Professional Documents
Culture Documents
State variable methods: state space mode representation, similarity transformations, state transition, flow
graphs and canonical forms; geometrical interpretation of Eigen values and Eigen-vectors; time solution by
transition matrix and inverse.
Laplace techniques: canonical forms in relation to controllability and observability; the observer, simple
pole placement design technique.
Discrete systems: sampling, data extrapolators and spectral characteristics; design of Z-transform, impulse
in variance and hold equivalent; block manipulation and pulse transfer functions; Z-transform inversion;
stability and damping; discrete compensator realisation design examples; bilinear transformation; root
space. Frequency domain identification using least squares.
References
1. Modern Control Engineering, Kastuhiko Ogata
2. Discrete Time Control Systems, Kastuhiko Ogata
3. Advanced Control Engineering, Roland S. Burns
4. Modern Control Engineering , P. N. Paraskevopoulos
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
State space approach is a generalized time-domain method of modelling, analysing and designing a wide
range of control systems.
Definitions
State:
State of dynamic system is the smallest set of variables (state variables) such that knowledge of the variables
at time 𝑡 = 𝑡𝑜 plus knowledge of the inputs for 𝑡 ≥ 𝑡𝑜 , this information determines the behaviour of the
system for any time 𝑡 ≥ 𝑡𝑜 .
State variables:
These are variables making up the smallest set of variables that determine the state of the dynamic system.
Let a dynamic system have 𝑛 variables 𝑥1 , 𝑥2 , … . , 𝑥𝑛 to describe the behaviour of the system while the
input is given for 𝑡 ≥ 𝑡𝑜 and the initial state at 𝑡 = 𝑡𝑜 is specified. If the future state of the system is
determined, then such variables are a set of state variables.
State vector:
The behaviour of a given system is described by 𝑛 state variables and can be considered to be 𝑛 components
of a vector x. Such a vector is called a state vector. A state is thus a vector that determines uniquely the
system state 𝑥(𝑡) for any 𝑡 ≥ 𝑡𝑜 once the state at 𝑡 = 𝑡𝑜 is given and the input for 𝑡 ≥ 𝑡𝑜 is specified.
State space:
The 𝑛 dimensional space whose coordinate axis consists of 𝑥1 , 𝑥2 , … . , 𝑥𝑛 axis is called state space. Any
state can be represented by a point in the state space.
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
The state of the system is described by a set of first order differential equations in terms of the state variables
𝑥1 , 𝑥2 , … . , 𝑥𝑛 and input variables 𝑢1 , 𝑢2 , … . , 𝑢𝑟 as
𝑥̇ 1 (𝑡) = 𝑓1 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡)
𝑥̇ 2 (𝑡) = 𝑓2 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡)
.
(1.1)
.
𝑥̇ 𝑛 (𝑡) = 𝑓𝑛 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡)
The output of the system𝑦1 (𝑡), 𝑦2 (𝑡), . . . , 𝑦𝑚 (𝑡) may be a function of input variables, state variables and
time. This may be described as
𝑦1 (𝑡) = 𝑔1 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡)
𝑦2 (𝑡) = 𝑔2 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡)
.
.
(1.2)
𝑦𝑚 (𝑡) = 𝑔𝑚 (𝑥1 , 𝑥2 , … . , 𝑥𝑛 ; 𝑢1 , 𝑢2 , … . , 𝑢𝑟 ; 𝑡)
𝑥1 (𝑡)
𝑥2 (𝑡)
𝑥(𝑡) = . State vector
.
[𝑥𝑛 (𝑡)]
𝑢1 (𝑡)
𝑢2 (𝑡)
𝑢(𝑡) = . Input vector
.
[𝑢𝑟 (𝑡)]
𝑦1 (𝑡)
𝑦2 (𝑡)
𝑦(𝑡) = . Output vector
.
