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4 views3 pages

Ps 7

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nicholasrampertab
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University of Waterloo

ECE 484: Digital Control Applications

Problem Set 7

November 1, 2024

Problem 1
For each of the following LTI systems, find a state space representation in the form ẋ = Ax + Bu
and y = Cx + Du.

(a) A permanent magnet DC motor is shown in Figure 1 and is described by the following ODE
(which is more accurate than the previous model we saw):

J θ̈ = −bθ̇ + Kτ i
u = Ri + Li̇ + Ke θ̇
y=θ

where R and L are the resistance and inductance of the circuit, θ is the angle of the motor
shaft, u is the applied voltage (shown as v(t) in the figure), i is the current flowing in the
circuit, J is the motor moment of inertia, b is the damping coefficient, and Kτ , Ke are real
constants.

Figure 1: DC Motor

(b) A series RLC circuit is shown in Figure 2 and is described by the following ODE:
1
−u̇ + Rẏ + Lÿ + y=0
C
where R, L, and C are the resistance, inductance, and capacitance, respectively, u is the
voltage across the voltage source, and y is the current flowing in the circuit (unlike in an
earlier assignment where y was a different quantity).
Hint: it is alright to define states using integrals, just like they can be defined using derivatives.

1
Figure 2: RLC Circuit

Problem 2
Consider the following LTI systems:
(a)
8s2 + 47s + 40
Tuy (s) =
s(s + 4)(s + 5)

(b)
3s2 + 18s + 25
Tuy (s) =
(s + 2)(s + 3)

For each of the systems above, find a state space realization in the form ẋ = Ax + Bu and
y = Cx + Du.

Problem 3
Consider the following LTI state space representation:
ẋ = Ax + Bu
y = Cx + Du.
Let Tuy (s) be the transfer function from u to y. Prove that every pole of Tuy (s) is an eigenvalue of
the matrix A.
Hint: it suffices to show that if p is any pole of Tuy (s), then p is an eigenvalue of A.
adj(sI−A)
Hint: it turns out that (sI − A)−1 = det(sI−A) , where adj(sI − A) is a matrix whose entries are
all polynomials in s (i.e., adj(sI − A)ij = Nij (s) for some polynomial Nij (s) for each row i and
column j).
Note: this does not always go the other direction: eigenvalues of A are not necessarily poles of
Tuy (s).

Problem 4
A magnetic ball suspension system is shown in Figure 3 and is described by the following nonlinear
time-invariant ODE:
u = Li̇ + Ri
i2
M ÿ = M g − K
y2

2
where i is the current flowing in the circuit, u is the applied voltage, y is the distance of the ball
from the electromagnet, R and L are the resistance and inductance in the circuit, M is the mass
of the ball, g is the acceleration due to gravity, and K is a real constant.

Figure 3: Magnetic Ball Suspension System

For the system above:

(a) Find a state space representation in the form ẋ = f (x, u) and y = g(x, u).

(b) Fix u = 5, and find all equilibrium points of the system.

(c) Linearize the state space representation from part (a) about each equilibrium point from part
(b) to obtain an LTI state space representation in the form ∆x˙ = A∆x + B∆u and
∆y = C∆x + D∆u.

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