VIET NAM NATIONAL UNIVERSITY HO CHI MINH CITY

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY

…o0o…

HOMEWORK
SYSTEM DYNAMICS AND CONTROL
CHAPTER III: MODELING IN TIME DOMAIN

Instructor: Associate professor PhD Nguyen Tan Tien

Student: Nguyen Cong Hieu ID Number: 1952048
 3.1. Represent the electrical network in state space with output 𝑣0

1Ω 1Ω 1Ω

𝑣𝑖 (𝑡) 1𝐻 1𝐻 1𝐹 𝑣𝑜 (𝑡)

Solution:

1Ω 𝑣1 1Ω 𝑣2 1Ω
𝐴 𝐵 𝐶 𝐷 𝑖3
𝑣𝑖 (𝑡) 1𝐻 𝑖1 1𝐻 𝑖2 1𝐹 𝑣𝑜 (𝑡)
𝐸 𝐹
𝑖1 + 𝑖2 + 𝑖3 𝑖2 + 𝑖3

We have the differential equation for each energy storage element:

𝑖1̇ = 𝑣1
{𝑖2̇ = 𝑣2
𝑣0̇ = 𝑖3
Therefore, the state vector is:
𝑖1
𝑋 = [ 𝑖2 ]
𝑣0
By applying the KVL for ADFE, it yields

𝑉𝐴𝐵 + 𝑉𝐵𝐶 + 𝑉𝐶𝐷 + 𝑣0 = 𝑣𝑖

𝑣𝑖 𝑣0 𝑖1 2𝑖2
⟺ (𝑖1 + 𝑖2 + 𝑖3 ) + (𝑖2 + 𝑖3 ) + 𝑖3 + 𝑣0 = 𝑣𝑖 ⟺ 𝑖3 = − − −
3 3 3 3
By applying the KVL for ABE, it yields

𝑉𝐴𝐵 + 𝑣1 = 𝑣𝑖
 2 2 1 1
⟺ 𝑣1 = 𝑣𝑖 − (𝑖1 + 𝑖2 + 𝑖3 ) = 𝑣𝑖 − 𝑖1 − 𝑖2 + 𝑣0
3 3 3 3
By applying the KVL for ACFE, it yields

𝑉𝐴𝐵 + 𝑉𝐵𝐶 + 𝑣2 = 𝑣𝑖
1 1 2 2
⟺ 𝑣2 = 𝑣𝑖 − (𝑖1 + 𝑖2 + 𝑖3 ) − (𝑖2 + 𝑖3 ) = 𝑣𝑖 − 𝑖1 − 2𝑖2 − 2𝑖3 = 𝑣𝑖 − 𝑖1 − 𝑖2 + 𝑣0
3 3 3 3

Using 𝑣1 , 𝑣2 , and 𝑖3 , the state equation is

2 1 1 2
−
−
𝑖1̇ = 𝑣1 3 3 3 3
1 2 2 1
[𝑖2̇ = 𝑣2 ] = − − 𝑋+ 𝑣𝑖
𝑣0̇ = 𝑖3 3 3 3 3
1 2 1 1
−
[ 3 − −
3 3] [3]

𝑦 = [0 0 1] × 𝑋

3.2. Represent the electrical network in state space with output 𝑖𝑅

3Ω 𝑣 (𝑡) 2𝐻
1

4𝑣1 (𝑡) 𝑖𝑅 (𝑡)

𝑣𝑖 (𝑡) 3𝐹 3Ω

Solution:

𝑖1 + 𝑖2 𝑖2 𝑖2 + 4𝑣1
3Ω 𝑣 (𝑡) 2𝐻
1
𝐴 𝐵 𝐶 𝐷
4𝑣1 (𝑡) 𝑖𝑅 (𝑡)
𝑣𝑖 (𝑡) 3𝐹 𝑖1 3Ω
𝐸 𝐹
We have the differential equation for each energy storage element:
3𝑣1̇ = 𝑖1
{
2𝑖2̇ = 𝑣𝐿
Therefore, the state vector is:
𝑣1
𝑋 = [𝑖 ]
2

By applying the KVL for ABE, it yields

𝑉𝐴𝐵 + 𝑣1 = 𝑣𝑖 ⟺ 3(𝑖1 + 𝑖2 ) + 𝑣1 = 𝑣𝑖
𝑣𝑖 𝑣1 𝑣𝑖 𝑣1 𝑣𝑖 𝑖2 𝑣1
⟺ 𝑖1 = − 𝑖2 − ⟺ 3𝑣1̇ = − 𝑖2 − ⟺ 𝑣1̇ = − −
3 3 3 3 9 3 9
By applying the KVL for ADEF, it yields

