4-27 Solution:

KT 2
K
z +1
with K 1 =
=
,T = 1
(a) From Problem 4 17, G ( z ) = K 1
2
2J
2J
(z 1)
(b)

K1

e(k) +

T
x2(k)

K1
x1(k)

0 1
0
x(k + 1) =
x ( k ) + e( k )

1 2
1
y (k ) = [K 1

K 2 ]x(k )

(c) G p ( s ) =

K
Js 2

e(t)

x2(t)

0 1
0
x' (t ) =
x(t ) + e(t )

0 0
1
K
y (t ) =
J

0 x(t )

x1(t)

K
J

y(t)

y(k)

1
s 1
2
s
sI

A
=

=
sI

A
=
s
.
Therefore,
,
(d) sI Ac =
c
c

s
0
0

Therefore, c (t ) = L1 (sI Ac )
t

t 2 1
2 =
t 0
0

c (t )dt =
0

] = 10

s2
1
s

t
1 1
A = c (t ) =

1
0 1

1
2
1

1 0.5 0 0.5
Therefore, B = c (t )dt Bc =
=
0 1 1 1
0

0.5
1 1
x ( k ) + e( k )
Therefore, x(k + 1) =

1
0 1

K
y (k ) =
J

0 x ( k )

(e)

0.5
e(k) +

x2(k) +

(f) G ( z ) =

( J )z (1 z ) + (K J )z

0 .5 K

1 z z + z

(z + 1)
2J
(z 1)2

x1(k)

K
J

y(k)

(g) num = [0 0 1];

den = [1 0 0];
[Ac,Bc,C, D] = tf2ss(num, den)
[A,B] = c2d(Ac,Bc,1)
[n,d] = ss2tf(A,B,C,D)
pause
Ac = [ 0 1; 0 0]; Bc = [0;1];
[A,B] = c2d(Ac,Bc,1)

5 19 (b) Solution

e (t )

+
_

X2(t)

x1(t)

3
2

.
1
0
0
x(t ) =
x(t ) + e (t )

2 3
6

y (t ) = [1 0]x(t )

(sI A)1 =

s
1

2 s + 3

s+3

( s + 1)( s + 2)
=
2

( s + 1)( s + 2)

( s + 1)( s + 2)

( s + 1)( s + 2)

y(t)

 2
+

= s +1
2

+
s +1

1
s+2
2
s+2

1
+
s +1
1
+
s +1

1
s + 2
2

s + 2

2e t e 2 t
Therefore, c (t ) =
t
2t
2e + 2e

e t e 2t

e t + 2e 2 t

0.9909 0.0861
A = c (0.1) =

0.1722 0.7326
2e t + 0.5e 2t
=

(
t
)
dt

0 c
t
2t
2e e

(
B = c (t )dt Bc =
(
0

)
)

0.1

e t + 0.5e 2t

e t e 2 t 0

0.00455 0 0.0273
=
0.0861 6 0.5166

0.0273 0
0.0273
[1 0] =
BC =

0.5166
0.5166 0
x(k + 1) = Ax (k ) + Be(k ) = Ax (k ) + B[u (k ) y (k )] = [ A BC ]x(k ) + Bu (k )

0.9636 0.0861
0.0273
Therefore, x(k + 1) =
x(k ) +

u (k )
0.6888 0.7326
0.5166
y (k ) = [1 0]x(k )

For T=0.01s,
0.9996 0.0099
0.0003
x(k + 1) =
x( k ) +

u (k )
0.0788 0.9703
0.0591

5-21(c): Solution
m(k ) = (k ) Cx (k ) = (k ) x1 (k )

0
0 .5 0
1

x(k + 1) = 1 0.9 1 x(k ) + 0 (k )

3
2
0 0.9
y (k ) = [1 0 0]x(k )