x1 0
x2 0.3333

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

x3 0
x4 0.3333

c=
x1 x2 x3 x4
y1 1 0 1 0

d=
u1
y1 0

Continuous-time model.
Characteristic Polynomial:

ans =

s^4-49/6*s^2

Equivalent Transfer Function Model is:

Transfer function:
4.441e-016 s^3 + 0.6667 s^2 - 2.22e-016 s - 3.267
-------------------------------------------------
s^4 - 8.167 s^2

Pole, Zero Form:

Zero/pole/gain:
4.4409e-016 (s+1.501e015) (s+2.214) (s-2.214)
---------------------------------------------
s^2 (s-2.858) (s+2.858)

The Controllability Matrix [B AB A^2B ...] is =

Smat =

0 0.3333 0 2.7222
0.3333 0 2.7222 0
0 0.3333 0 -0.5444
0.3333 0 -0.5444 0

The system is therefore Not Controllable, rank of S Matrix is =

rankS =

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Mmat =

0 -8.1667 0 1.0000
-8.1667 0 1.0000 0
0 1.0000 0 0
1.0000 0 0 0

The Controllability Canonical Form (CCF) Transformation matrix is:

Ptran =

0 0 0.3333 0
0 0 0 0.3333
-3.2667 0 0.3333 0
0 -3.2667 0 0.3333

The transformed matrices using CCF are:

Abar =

0 1.0000 0 0
0 0 1.0000 0
0 0 0 1.0000
0 0 8.1667 0

Bbar =

0
0
0
1

Cbar =

-3.2667 0 0.6667 0

Dbar =

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Note incorporating –K in Abar:

Abar K=

0 1.0000 0 0
0 0 1.0000 0
0 0 0 1.0000
-k1 -k2 8.1667-k3 -k4

System Characteristic equation is:

-k4*s^4+(8.1667-k3 )*s^3-k2*s-k1=0

From desired poles we have:

>> collect((s-210)*(s-210)*(s+20)*(s-12))

ans =

-10584000+s^4-412*s^3+40500*s^2+453600*s

Hence: k1=10584000, k2=40500, k3=412+8.1667and k4=1

8-65) If 𝑡𝑝 = 3 and 𝜉 = 0.707, then 𝜔𝑛 = 1.414. The 2nd order desired characteristic equation of the
system is:

𝑠 2 + 2𝑠 + 2 = 0 (1)

On the other hand:

0 1
𝑋̇ = (𝐴 − 𝐵𝐾)𝑥 = [ ]𝑥
−6 − 𝐾1 −5 − 𝐾2

where the characteristic equation would be:

𝑠 2 + (5 + 𝐾2 )𝑠 + (6 + 𝐾1 ) = 0 (2)

Comparing equation (1) and (2) gives:

5 + 𝐾2 = 2
{
6 + 𝐾1 = 2

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

which means 𝐾1 = −4 and 𝐾2 = −3

8-66) Using ACSYS we can convert the system into transfer function form.

USE ACSYS as illustrated in section 8-19-1

1) Activate MATLAB
2) Go to the folder containing ACSYS
3) Type in Acsys
4) Click the “State Space” pushbutton
5) Enter the A,B,C, and D values. Note C must be entered here and must have the same number of
columns as A. We us [1,1] arbitrarily as it will not affect the eigenvalues.
6) Use the “Calculate/Display” menu and find the eigenvalues.
7) Next use the “Calculate/Display” menu and conduct State space calculations.
8) Next verify Controlability and find the A matrix
9) Follow the design procedures in section 8-17 (pole placement)

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

The A matrix is:

Amat =

-1 -2 -2

0 -1 1

1 0 -1

Characteristic Polynomial:

ans =

s^3+3*s^2+5*s+5

Eigenvalues of A = Diagonal Canonical Form of A is:

Abar =

-0.6145 + 1.5639i 0 0

0 -0.6145 - 1.5639i 0

0 0 -1.7709

Eigen Vectors are

T=

-0.8074 -0.8074 -0.4259

0.2756 + 0.1446i 0.2756 - 0.1446i -0.7166

-0.1200 + 0.4867i -0.1200 - 0.4867i 0.5524

State-Space Model is:

a=

x1 x2 x3

x1 -1 -2 -2

x2 0 -1 1

x3 1 0 -1

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

b=

u1

x1 2

x2 0

x3 1

c=

x1 x2 x3

y1 1 1 1

d=

u1

y1 0

Continuous-time model.

Characteristic Polynomial:

ans =

s^3+3*s^2+5*s+5

Equivalent Transfer Function Model is:

Transfer function:

3 s^2 + 7 s + 4

---------------------

s^3 + 3 s^2 + 5 s + 5

Pole, Zero Form:

Zero/pole/gain:

3 (s+1.333) (s+1)

---------------------------------

(s+1.771) (s^2 + 1.229s + 2.823)

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

The Controllability Matrix [B AB A^2B ...] is =

Smat =

2 -4 0

0 1 0

1 1 -5

The system is therefore Controllable, rank of S Matrix is =

rankS =

Mmat =

5 3 1

3 1 0

1 0 0

The Controllability Canonical Form (CCF) Transformation matrix is:

Ptran =

-2 2 2

3 1 0

3 4 1

The transformed matrices using CCF are:

Abar =

0 1.0000 0

0 0 1.0000

-5.0000 -5.0000 -3.0000

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Bbar =

Cbar =

4 7 3

Dbar =

Using Equation (8-324) we get:

sI − ( A − BK ) = s 3 + (3 + k3 ) s 2 + (5 + k2 ) s + (5 + k1 ) = 0

Using a 2nd order prototype system, for 𝑡𝑠 ≤ 5, then 𝜉𝜔𝑛 = 1. For overshoot of 4.33%, 𝜉 = 0.707.
Then the desired 2nd order system will have a characteristic equation:

s 2 + 2n s + n 2 = s 2 + 2 s + 2 = 0

The above system poles are: s1,2 = −1  j

One approach is to pick K=[k1 k2 k3] values so that two poles of the system are close to the desired
second order poles and the third pole reduces the effect of the two system zeros that are at z=-1.333 and
z=-1. Let’s set the third pole at s=-1.333. Hence

(s+1.333)*(s^2+2*s+2)= s^3+3.33*s^2+4.67*s+2.67

and K=[-2.37 -0.37 0.33].