[𝑦𝑚 (𝑡)]
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑥̇ (𝑡) = 𝑓(𝑥, 𝑢)
(1.5)
𝑦(𝑡) = 𝑔(𝑥, 𝑢)
(1.6)
Example 1.1
Obtain the state space representation of the system described by
𝑑3 𝑦 𝑑2 𝑦 𝑑𝑦
3
+ 6 2
+ 11 + 6𝑦 = 6𝑢
𝑑𝑡 𝑑𝑡 𝑑𝑡
Solution
Knowledge of 𝑦(0), 𝑦̇ (0) and 𝑦̈ (0) together with the input 𝑢(𝑡) for 𝑡 ≥ 0 determines completely the
future of the system. Thus if 𝑦(𝑡), 𝑦̇ (𝑡) and 𝑦̈ (𝑡) are a set of the state variables then
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
By use of vector matrix notation, then the 3 first order differential equations can be combined into one as
𝑥̇ 1 0 1 0 𝑥1 0
𝑥̇
[ 2] = [ 0 0 𝑥
1 ] [ 2 ] + [0] 𝑢
𝑥̇ 3 −6 −11 −6 𝑥3 6
Write the state variable formulation of the parallel RLC network shown in Fig. 1.2
A
𝒗(𝒕)
𝑖(𝑡) = 𝐼𝑠𝑖𝑛 𝜔𝑡
𝑣(𝑡) 𝑑𝑣(𝑡) 1
𝐼 sin 𝜔𝑡 = +𝐶 + ∫ 𝑣(𝑡) 𝑑𝑡
𝑅 𝑑𝑡 𝐿
𝑑2 𝑣 1 𝑑𝑣 1 𝜔
2
+ + 𝑣 = 𝐼𝑐𝑜𝑠 𝜔𝑡
𝑑𝑡 𝑅𝐶 𝑑𝑡 𝐿𝐶 𝐶
Choosing
𝑣(𝑡) = 𝑥1 (𝑡)
𝑥̇ 1 (𝑡) = 𝑥2
1 1 𝜔
𝑥̇ 2 (𝑡) = − 𝑥1 − 𝑥2 + 𝐼𝑐𝑜𝑠 𝜔𝑡
𝐿𝐶 𝑅𝐶 𝐶
0 1 𝑥 0
𝑥̇ 1 ] [ 1 ] + [𝜔
[ 1 ] = [− 1 𝑥2 𝐼𝑐𝑜𝑠 𝜔𝑡 ]
𝑥̇ 2 −
𝐿𝐶 𝑅𝐶 𝐶
and the output
𝑥1
𝑣 = [1 0] [𝑥 ]
2
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
NB
Usually in the circuit problem, the current through the inductor and voltage across the capacitor are
chosen as the state variables.
Example 1.3
Obtain the state space representation for the RLC network shown in Fig. 1.3. Assume that the voltage
across 𝑅2 and the current through 𝑅2 are the output variables denoted as 𝑦1 and 𝑦2 respectively and
therefore obtain the output equations.
L1 L2
i1 i2
R1
C
R2
e1 V
e
Fig. 1.3.
Solution
Let us define:
𝑥1 (𝑡) = 𝑣(𝑡)
𝑥2 (𝑡) = 𝑖1 (𝑡)
𝑥3 (𝑡) = 𝑖2 (𝑡)
𝑑𝑣 1 1
= − [ ] 𝑖1 − [ ] 𝑖2
𝑑𝑡 𝐶 𝐶
𝑑 𝑖1 1 𝑅1 1
= ( ) 𝑣 − 𝑖1 − ( ) 𝑒
𝑑𝑡 𝐿1 𝐿1 𝐿1
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑑 𝑖2 1 𝑅2
= ( )𝑣 − 𝑖
𝑑𝑡 𝐿2 𝐿2 2
Assuming that the voltage across 𝑅2 and the current through 𝑅2 as the output variables 𝑦1 and 𝑦2
respectively, the output equations are given by:
𝑥1
𝑦1 0 0 𝑅2 𝑥
⌈𝑦 ⌉ = ⌈ ⌉ ⌈ 2⌉
2 0 0 1 𝑥
3
Exercise
1. Consider the mechanical system shown in Fig.1.4. Assume that the system is a single-input-single-
output linear system, the external force u(t) is the input to the system, and the displacement y(t) of
the mass is the output which is measured from the equilibrium position in the absence of the
external force.
a) Obtain the state space representation of the system.
b) obtain the transfer function for the system from the state-space equations
c) Sketch the block diagram of the system.