𝑉𝐴𝐵 + 𝑣𝐿 + 𝑉𝑅 = 𝑣𝑖

⟺ 3(𝑖1 + 𝑖2 ) + 𝑣𝐿 + 3(𝑖2 + 4𝑣1 ) = 𝑣𝑖 ⟺ 𝑣𝐿 = 𝑣𝑖 − 3𝑖1 − 6𝑖2 − 12𝑣1

3𝑖2 11𝑣1
⟺ 𝑣𝐿 = −3𝑖2 − 11𝑣1 ⟺ 2𝑖2̇ = −3𝑖2 − 11𝑣1 ⟺ 𝑖2̇ = − −
2 2
Using 𝑣1 and 𝑖2 , the state equation is
1 1
− 1
𝑋̇ = [ 9 3] 𝑋 + [ ] 𝑣
9 𝑖
11 3
− − 0
2 2
𝑖𝑅 = 4𝑣1 + 𝑖2 = [4 1]𝑋

3.3. Find the state-space representation of the network with output 𝑣0

1Ω

𝑖3 (𝑡)
1𝐻
𝐶2 1𝐹
𝑣𝑖 (𝑡) 𝐶1
1Ω 𝑣𝑜 (𝑡)
1𝐹
𝑖1 (𝑡) 𝑖2 (𝑡)
Solution:

𝐴 1Ω 𝐵

𝑖3 (𝑡)
1𝐻 𝐻
𝐺 𝐶
𝐶2 1𝐹
𝑣𝑖 (𝑡) 𝐶1
1Ω 𝑣𝑜 (𝑡)
1𝐹
𝑖1 (𝑡) 𝑖2 (𝑡)
𝐹 𝐸 𝐷

We have the differential equation for each energy storage element:

𝑖𝐿̇ = 𝑣𝑖 − 𝑣𝐶1
{ 𝑣𝐶1 ̇ = 𝑖1 − 𝑖2
𝑣𝐶2̇ = 𝑖2 − 𝑖3
Therefore, the state vector is:
𝑖𝐿
𝑋 = [𝑣𝐶1 ]
𝑣𝐶2
By applying the KVL for HCDE, it yields

𝑣𝐶1 = 𝑣𝐶2 + 𝑖2 ⟺ 𝑖2 = 𝑣𝐶1 − 𝑣𝐶2

By applying the KVL for ABCG, it yields

𝑖3 = 𝑣𝐶2 + 𝑣𝐿 = 𝑣𝐶2 + 𝑣𝑖 − 𝑣𝐶1

Also, 𝑖𝐿 = 𝑖1 − 𝑖3 ⟺ 𝑖1 = 𝑖𝐿 + 𝑖3 = 𝑖𝐿 + 𝑣𝐶2 + 𝑣𝑖 − 𝑣𝐶1

Therefore

̇ = 𝑖1 − 𝑖2 = (𝑖𝐿 + 𝑣𝐶2 + 𝑣𝑖 − 𝑣𝐶1 ) − (𝑣𝐶1 − 𝑣𝐶2 ) = 𝑖𝐿 − 2𝑣𝐶1 + 2𝑣𝐶2 + 𝑣𝑖

𝑣𝐶1

𝑣𝐶2
̇ = 𝑖2 − 𝑖3 = (𝑣𝐶1 − 𝑣𝐶2 ) − (𝑣𝐶2 + 𝑣𝑖 − 𝑣𝐶1 ) = 2𝑣𝐶1 − 2𝑣𝐶2 − 𝑣𝑖

Using 𝑖𝐿 , 𝑣𝐶1 and 𝑣𝐶2 , the state equation is

0 −1 0 1
𝑋̇ = [1 −2 2 ] 𝑋 + [ 1 ] 𝑣𝑖
0 2 −2 −1
 𝑣0 = 𝑣𝐶1 − 𝑣𝐶2 = [0 1 −1]𝑋
3.4. Represent the system in state space with output 𝑥3 (𝑡).
𝑓𝑣4 = 𝑓𝑣5 = 1𝑁𝑠

𝑓𝑣3 = 1𝑁𝑠 𝑀3 𝑥3 (𝑡)

