GEORGIA INSTITUTE OF TECHNOLOGY

Solutions Homework 4
Part 1

ECE 3550

4.1) Reduce the block diagram shown below. Determine the

transfer function from u to y.

4.2

H2 H3
H2
z

Y =b 1 x 1 +b2 x2 +b 3 x 3
x 3=H 3 x 3=H 3 H 2 x 1

u
u

H2 H3

x 2=H 2 x 1
x 1=H 1 ( uz )

H2
H2 H3
H2

z=a1 x 1+ a2 x 2 +a3 x 3=a3 H 3 H 2 x 1+ a2 H 2 x 1+ a1 x 1

y=b 1 x 1+ b2 H 2 x 1+ b3 H 3 H 2 x 1
a
( 3 H 3 H 2 x1 + a2 H 2 x1 +a 1 x 1)
u
x 1=H 1
H 1 u=x 1+ a3 H 3 H 2 H 1 x1 + a2 H 2 H 1 x 1+ a1 H 1 x 1
H 1 u=x 1(1+ a3 H 3 H 2 H 1 +a 2 H 2 H 1+ a1 H 1 )
Let s=1+ a3 H 3 H 2 H 1 +a 2 H 2 H 1+ a1 H 1

Y=

b1 H 1 u b2 H 2 H 1 u b3 H 3 H 2 H 1 u
+
+
s
s
s

b H +b H H + b H H H
y
H ( s )= = 1 1 2 2 1 3 3 2 1
u 1+a3 H 3 H 2 H 1 +a2 H 2 H 1 +a1 H 1

1
1 1
1 1 1
+b ( )( )+ b ( )( )( )
(
)
s
s s
s s s
H ( s )=
1 1 1
1 1
1
1+ a ( )( )( )+ a ( )( )+a ( )
s s s
s s
s
b1

1
1
1
+b
+b
(
)
(
)
(
s
s
s )
s
H ( s )=
s
1
1
1
1+a
+a
+a ( )
(s ) (s ) s
3

b1

H ( s )=

b1 s 2 +b2 s +b3
s 3+ a3 +a2 s +a1 s 2
2

Its more aesthetic to write it as

x 1=( ua3 x 3 a2 x 2a1 x 1 )

x 2=x 1

b1 s +b2 s +b3
3
2
s + a1 s +a2 s+ a3 .

x 3=x 2
y=b 1 x 1+ b2 x2 +b 3 x 3

[][

][ ] [ ]

x1 a1 a 2 a3 x 1 1
x2 = 1
0
0 x2 + 0 u
0
1
0 x3 0
x3

y=[ b 1 b2 b3 ]

[]
x1
x2
x3

x 1=( ua3 x 3 a2 x 2a1 x 1 ) s X 1 ( s )=U ( s ) a3 X 3 ( s )a2 X 2 ( s )a1 X 1 ( s )

1
x 2=x 1 s X 2 ( s )= X 1 ( s ) X 2 ( s )= X 1 ( s )
s
1
x 3=x 2 s X 3 ( s ) =X 2 ( s ) X 3 ( s )= X ( s )
s 2

y=b 1 x 1+ b2 x2 +b 3 x 3 sY ( s )=b1 X 1 ( s )+ b2 X 2 ( s )+ b3 X 3 ( s )
2
Y(s) b1 X 1 ( s )+ b2 X 2 ( s ) +b 3 X 3 ( s ) = b1 X 1 ( s )+ b2 X 1 ( s ) /s+ b3 X 1 ( s ) / s

Eliminate X_1(s) and X_2(s)

(s+a_1)X_1(s)+a_2X_1(s)/s+a_3X_1(s)/s^2=U(s) --> (s^3+a_1 s^2+a_2 s +
a_3)X_1(s)=s^2U(s)
Thus: Y(s)=H(s)U(s) with H(s) as in ii).
v)

1
1
k 1
b1 +b2 2 +b3
s
s s2
b1 s2 +b 2 s+b 3 k
s
H ( s ; k )=
=
k 1
1
1 s3 +a3 k + a2 s+ a1 s 2
1/s 4 +a3
+
a
+
a
s s2 2 s2 1 s
S Hk =

H (s,k)
k

k
b1 s + b2 s +b3 k
2

s3 + a3 k +a2 s +a1 s 2

Correct steps below

2
2
H (s , k ) ( 1+a3 k + a2 s+ a1 s )b 3( b1 s +b 2 s+b 3 k )a3
=
2
k
( 1+a k +a s+a s2 )
3

H
k

( 1+ a3 k +a 2 s+a 1 s2 )b3 (b 1 s2 +b2 s +b3 k )a3

=
2
(1+ a3 k +a2 s +a1 s 2 )

k
b1 s +b 2 s+ b3 k
2

1+a3 k + a2 s+ a1 s 2
To get

( s 3 +a2 s +a1 s 2 )b3( b1 s 2+ b2 s )a3

k
2
3
2
b1 s + b2 s+ b3 k
( s + a3 k +a 2 s+a 1 s )

And at nominal value (k=1)

[s[b_3 s^2 +(b_3a_1-b_1a_3)s+ (b_3a_2-b_2a_3)] ]/a(s)b(s), where H(s)=b(s)/a(s)
Note that this sensitivity is zero for DC. (s=0)