.
Fig.1.4. Mechanical System.
2. Consider the system shown in Fig. 1.5. The system involves one integrator and two delayed
integrators. The output of each integrator or delayed integrator can be a state variable. By defining
the output of the plant as 𝑥1 , the output of the controller as 𝑥2 and the output of the sensor as 𝑥3 .
Obtain a state-space model of the system.
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑌(𝑠)
𝑈(𝑠)
𝑏0 𝑠 𝑛 + 𝑏1 𝑠 𝑛−1 + ⋯ + 𝑏𝑛−1 𝑠 + 𝑏𝑛
= 𝑛 (1.12)
𝑠 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛
The state space representation of the system defined by equation (1.11) and (1.12) can be presented in
controllable canonical form, observable canonical form and diagonal canonical form
𝑥̇ 1 0 1 0 . . . 0 𝑥1 0
𝑥̇ 2 0 0 1 . . . 0 𝑥 2 0
. . . . . . .
. = . . . . . + . 𝑢 (1.13)
. . . . . . .
𝑥̇ 𝑛−1 0 0 0 . . . 1 𝑥𝑛−1 0
[ 𝑥̇ 𝑛 ] [−𝑎𝑛 −𝑎𝑛−1 −𝑎𝑛−2 . . . −𝑎1 ] [ 𝑥𝑛 ] [1]
and
𝑥1
𝑥2
.
𝑦 = [𝑏𝑛 − 𝑎𝑛 𝑏0 𝑏𝑛−1 − 𝑎𝑛−1 𝑏0 . . . 𝑏1 − 𝑎1 𝑏0 ] . + 𝑏0 𝑢 (1.14)
.
[𝑥𝑛 ]
Example 1.3
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑌(𝑠) 𝑠+3
= 2
𝑈(𝑠) 𝑠 + 3𝑠 + 2
Solution
𝑛 = 2 𝑏0 = 0 𝑏1 = 1 𝑏1 = 1 𝑏2 = 3 𝑎1 = 1 𝑎2 = 2
𝑥̇ 0 1 𝑥1 0
[ 1] = [ ][ ] + [ ]𝑢
𝑥̇ 2 −𝑎2 −𝑎1 𝑥2 1
0 1 𝑥1 0
=[ ] [𝑥 ] + [ ] 𝑢
−2 −3 2 1
𝑥
𝑦 = [𝑏2 − 𝑎2 𝑏0 𝑏1 − 𝑎1 𝑏0 ] [𝑥1 ] + 𝑏0 𝑢
2
𝑥1
= [3 1] [𝑥 ]
2
𝑥̇ 1 0 0 . . . 0 −𝑎𝑛 𝑥1
𝑥̇ 2 1 0 . . . 0 −𝑎𝑛−1 𝑥2
. . . . . .
. = . . . . .
. . . . . .
𝑥̇ 𝑛−1 0 0 . . . 0 −𝑎2 𝑥𝑛−1
[ 𝑥̇ 𝑛 ] [0 0 . . . 1 −𝑎1 ] [ 𝑥𝑛 ]
𝑏𝑛 − 𝑎𝑛 𝑏0
𝑏𝑛−1 − 𝑎𝑛−1 𝑏0
.
+ . 𝑢 (1.15)
.
𝑏2 − 𝑎2 𝑏0
[ 𝑏1 − 𝑎1 𝑏0 ]
and
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑥1
𝑥2
.
𝑦 = [0 0 . . . 0 1] .
.