1𝑘𝑔
𝑥1 (𝑡) 𝑓𝑣2 = 1𝑁𝑠 𝑥2 (𝑡)
𝑓𝑣1 = 1𝑁𝑠
𝑀1 𝑀2
2𝑘𝑔 𝐾 = 2𝑁/𝑚 1𝑘𝑔 𝑓(𝑡)

𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛𝑙𝑒𝑠𝑠

Solution:
Equations of motion in Laplace:
(2𝑠 2 + 3𝑠 + 2)𝑋1 − (𝑠 + 2)𝑋2 − 𝑠𝑋3 = 0
−(𝑠 + 2)𝑀1 + (𝑠 2 + 2𝑠 + 2)𝑋2 − 𝑠𝑋3 = 𝐹
−𝑠𝑋1 − 𝑠𝑋2 + (𝑠 2 + 3𝑠)𝑋3 = 0
Define state variables:
𝑧1 = 𝑥1 & 𝑧2 = 𝑥1̇ ⇒ 𝑧1̇ = 𝑧2
𝑧3 = 𝑥2 & 𝑧4 = 𝑥2̇ ⇒ 𝑧3̇ = 𝑧4
𝑧5 = 𝑥3 & 𝑧6 = 𝑥3̇ ⇒ 𝑧5̇ = 𝑧6
Therefore, the state vector is:
𝑧1
𝑧2
𝑧3
𝑋 = 𝑧4
𝑧5
[𝑧6 ]
Equations of motion in the time domain:
3 1 1
𝑧2̇ = − 𝑧2 − 𝑧1 + 𝑧4 + 𝑧3 + 𝑧6
2 2 2
𝑧4̇ = −2𝑧4 − 2𝑧3 + 𝑧2 + 2𝑧1 + 𝑧6 + 𝐹
 𝑧6̇ = −3𝑧6 + 𝑧2 + 𝑧4
The state equation is:
0 1 0 0 0 0
3 1 1 0
−1 − 1 0 0
2 2 2 0
𝑋̇ = 0 0 0 1 0 0 𝑋+ 𝑓(𝑡)
1
2 1 −2 −2 0 1
0
0 0 0 0 0 1 [0]
[0 1 0 1 0 −3]
𝑥3 (𝑡) = [0 0 0 0 1 0]𝑋

3.5. Represent the translational mechanical system in state space with output 𝑥1 (𝑡).
𝑓𝑣1 = 𝑓𝑣2 = 1𝑁𝑠

𝐾1 = 1𝑁/𝑚 𝑀2 𝑥2 (𝑡)
𝑥3 (𝑡) 1𝑘𝑔
𝑀3 𝑥1 (𝑡)
𝑓(𝑡) 1𝑘𝑔
𝑀1 𝐾2 = 1𝑁/𝑚
2𝑘𝑔

𝑓𝑣3 = 1𝑁𝑠 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛𝑙𝑒𝑠𝑠

Solution:
Equations of motion in Laplace:
(2𝑠 2 + 2𝑠 + 1)𝑋1 − 𝑠𝑋2 − (𝑠 + 1)𝑋3 = 0
−𝑠𝑋1 + (𝑠 2 + 2𝑠 + 1)𝑋2 − (𝑠 + 1)𝑋3 = 0
−(𝑠 + 1)𝑋1 − (𝑠 + 1)𝑋2 + (𝑠 2 + 2𝑠 + 2)𝑋3 = 𝐹
Define state variables:
𝑧1 = 𝑥1 & 𝑧2 = 𝑥1̇ ⇒ 𝑧1̇ = 𝑧2
𝑧3 = 𝑥2 & 𝑧4 = 𝑥2̇ ⇒ 𝑧3̇ = 𝑧4
𝑧5 = 𝑥3 & 𝑧6 = 𝑥3̇ ⇒ 𝑧5̇ = 𝑧6
Therefore, the state vector is:
 𝑧1
𝑧2
𝑧3
𝑋 = 𝑧4
𝑧5
[𝑧6 ]
Equations of motion in the time domain:
1 1 1 1
𝑧2̇ = −𝑧2 − 𝑧1 + 𝑧4 + 𝑧5 + 𝑧6
2 2 2 2
𝑧4̇ = −2𝑧4 − 𝑧3 + 𝑧2 + 𝑧6 + 𝑧5
𝑧6̇ = −2𝑧6 − 2𝑧5 + 𝑧2 + 𝑧1 + 𝑧4 + 𝑧3 + 𝐹

The state equation is:

