EL 625 Lecture 1

EL 625 Lecture 1
Definition: A physical system is an interconnection of
physical components that perform a specific function. These
components may be electrical, mechanical,hydraulic,thermal and
so forth.

Inputs
or
excitations

u1
u2
ur

System
S

y1
y2

ym

Outputs
or
responses

Inputs:signals that can be directly changed with time in order

to effect indirectly desired changes in some other signals of the
system which are of particular interest (which are called outputs)
Using vector notation,

EL 625 Lecture 1

u1(t)
u2(t)

u(t) = u3(t)
...
ur (t)

u(t)

y(t) =

y1(t)
y2(t)
y3(t)
...
ym(t)

System
S

y(t)

y(t) = S{u(t)} Input-output relation

y = S{u}
e

y and u represent the entire time functions y and u respectively.

e

EL 625 Lecture 1

Classification of Systems
Type of system Brief Description
Dynamic

system has memory; output at time t depends on inputs at times other than t

Static

System has no memory (zero memory) ;

output at time t depends on input only at
time t

MIMO

Multi-Input-Multi-Output - many inputs

and outputs

SISO

Single-Input-Single-Output - one input and

one output

Continuous-time differential equations

Discrete-time
Causal

difference equations
System is not predictive - output depends
only on past values of input

Non-causal

output depends on future values of input

also

Linear
Non-linear

Superposition holds
not linear - Superposition does not hold

EL 625 Lecture 1

Finite-Dimensional finite number of states required to characterize the system - lumped system
Infinite-Dimensional an infinite number of state variables required to completely characterize the system - distributed-parameter system
Time-invariant

The only effect that delaying the input has

on the output is a delay of the same magnitude.

Time-varying

Shifting the input in time may cause

changes in the output apart from a corresponding delay.

EL 625 Lecture 1

State: smallest set of variables required to summarize all information about the past history of the system.
Definition:The state of a causal dynamic system at time t0
is the smallest set of quantities x(t0) required to summarize
all information about u(, t0) needed to determine y[t0, t1]
e

when u[t0, t1] is known.

e

Order of the system: Number of state variables.

If order of the system is:
1. zero - Static system
2. finite - finite-dimensional system or lumped system.
3. infinite - infinite-dimensional system or distributed-parameter
system.
Eg:
(a)A purely resistive network is static (memoryless) and has
order zero.
(b)For an electrical circuit having resistors and one capacitor,
the charge stored in the capacitor is a possible choice of state

EL 625 Lecture 1

variable. Instead, the voltage across the capacitor can be

chosen as the state.
The choice of state variables is not unique
(c)
B B B
B  B  B  B 
B B B B

+


R1

C1

C2




X
XX

X
X
X

X
X
X

XX

R2

In the above circuit, there are two elements with memory (the
two capacitors). Thus, two states (the voltages across the
two capacitors, for instance) are required to capture all the
information about the system. Since two states are required,
it is a second-order system.
(d)

"
"

Two-link arm

"1

"

"

"


"
"










EL 625 Lecture 1

How many states does this system have?

Need to know 1 , 2, 1 and 2 to determine the dynamics
of mass m = four states
The choice of states is not unique. 1 and 2 can also be
defined as in the figure below . . .



"

"

"
"

"
"1


"
"





 2

Input-Output State Relation: y(t) = A{x(t0); u[t0, t]} for

e

t t0

State transition equation: x(t) = R{x(t0); u[t0, t]} for

t t0

EL 625 Lecture 1

'

Systems
&

'

Static
&

@
'
@
R

Dynamic
%

Static(or Instantaneous)

&

Dynamic

Output at any time depends on the Output at a time, t depends on valcurrent value of the input only

ues of input at times other than t.

System has no memory

System has memory

Eg:Resistor vR (t) = RiR (t)

C (t)
Eg: Capacitor C dvdt
= iC (t)

Voltage vR is the output and it de- =vC (t) =

1 Rt
C iC (t)dt,

assum-

pends on the input value, iR (t) at ing there is no charge on the capactime t only

itor at t =
Voltage vC (t) is the output and it
depends on all the values of the input iC (t) at times t in (, t].