𝑥𝑛−1
[ 𝑥𝑛 ]
+ 𝑏0 𝑢 (1.16)
Example 1.4
Obtain the observable canonical form of the state space representation for the system with the transfer
function
𝑌(𝑠) 𝑠+3
= 2
𝑈(𝑠) 𝑠 + 3𝑠 + 2
Solution
𝑛 = 2 𝑏0 = 0 𝑏1 = 1 𝑏1 = 1 𝑏2 = 3 𝑎1 = 1 𝑎2 = 2
𝑥̇ 0 −𝑎2 𝑥1 𝑏 − 𝑎2 𝑏0
[ 1] = [ ][ ] + [ 2 ]𝑢
𝑥̇ 2 1 −𝑎1 𝑥2 𝑏1 − 𝑎1 𝑏0
0 −2 𝑥1 3
=[ ] [𝑥 ] + [ ] 𝑢
1 −3 2 1
𝑥1
𝑦 = [0 1] [𝑥 ] + 𝑏0 𝑢
2
𝑥1
= [0 1] [𝑥 ]
2
If the denominator polynomial has distinct roots then the transfer function can be written as
1𝑐 2 𝑐 𝑐 𝑛−1 𝑐
𝑛
= 𝑏0 + (𝑠+𝑝 )
+ (𝑠+𝑝 . . . + (𝑠+𝑝 + (𝑠+𝑝 (1.18)
1 2) 𝑛−1 ) 𝑛)
The diagonal canonical form of the state space representation of the system is given by
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑥̇ 1 −𝑝1 0 . . . 0 0 𝑥1
𝑥̇ 2 0 −𝑝1 . . . 0 0 𝑥2
. . . . . .
. = . . . . .
. . . . . .
𝑥̇ 𝑛−1 0 0 . . . −𝑝𝑛−1 0 𝑥𝑛−1
[ 𝑥̇ 𝑛 ] [ 0 0 . . . 0 −𝑝𝑛 ] [ 𝑥𝑛 ]
1
1
.
+ . 𝑢 (1.19)
.
1
[1]
and
𝑥1
𝑥2
.
𝑦 = [𝑐1 𝑐2 . . . 𝑐𝑛−1 𝑐𝑛 ] .
.
𝑥𝑛−1
[ 𝑥𝑛 ]
+ 𝑏0 𝑢 (1.20)
Example1.5
Obtain the diagonal canonical form of the state space representation for the system with the transfer
function
𝑌(𝑠) 𝑠+3
= 2
𝑈(𝑠) 𝑠 + 3𝑠 + 2
Solution
𝑠+3 𝑠+3 𝑐1 𝑐2
= = +
𝑠2 + 3𝑠 + 2 (𝑠 + 1)(𝑠 + 2) (𝑠 + 1) (𝑠 + 2)
𝑏0 = 0 𝑐1 = 2 𝑐2 = −1 𝑝1 = 1 𝑝2 = 2
𝑥̇ −𝑝 0 𝑥1 1
[ 1] = [ 1 ][ ] + [ ]𝑢
𝑥̇ 2 0 −𝑝2 𝑥2 1
−1 0 𝑥1 1
=[ ][ ] + [ ]𝑢
0 −2 𝑥2 1
𝑥
𝑦 = [𝑐1 𝑐2 ] [ 1 ] + 𝑏0 𝑢
𝑥2
𝑥1
= [2 −1] [𝑥 ]
2
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑌(𝑠)
𝑈(𝑠)
𝑏0 𝑠 𝑛 + 𝑏1 𝑠 𝑛−1 + . . . +𝑏𝑛−1 𝑠 + 𝑏𝑛
= (1.21)
(𝑠 + 𝑝1 )3 (𝑠 + 𝑝4 ) . . . (𝑠 + 𝑝𝑛 )
The partial fraction expansion of the equation becomes
𝑌(𝑠) 𝑐1 𝑐2 𝑐3 𝑐4
= 𝑏0 + 3
+ 2
+ +
𝑈(𝑠) (𝑠 + 𝑝1 ) (𝑠 + 𝑝1 ) (𝑠 + 𝑝1 ) (𝑠 + 𝑝4 )
𝑐𝑛
+. . . + (1.22)
(𝑠 + 𝑝𝑛 )
The state space representation of the system in Jordan canonical form becomes
𝑥̇ 1 −𝑝1 1 0 0 . . . 0 𝑥1 0
𝑥̇ 2 0 −𝑝1 1 . . 𝑥2 0
𝑥̇ 3 0 0 −𝑝1 0 . . . 0 𝑥3 1
𝑥̇ 4 0 −𝑝4 . 𝑥4 1
= . + 𝑢 (1.23)
. . . .