0 1 0 0 0 0
1 1 1 1 0
− −1 0 0
2 2 2 2 0
𝑋̇ = 0 0 0 1 0 0 𝑋+ 𝑓(𝑡)
0
0 1 −1 −2 1 1
0
0 0 0 0 0 1 [1]
[ 1 1 1 1 −2 −2]
𝑥1 (𝑡) = [1 0 0 0 0 0]𝑋

3.6. Represent the rotational mechanical system in state space with output 𝜃1 (𝑡).
𝑇 𝜃1

𝑁1 = 30
𝜃2
100𝑁𝑚/𝑟𝑎𝑑 100𝑁𝑚𝑠/𝑟𝑎𝑑
𝐽1 = 50𝑘𝑔𝑚2
𝑁2 = 100

𝐽2 = 100𝑘𝑔𝑚2

Solution:
Drawing the equivalent network:
 10 3
𝑇 𝜃 𝜃2
3 10 1
100𝑁𝑚/𝑟𝑎𝑑 100𝑁𝑚𝑠/𝑟𝑎𝑑

5000 𝐽2 = 100𝑘𝑔𝑚2
𝐽1 = 𝑘𝑔𝑚2
9

Equations of motion in Laplace:

5000 2 3 10
( 𝑠 + 100) × Θ1 − 100Θ2 = 𝑇
9 10 3
3
−100 × Θ + (100𝑠 2 + 100𝑠 + 100)Θ2 = 0
10 1
Define state variables:

𝑧1 = 𝜃1 & 𝑧2 = 𝜃1̇ ⇒ 𝑧1̇ = 𝑧2

𝑧3 = 𝜃2 & 𝑧4 = 𝜃2̇ ⇒ 𝑧3̇ = 𝑧4

Therefore, the state vector is:
𝑧1
𝑧2
𝑋 = [𝑧 ]
3
𝑧4
Equations of motion in the time domain:
𝑧2̇ = −0.18𝑧1 + 0.6𝑧3 + 0.02𝑇
𝑧4̇ = −𝑧4 − 𝑧3 + 0.3𝑧1
The state equation is:
0 1 0 0 0
−0.18 0 0.6 0 0.02
𝑋̇ = [ ]𝑋 + [ ] 𝑇(𝑡)
0 0 0 1 0
0,3 0 −1 −1 0
𝜃1 = [1 0 0 0]𝑋
 3.7. Represent the system in state space with output 𝜃𝐿 (𝑡).
𝑇
𝑁1 = 30

2𝑁𝑚/𝑟𝑎𝑑 3𝑁𝑚𝑠/𝑟𝑎𝑑
0.1𝑁𝑚/𝑟𝑎𝑑 𝑁2 ′ = 10
𝑁2 = 300
𝜃𝐿

𝑁3 = 100

200𝑁𝑚/𝑟𝑎𝑑

Solution:
Drawing the equivalent network:

10𝑇 𝜃𝐼 = 0.1𝜃1 𝜃𝐼𝐼 𝜃𝐼𝐼𝐼 = 10𝜃𝐿

3𝑁𝑚𝑠/𝑟𝑎𝑑

2𝑁𝑚/𝑟𝑎𝑑
10𝑁𝑚/𝑟𝑎𝑑 2𝑁𝑚/𝑟𝑎𝑑

Equations of motion in Laplace:

12𝜃𝐼 − 2𝜃𝐼𝐼 = 10𝑇 (1)
−2𝜃𝐼 + (3𝑠 + 2)𝜃𝐼𝐼 − 3𝑠𝜃𝐼𝐼𝐼 = 0 (2)
−3𝑠𝜃𝐼𝐼 + 5𝑠𝜃𝐼𝐼𝐼 = 0 (3)
Therefore, the state vector is:
𝜃𝐼
𝑋 = [ 𝜃𝐼𝐼 ]
𝜃𝐼𝐼𝐼
From equation (1) & (3), we have:
5
𝜃𝐼𝐼 = 𝜃
3 𝐼𝐼𝐼
5 1 5 5
𝜃𝐼 = 𝑇 + 𝜃𝐼𝐼 = 𝑇 + 𝜃𝐼𝐼𝐼
6 6 6 18
 5 5 5
𝐹𝑟𝑜𝑚 (2) ⇒ −2 ( 𝑇 + 𝜃𝐼𝐼𝐼 ) + (3𝑠 + 2) 𝜃𝐼𝐼𝐼 − 3𝑠𝜃𝐼𝐼𝐼 = 0
6 18 3
25 5
⟺ 2𝑠𝜃𝐼𝐼𝐼 = − 𝜃𝐼𝐼𝐼 + 𝑇
9 3
Equations of motion in the time domain:
25 5
̇ =−
𝜃𝐼𝐼𝐼 𝜃𝐼𝐼𝐼 + 𝑇
18 6
𝜃𝐿 = 0.1 × 𝜃𝐼𝐼𝐼 (𝑡)

3.8. Show that the system yields a fourth-order TF if we relate the displacement of either mass to the
applied force, and a third-order one if we relate the velocity of either mass to the applied force.