EL 625 Lecture 1

'

Systems
&

'

@
@

@
'
R
@

Time-invariant
&

Time-varying

&

Time-invariant(Fixed)

Time-varying(Not fixed)

If the response to input u(t) is The response to a shifted input is

y(t), the response to input u(t+T ) not a shifted version of the output.
(where T is any constant) is y(t +
T ).
Eg: y(t) = S{u(t)} =

Rt

u( )d

is a time-invariant system.
S{u(t + T )} =
=

R t+T

Rt

u(

+ T )d =

y(t)

Eg:
Rt

u( )d

S{u(t)}

is a time-varying

system.

u( +T )d( +T ) = y(t+T ) S{u(t + T )} =

=

R t+T

Rt

u(

+ T )d =

u( + T )d( + T )

y(t + T )

6
=

EL 625 Lecture 1

10

'

Systems
&

'

Continuous-time
&

@
@

'
@
R

Discrete-time
%

Continuous-time

&

Discrete-time

The system evolves in continuous The system evolves in discrete-time

time - modeled by differential equa- - modeled by difference equations
tions
Eg: An electrical circuit

Eg: A digital computer - the state

changes only at certain discretetime instants.

= u(t) where t is a real Eg: x(k + 1) = u(k) where k is an

Eg: x(t)

number

integer.

EL 625 Lecture 1

11

'

Systems
&

'

Causal
&

@
@
'
R
@

Non-causal
%

Causal (or nonanticipative)

&

Non-causal(or anticipative)

Output, y(t) at time t, does not Output, y(t) at time t can depend
depend on u(t0) where t0 > t

on u(t0) where t0 > t.

Any real physical system is causal

A noncausal system is not physically realizable

Eg: y(t) =

Rt

u( )d

Eg: y(t) =

R t+1

u( )d

EL 625 Lecture 1

12

'

Systems
&

'

@
@
'
R
@

Linear
&

Nonlinear
%

&

Linear

Nonlinear

Obeys superposition
Eg: y(t) =

Does not obey superposition

Rt

Eg: y(t) =

u( )d

For a zero-memory system, linear if

1. Homogeneous: kS{u} = S{ku}
e

2. Additive: S{u + u } = S{u } + S{u }

e1

e2

e1

e2

Rt

2
u ( )d

EL 625 Lecture 1

13

A system is said to be linear if

1. it is zero-input linear
2. it is zero-state linear
3. it has the decomposition property

zero-input:input, u(t) = 0t
zero-state : If x(t0) = and u[t0, ] = 0 = y[t0, ] = 0.
e

A system is said to be zero-input linear if

1. it is zero-input homogeneous
A{kx(t0); 0} = kA{x(t0); 0}
e

2. it is zero-input additive
A{x1(t0) + x2(t0); 0 }
A{x2(t0); 0}
e

A{x1(t0); 0 } +
e

EL 625 Lecture 1

14

A system is said to be zero-state linear if

1. it is zero-state homogeneous
A{; u} = A{; u}
e

2. it is zero-state additive
A{; u1 + u2} = A{; u1} + A{; u2}
e

A system is said to have the decomposition property if:

Total response = zero-input response + zero-state response
A{x(t0); u} = A{x(t0); 0} + A{; u}
e

Example: Consider the system:

(tt0 )

y(t) = (e

x(t0)) +

t0

e(t )u( )d

for t t0.
is this system dynamic? yes . . . the output depends on past values
of input.
Is this system time-invariant? Y es . . .
y(t) = A{x(t0) = ; u[t0, t]}

EL 625 Lecture 1

15

Consider
y 0(t) = A{x(t0 + T ) = ; u[t0 + T, t + T ]}
y 0(t) = (e(tt0T )x(t0 + T ))3 +
y 0(t + T ) = (e(t+T t0T )x(t0 +
y 0(t + T ) = (e(tt0))3 +

t0

e(t T )u( + T )d
t0 +T
Z t+T
T ))3 + t +T e(t+T T )u( + T )d
0

e(t )u( )d = y(t)

Is this system continuous-time? yes - y(t) evolves in continuous

time. u(t) is also a continuous function of time.
Is this system causal? yes - the output at time t only depends on
past values of the input (from t0 to t)
Is this system linear? no - the system is zero-state linear, but not
zero-input linear - hence the system is not linear. However, it obeys
the decomposition property.