. . . . .
. . . . .
[𝑥̇ 𝑛 ] [ 0 . . 0 . . . −𝑝𝑛 ] [𝑥 𝑛 ] [1 ]
and
𝑥1
𝑥2
.
𝑦 = [𝑐1 𝑐2 . . . 𝑐𝑛 ] . + 𝑏0 𝑢 (1.24)
.
[𝑥𝑛 ]
The characteristic equation of a given system remains invariant under different forms of state variable
representation. This can be true for the transfer function also. The choice of the states is not unique
Example 1.6
Consider the system
𝑦⃛ + 6𝑦̈ + 11𝑦̇ + 6𝑦 = 6𝑢
where 𝑦 is the output and 𝑢 is the input. Obtain the state space representation of the system
Solution I
Let
𝑥1 = 𝑦 𝑥1̇ = 𝑥2
𝑥2 = 𝑦̇ 𝑥̇ 2 = 𝑥3
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑥̇ 1 0 1 0 𝑥1 0
[𝑥̇ 2 ] = [ 0 0 1 ] [𝑥2 ] + [0] 𝑢
𝑥̇ 3 −6 −11 −6 𝑥3 6
𝑥1
𝑦 = [1 0 0] [𝑥2 ]
𝑥3
|𝑆𝐼 − 𝐴| = 0
𝑠 3 + 6𝑠 2 + 11𝑠 + 6 = 0
Solution II
𝑦⃛ + 6𝑦̈ + 11𝑦̇ + 6𝑦 = 6𝑢
𝑌(𝑠) 6
= 3 2
𝑈(𝑠) 𝑠 + 6𝑠 + 11𝑠 + 6
6
=
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)
By partial fraction expansion
𝑌(𝑠) 3 −6 3
= + +
𝑈(𝑠) (𝑠 + 1) (𝑠 + 2) (𝑠 + 3)
3 −6 3
𝑌(𝑠) = 𝑈(𝑠) + 𝑈(𝑠) + 𝑈(𝑠)
(𝑠 + 1) (𝑠 + 2) (𝑠 + 3)
where
3
𝑋1 (𝑠) = 𝑈(𝑠)𝑥̇ 1 = −𝑥1 + 3𝑢
(𝑠 + 1)
−6
𝑋2 (𝑠) = 𝑈(𝑠)𝑥̇ 2 = −2𝑥2 − 6𝑢
(𝑠 + 2)
3
𝑋1 (𝑠) = 𝑈(𝑠) 𝑥̇ 3 = −3𝑥3 + 3𝑢
(𝑠 + 3)
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑥̇ 1 1 0 0 𝑥1 3
[𝑥̇ 2 ] = [0 −2 0 ] [𝑥2 ] + [−6] 𝑢
𝑥̇ 3 0 0 −3 𝑥3 3
𝑥1
𝑦 = [1 1 1] [𝑥2 ]
𝑥3
The characteristic equation in this case becomes
|𝑆𝐼 − 𝐴| = 0
𝑠 3 + 6𝑠 2 + 11𝑠 + 6 = 0
It has been stated that the choice of states is not unique for a given system. Suppose that there exists a set
of state variables
𝑋 = [𝑥1 𝑥2 . . . 𝑥𝑛 ]𝑇 (1.25)
𝑍 = [𝑧1 𝑧 . . . 𝑧𝑛 ]𝑇 (1.26)
Let
𝑋 = 𝑃𝑍 𝑖. 𝑒 𝑍 = 𝑃−1 𝑋 (1.27)
𝑍̇ = 𝑃−1 𝑋̇ (1.28)
𝑋̇ = 𝐴𝑥 + 𝐵𝑢
𝑦 = 𝐶𝑥
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
𝑍̇ = 𝐴̂𝑧 + 𝐵̂ 𝑢 (1.32)
𝑦 = 𝐶̂ 𝑥 z (1.33)
where 𝐴̂ = 𝑃−1 𝐴𝑃, 𝐵̂ = 𝑃−1 𝐵 𝑎𝑛𝑑 𝐶̂ = 𝐶𝑃
Hence similarity transformation the transformed system can be represented in the vector-matrix