𝑥1 (𝑡) 𝑥2 (𝑡)
𝐷 𝐾
𝑀1 𝑀2 𝑓(𝑡)

𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛𝑙𝑒𝑠𝑠

Equations of motion in Laplace:

(𝑀1 𝑠 2 + 𝐷𝑠 + 𝐾)𝑋1 − 𝐾𝑋2 = 0
−𝐾𝑋1 + (𝑀2 𝑠 2 + 𝐾)𝑋2 = 𝐹
Solve equations:
−𝐾 0
−| 2 | 𝐹×𝐾
𝑀2 𝑠 + 𝐾 𝐹
𝑋1 = =
𝑀 𝑠 2 + 𝐷𝑠 + 𝐾 −𝐾 𝑀1 𝑀2 𝑠 4 + 𝑀2 𝐷𝑠 3 + 𝐾(𝑀1 + 𝑀2 )𝑠 2 + 𝐷𝐾𝑠
| 1 2 |
−𝐾 𝑀2 𝑠 + 𝐾
2
|𝑀1 𝑠 + 𝐷𝑠 + 𝐾 0 | 𝐹 × (𝑀1 𝑠 2 + 𝐷𝑠 + 𝐾)
𝑋2 = −𝐾 𝐹 =
𝑀 𝑠 2 + 𝐷𝑠 + 𝐾 −𝐾 𝑀1 𝑀2 𝑠 4 + 𝑀2 𝐷𝑠 3 + 𝐾(𝑀1 + 𝑀2 )𝑠 2 + 𝐷𝐾𝑠
| 1 |
−𝐾 𝑀2 𝑠 2 + 𝐾
That the system yields a fourth-order TF.
𝑣1 (𝑡) = 𝑥1̇ ⇒ 𝑉1 = 𝑠𝑋1
𝑣2 (𝑡) = 𝑥2̇ ⇒ 𝑉2 = 𝑠𝑋2
𝑉1 𝑠𝑋1 𝐾
⇒ = =
𝐹 𝐹 𝑀1 𝑀2 𝑠 3 + 𝑀2 𝐷𝑠 2 + 𝐾(𝑀1 + 𝑀2 )𝑠 + 𝐷𝐾
 𝑉2 𝑠𝑋2 𝑀1 𝑠 2 + 𝐷𝑠 + 𝐾
⇒ = =
𝐹 𝐹 𝑀1 𝑀2 𝑠 3 + 𝑀2 𝐷𝑠 2 + 𝐾(𝑀1 + 𝑀2 )𝑠 + 𝐷𝐾
Relate the velocity of either mass to the applied force yields a third-order TF.

3.9. Find the state-space representation in phase-variable form for

𝑅(𝑠) 100 𝐶(𝑠) 𝑅(𝑠) 30 𝐶(𝑠)
𝑠4 + 20𝑠 3 + 10𝑠 2 + 7𝑠 + 100 𝑠5 + 8𝑠 4 + 9𝑠 3+ 6𝑠 2 + 𝑠 + 30

Solution:

𝑅(𝑠) 100 𝐶(𝑠)

𝑠 + 20𝑠 + 10𝑠 2 + 7𝑠 + 100
4 3

Define state variables:

𝑧1 = 𝑟

𝑧2 = 𝑟̇ ⇒ 𝑧1̇ = 𝑧2

𝑧3 = 𝑟̈ ⇒ 𝑧2̇ = 𝑧3

𝑧4 = 𝑟⃛ ⇒ 𝑧3̇ = 𝑧4

Therefore, the state vector is:

𝑧1
𝑧2
𝑋 = [𝑧 ]
3
𝑧4
The state equation is:
0 1 0 0 0
0 0 1 0
𝑋̇ = [ ] 𝑋 + [0] 𝑟(𝑡)
0 0 0 1 0
−100 −7 −10 −20 1
𝑐(𝑡) = [100 0 0 0] × 𝑋
 𝑅(𝑠) 30 𝐶(𝑠)
𝑠5 + 8𝑠 4 + 9𝑠 3+ 6𝑠 2 + 𝑠 + 30

