THE UNIVERSITY OF BRITISH COLUMBIA

Department of Electrical and Computer Engineering

ELEC341 Systems and Control, Midterm 2 Mar 3, 2017

Answer all problems.

Time: 50min.

This examination consists of 10 pages. Please check that you have a complete copy. You
may use both sides of each sheet if needed.

# MAX GRADE
Solutions
1 25
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Surname First 2 25
name 3 25
4 25
Student Number
TOTAL 100
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 1) [25 marks] Draw a signal flow graph for the following state variable model

0 1 0 0
dx
0 3 1 x 1 u
dt 3 4 5 1

y 1 2 0 x

Solution:

x1 x2
x2 3x2 x3 u
x3 3 x1 4 x2 5 x3 u
y x1 2 x2

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 2) [25 marks] Using Masons rule, find the transfer function T(s)=C(s)/R(s) for the
systems represented below:

2a.

2b.

Solution:

2a.

2b.

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 3) [25 marks] Consider the second-order system
dx 1 1 k1
x u
dt 1 1 2
k
y 1 0 x

3a. Draw its associated SFG
3b. Determine its transfer function
3c. For what values of k1 and k2 is the system completely controllable?

Solution:

3a.
x1 x1 x2 k1u
x2 x1 x2 k2u
y x1

3b. We can determine the SFG by either algebraic operations or by applying Masons
gain formula on the SFG

By MGF:
1 1 1
-Closed loop gains: L1 , L2 , L3 2
s s s

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 k1 k
-Forward paths gain: T1 , T2 22
s s
-Nontouching loops: L1, L2

The transfer function:

1 1 1 1 2
1 2 2 1
s s s s s
1
1 1 , 2 1
s
k1 1 k2 k1 k1 k2
T11 T2 2 1 2 2
s s s2
G s s s
1
2
1
2
s s
k s k k
G 1 2 1 2
s 2s

Alternatively, the algebraic path, from the SS model:

X AX BU sI A X BU X sI A BU
1

1
s 1 1 k1
Y CX C sI A BU 1 0
1
U
1 s 1 k2
Y s
1
s 1 1 k1
G 1 0
U s 1 s 1 k2
det sI A s 1 1 s 2 2 s
2

1 s 1 1
sI A
1

s 2s 1 s 1
2

1 s 1 1 k1 1 k1
G s 1 0 s 1 1 k
s 2 2s 1 s 1 k2 s 2s
2
2
sk k k
G s 1 2 1 2
s 2s

3c. The controllability depends only on matrices A, B. The controllability matrix is:
k 1 1 k1 k1 k1 k2
Pc B AB 1 k k k k
k 2 1 1 2 2 1 2

det Pc k12 k1k2 k1k2 k22 k22 k12

So the complete controllability condition is: det Pc 0 k12 k22

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4) [25 marks] Determine a state variable differential matrix equation for the circuit shown
in the figure below:

Solution

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