Y 3( s + 1)
= 2
R s + 2s + 2

Use ACSYS control tool to find the time response. First convert the transfer function to a unity feedback
system to make compatible to the format used in the Control toolbox.

3( s + 1)
G=
s2 − s −1

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

Overshoot is about 2%. You can adjust K values to obtain alternative results by repeating this process.

8-67) a) According to the circuit:

𝐿𝑑𝑖2 𝑑𝑣𝑐
= 𝑅2 𝑖2 = 𝑣𝑐 + 𝑅1 𝐶
𝑑𝑡 𝑑𝑡
𝑑𝑣𝑐
= 𝑖(𝑡) − 𝑖2
𝑑𝑡
𝑦 = (𝑖(𝑡) − 𝑖2 )𝑅2

If 𝑖2 = 𝑥1 , 𝑣𝑐 = 𝑥2 𝑎𝑛𝑑 𝑖(𝑡) = 𝑢, then

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

𝐿𝑥̇ 1 + 𝑅2 𝑥1 = 𝑥2 + 𝑅1 𝐶𝑥̇ 2
1
{ 𝑥̇ 2 = (𝑢 − 𝑥1 )
𝐶
𝑦 = (𝑢 − 𝑥1 )𝑅2
or
2𝑅2 1 𝑅1
𝑥̇ 1 = − 𝑥1 + 𝑥2 + (𝑢 − 𝑥1 )
𝐿 𝐿 𝐿
1
𝑥̇ 2 = (𝑢 − 𝑥1 )
𝐶
{ 𝑦 = (𝑢 − 𝑥1 )𝑅2
Therefore:
2𝑅2 1 𝑅1
𝑥̇ − 𝑥
[ 1] = [ 𝐿 𝐿] [ 1 ] + [ 𝐿 ] 𝑢
𝑥2
𝑥̇ 2 1 1
− 0
𝐶 𝐶
𝑦 = [−𝑅2 0]𝑥 + 𝑅2 𝑢

b) Uncontrollability condition is:

𝑑𝑒𝑡[𝐵 𝐴𝐵] = 𝑑𝑒𝑡(𝐶) = 0

According to the state-space of the system, C is calculated as:

𝑅1 2𝑅1 𝑅2 1
2
−+
𝐶=[𝐿 𝐿 𝐿𝐶 ]
1 𝑅1
−
𝐶 𝐿𝐶
𝑅1 𝑅2 1
𝑑𝑒𝑡(𝐶) = 2 − 2
𝐿𝐶 𝐿𝐶
As 𝑑𝑒𝑡(𝐶) ≠ 0, because 𝑅1 𝑅2 ≠ 𝑅𝐶, then the system is controllable

c) Unobservability condition is:

𝐶
𝑑𝑒𝑡 [ ] = 𝑑𝑒𝑡(𝐻) = 0
𝐶𝐴
According to the state-space of the system, C is calculated as:

−𝑅2 0
𝐻 = [ 2𝑅2 𝑅2 ]
−
𝐿 𝐿

𝑅22
𝑑𝑒𝑡(𝐻) = 𝐿

Since det(H) ≠ 0, because R ≠ 0 or L ≠ ∞, then the system is observable.

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Automatic Control Systems, 9th Edition Chapter 10 Solutions Golnaraghi, Kuo

d) The same as part (a)

1 1
− 0 𝑥1
𝑥̇ 𝑅1 𝐶 𝑅 𝐶
[ 1] = [𝑥 ] + 1 𝑢
𝑥̇ 2 𝑅2 2 1
[ 0
𝐿] [ 𝐿 ]

1 1
𝑦 = [− 1] 𝑥 + 𝑢
𝑅1 𝑅1

For controllability, we define G as:

1 1
−
𝑅 𝐶 (𝑅1 𝐶)2
𝐺 = [𝐵 𝐴𝐵] = 1
1 𝑅2
[ − ]
𝐿 𝐿2
𝑅2 1
𝑑𝑒𝑡(𝐺) = − 2
+
𝑅1 𝐶𝐿 𝐿(𝑅1 𝐶)2

If 𝑅1 𝑅2 𝐶 = 𝐿 ,and then 𝑑𝑒𝑡(𝐺) = 0, which means the system is not controllable.

For observability, we define H as:

1
− 1
𝐶 𝑅1
𝐻=[ ]=
𝐶𝐴 1 𝑅2
−
[ 𝑅12 𝐶 𝐿]

𝑅2 1
𝑑𝑒𝑡(𝐻) =
− 2
𝑅1 𝐿 𝑅1 𝐶
If 𝑅1 𝑅2 𝐶 = 𝐿 , then 𝑑𝑒𝑡(𝐻) = 0, which means the system is not observable.

8-112