Define state variables:

𝑧1 = 𝑟

𝑧2 = 𝑟̇ ⇒ 𝑧1̇ = 𝑧2

𝑧3 = 𝑟̈ ⇒ 𝑧2̇ = 𝑧3

𝑧4 = 𝑟⃛ ⇒ 𝑧3̇ = 𝑧4

𝑧5 = 𝑟 (4) ⇒ 𝑧4̇ = 𝑧5
Therefore, the state vector is:
𝑧1
𝑧2
𝑋 = 𝑧3
𝑧4
[𝑧5 ]
The state equation is:
0 1 0 0 0 0
0 0 1 0 0 0
𝑋̇ = 0 0 0 1 0 𝑋 + 0 𝑟(𝑡)
0 0 0 0 1 0
[−30 −1 −6 −9 −8 ] [ 1]
𝑐(𝑡) = [30 0 0 0 0] × 𝑋

3.10. Find the state-space representation in phase-variable form using matlab

𝑅(𝑠) 100 𝐶(𝑠) 𝑅(𝑠) 30 𝐶(𝑠)
𝑠4 + 20𝑠 3 + 10𝑠 2 + 7𝑠 + 100 𝑠5 + 8𝑠 4 + 9𝑠 3+ 6𝑠 2 + 𝑠 + 30

Solution:
'a'
num=100;
den=[1 20 10 7 100];
G=tf(num,den)
[Acc,Bcc,Ccc,Dcc]=tf2ss(num,den);
A=flipud(fliplr(Acc))
B=flipud(Bcc)
C=fliplr(Ccc)
'b'
num=30;
den=[1 8 9 6 1 30];
G=tf(num,den)
[Acc,Bcc,Ccc,Dcc]=tf2ss(num,den);
Af=flipud(Acc);
A=flipud(fliplr(Acc))
B=flipud(Bcc)
C=fliplr(Ccc)

3.11. For each system write the state equations and the output equation for the phase-variable
representation
𝑅(𝑠) 8𝑠 + 10 𝐶(𝑠) 𝑠 4 + 2𝑠 3 + 12𝑠 2 + 7𝑠 + 6 𝐶(𝑠)
𝑅(𝑠)
𝑠 + 5𝑠 + 𝑠 2 + 5𝑠 + 13
4 3 𝑠 5 + 9𝑠 4 + 13𝑠 2 + 8𝑠 2

Solution:
 𝑅(𝑠) 8𝑠 + 10 𝐶(𝑠)
𝑠 4 + 5𝑠 3 + 𝑠 2 + 5𝑠 + 13

Define state variables:

𝑧1 = 𝑟

𝑧2 = 𝑟̇ ⇒ 𝑧1̇ = 𝑧2

𝑧3 = 𝑟̈ ⇒ 𝑧2̇ = 𝑧3

𝑧4 = 𝑟⃛ ⇒ 𝑧3̇ = 𝑧4
Therefore, the state vector is:
𝑧1
𝑧2
𝑋 = [𝑧 ]
3
𝑧4
The state equation is:
0 1 0 0 0
0 0 1 0
𝑋̇ = [ ] 𝑋 + [0] 𝑟(𝑡)
0 0 0 1 0
−13 −5 −1 −5 1
𝑐(𝑡) = [10 8 0 0] × 𝑋

𝑠 4 + 2𝑠 3 + 12𝑠 2 + 7𝑠 + 6 𝐶(𝑠)
𝑅(𝑠)
𝑠 5 + 9𝑠 4 + 13𝑠 3 + 8𝑠 2

Define state variables:

𝑧1 = 𝑟

𝑧2 = 𝑟̇ ⇒ 𝑧1̇ = 𝑧2

𝑧3 = 𝑟̈ ⇒ 𝑧2̇ = 𝑧3

𝑧4 = 𝑟⃛ ⇒ 𝑧3̇ = 𝑧4

𝑧5 = 𝑟 (4) ⇒ 𝑧4̇ = 𝑧5
Therefore, the state vector is:
 𝑧1
𝑧2
𝑋 = 𝑧3
𝑧4
[𝑧5 ]
The state equation is:
0 1 0 0 0 0
0 0 1 0 0 0
𝑋̇ = 0 0 0 1 0 𝑋 + 0 𝑟(𝑡)
0 0 0 0 1 0
[0 0 −8 −13 −9] [1]

𝑐(𝑡) = [6 7 12 2 1] × 𝑋

3.12. For each system write the state equations and the output equation for the phase-variable
representation using matlab
𝑅(𝑠) 8𝑠 + 10 𝐶(𝑠) 𝑠 4 + 2𝑠 3 + 12𝑠 2 + 7𝑠 + 6 𝐶(𝑠)
𝑅(𝑠)
𝑠 + 5𝑠 + 𝑠 2 + 5𝑠 + 13
4 3 𝑠 5 + 9𝑠 4 + 13𝑠 2 + 8𝑠 2

Solution:
'a'
num=[8 10];
den=[1 5 1 5 13];
G=tf(num,den)
[Acc,Bcc,Ccc,Dcc]=tf2ss(num,den);
A=flipud(fliplr(Acc))
B=flipud(Bcc)
C=fliplr(Ccc)
'b'
num=[1 2 12 7 6];
den=[1 9 13 8 0 0];
G=tf(num,den)
[Acc,Bcc,Ccc,Dcc]=tf2ss(num,den);
Af=flipud(Acc);
A=flipud(fliplr(Acc))
B=flipud(Bcc)
C=fliplr(Ccc)
 3.13. Represent the following TF in state space. Give your answer in vector-matrix form
𝑠 2 + 3𝑠 + 8
𝑇(𝑠) =
(𝑠 + 1)(𝑠 2 + 5𝑠 + 5)

Solution:

𝑠 2 + 3𝑠 + 8 𝑠 2 + 3𝑠 + 8
𝑇(𝑠) = =
(𝑠 + 1)(𝑠 2 + 5𝑠 + 5) 𝑠 3 + 6𝑠 2 + 10𝑠 + 5
Define state variables:
𝑧1 = 𝑟

𝑧2 = 𝑟̇ ⇒ 𝑧1̇ = 𝑧2
 𝑧3 = 𝑟̈ ⇒ 𝑧2̇ = 𝑧3

Therefore, the state vector is:

𝑧1
𝑧
𝑋 = [ 2]
𝑧3
The state equation is:
0 1 0 0
𝑋̇ = [ 0 0 1 ] 𝑋 + [0] 𝑟(𝑡)
−5 −10 −6 1
𝑐(𝑡) = [8 3 1] × 𝑋

3.14. Find the TF 𝐺𝑆 = 𝑌(𝑠)/𝑋(𝑠) for each of the following systems represented in state space

0 1 0 0
𝑥̇ = [ 0 0 1 ] 𝑥 + [ 0 ] 𝑟, 𝑦 = [1 0 0]𝑥
−3 −2 −5 10
2 3 −8 1
𝑥̇ = [ 0 5 3 ] 𝑥 + [4] 𝑟, 𝑦 = [1 3 6]𝑥
−3 −5 −4 6

3 −5 2 5
𝑥̇ = [ 1 −8 7 ] 𝑥 + [−3] 𝑟, 𝑦 = [1 −4 3]𝑥
−3 −6 −2 2

Solution:
a)
We have:
0 1 0 0
𝐴=[ 0 0 1 ] ; 𝐵 = [ 0 ] ; 𝐶 = [1 0 0]
−3 −2 −5 10
𝑠 −1 0
(𝑠𝐼 − 𝐴) = [0 𝑠 −1 ]
3 2 𝑠+5

𝐴𝑑𝑗 1 𝑠 2 + 5𝑠 + 2 𝑠+5 1
(𝑠𝐼 − 𝐴) −1
= = [ −3 𝑠 2 + 5𝑠 𝑠]
𝐷𝑒𝑡 𝑠 3 + 5𝑠 2 + 2𝑠 + 3
−3𝑠 −2𝑠 − 3 𝑠2
10
𝐺(𝑠) = 𝐶(𝑠𝐼 − 𝐴)−1 𝐵 =
𝑠 3 + 5𝑠 2 + 2𝑠 + 3
 b)
We have:
2 3 −8 1
𝐴=[ 0 5 3 ] ; 𝐵 = [4] ; 𝐶 = [1 3 6]
−3 −5 −4 6
𝑠 − 2 −3 8
(𝑠𝐼 − 𝐴) = [ 0 𝑠 − 5 −3 ]
3 5 𝑠+4

𝐴𝑑𝑗 1 𝑠2 − 𝑠 − 5 3𝑠 + 52 −8𝑠 + 49
(𝑠𝐼 − 𝐴) −1 2
= = 3 × [ −9 𝑠 + 2𝑠 − 32 3𝑠 − 6 ]
𝐷𝑒𝑡 𝑠 − 3𝑠 2 − 27𝑠 + 157
−3𝑠 + 15 −5𝑠 + 1 𝑠 − 7𝑠 + 10
49𝑠 2 − 349𝑠 + 452
𝐺(𝑠) = 𝐶(𝑠𝐼 − 𝐴)−1 𝐵 =
𝑠 3 − 3𝑠 2 − 27𝑠 + 157
c)
We have:
3 −5 2 5
𝐴 = [ 1 −8 7] ; 𝐵 = [−3] ; 𝐶 = [1 −4 3]
−3 −6 2 2
𝑠−3 5 −2
(𝑠𝐼 − 𝐴) = [ −1 𝑠 + 8 −7 ]
3 6 𝑠−2

𝐴𝑑𝑗 1 𝑠 2 + 6𝑠 + 26 −5𝑠 − 2 2𝑠 − 19
(𝑠𝐼 − 𝐴) −1 2
= = 3 [ 𝑠 − 23 𝑠 − 5𝑠 + 12 7𝑠 − 19 ]
𝐷𝑒𝑡 𝑠 + 3𝑠 2 + 19𝑠 − 133 2
−3𝑠 − 30 −6𝑠 + 33 𝑠 + 5𝑠 − 19
23 𝑠 2 − 48 𝑠 − 7
𝐺(𝑠) = 𝐶(𝑠𝐼 − 𝐴)−1 𝐵 =
𝑠 3 + 3𝑠 2 + 19𝑠 − 133
3.15. Use matlab to find the TF 𝐺 𝑠 = 𝑌(𝑠)/𝑋(𝑠) for each of the following systems represented in state
space
0 1 5 0 0
0 0 1 0 5
𝑥̇ = [ ] 𝑥 + [ ] 𝑟, 𝑦 = [1 3 6 6]𝑥
0 0 0 1 8
−7 −9 −2 −3 2

3 1 0 4 −2 2
−3 5 −5 2 −1 7
𝑥̇ = 0 1 −1 2 8 𝑥 + 8 𝑟, 𝑦 = [1 −2 −9 7 6]𝑥
−7 6 −3 −4 0 5
[−6 0 4 −3 1 ] [ 4]

Solution:
'a'
A=[0 1 5 0;0 0 1 0;0 0 0 1;-7 -9 -2 -3];
B=[0;5;8;2];
C=[1 3 6 6];
D=0;
ss(A,B,C,D)
[num,den]=ss2tf(A,B,C,D);
G=tf(num,den)
'b'
A=[3 1 0 4 -2;-3 5 -5 2 -1;0 1 -1 2 8;-7 6 -3 -4 0;-6 0 4 -3 1];
B=[2;7;8;5;4];
C=[1 -2 -9 7 6];
D=0;
ss(A,B,C,D)
[num,den]=ss2tf(A,B,C,D);
G=tf(num,den)

3.16. Use matlab, the Symbolic Math Toolbox, and Eq.3.73 to find the TF 𝐺 𝑠 = 𝑌(𝑠)/𝑋(𝑠) for each
of the following systems
 0 1 5 0 0
0 0 1 0 5
𝑥̇ = [ ] 𝑥 + [ ] 𝑟, 𝑦 = [1 3 6 6]𝑥
0 0 0 1 8
−7 −9 −2 −3 2

3 1 0 4 −2 2
−3 5 −5 2 −1 7
𝑥̇ = 0 1 −1 2 8 𝑥 + 8 𝑟, 𝑦 = [1 −2 −9 7 6]𝑥
−7 6 −3 −4 0 5
[−6 0 4 −3 1 ] [4]

Solution:
syms s
'a'
A=[0 1 3 0
0 0 1 0
0 0 0 1
-7 -9 -2 -3];
B=[0;5;8;2];
C=[1 3 4 6];
D=0;
I=[1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1];
'T(s)'
T=C*((s*I-A)^-1)*B+D
pretty(T)
'b'
A=[3 1 0 4 -2
-3 5 -5 2 -1
0 1 -1 2 8
-7 6 -3 -4 0
-6 0 4 -3 1];
B=[2;7;6;5;4];
C=[1 -2 -9 7 6];
D=0;
I=[1 0 0 0 0
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
0 0 0 0 1];
'T(s)'
T=C*((s*I-A)^-1)*B+D
pretty(T)