differential form as
NB
i. The characteristic equations and hence the Eigen values of 𝐴 and 𝐴̂ are invariant under similarity
transformation
ii. The transfer function remains invariant under similarity transformation
𝐴𝑥 = 𝜆𝑥 (1.34)
The values of the scalar 𝜆 for which non trivial solutions exist are called Eigen values and the corresponding
solutions 𝑥 = 0 are called Eigen vectors
Corresponding to each Eigen value is a non-zero solution of 𝑥=𝑒𝑖 . This is called the Eigen vector of A
corresponding to 𝜆𝑖
Example 1.7
4 1
Determine the Eigen values and Eigen vectors of 𝐴𝑥 = 𝜆𝑥 where 𝐴 = [ ]
3 2
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
Solution
|𝜆𝐼 − 𝐴| = 0
(𝜆 − 4)(𝜆 − 2) − 3 = 0
𝜆1 = 5 , 𝜆2 = 1
For 𝜆1 = 5, 𝐴𝑥 = 𝜆𝑥 becomes
4 1 𝑥1 𝑥1
[ ] [𝑥 ] = 5 [𝑥 ]
3 2 2 2
4𝑥1 + 𝑥2 = 5𝑥1
3𝑥1 + 2𝑥2 = 5𝑥2
𝑥1 = 𝑥2
𝑥1 1
𝑒1 = [𝑥 ] = [ ] simplest form
2 1
For 𝜆2 = 1, 𝐴𝑥 = 𝜆𝑥 becomes
4 1 𝑥1 𝑥1
[ ] [𝑥 ] = 1 [𝑥 ]
3 2 2 2
4𝑥1 + 𝑥2 = 𝑥1
3𝑥1 + 2𝑥2 = 𝑥2
𝑥1 = −3𝑥2
𝑥1 1
𝑒2 = [𝑥 ] = [ ] simplest form
2 −3
𝑃 = [𝑒1 𝑒2 ] = [1 1
]
1 −3
1 1 −1 4 1 1 1 5 0
𝐴̂ = 𝑃−1 𝐴𝑃 = [ ] [ ][ ]=[ ]
1 −3 3 2 1 −3 0 1
Under similarity transformation the characteristic equation does not change i.e.
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
In some cases, the matrix 𝐴 will have repeated Eigen values. The Eigen vectors are evaluated as follows
Example 1.8
3 −3 2
Determine the Eigen values and Eigen vectors of 𝐴𝑥 = 𝜆𝑥 where 𝐴 = [−1 5 −2]
−1 3 0
Solution
|𝜆𝐼 − 𝐴| = 0
𝜆−3 3 −2
| 1 𝜆−5 2 |=0
1 −3 𝜆
𝜆3 − 8𝜆2 + 20𝜆 − 16 = 0
𝜆1 = 4, 𝜆2 = 𝜆3 = 2
For 𝜆1 = 4
3 −3 2 𝑥1 𝑥1
[−1 5 −2] [𝑥2 ] = 4 [[𝑥2 ]]
−1 3 0 𝑥3 𝑥3
This yield
1
𝑒1 = [−1]
−1
For 𝜆2 = 𝜆3 = 2
3 −3 2 𝑥1 𝑥1
[−1 5 −2] [𝑥2 ] = 2 [[𝑥2 ]]
−1 3 0 𝑥3 𝑥3
𝑥1 − 3𝑥2 + 2𝑥3 = 0
𝑥1 − 3𝛼 + 2𝛽 = 0
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EEE 2502 CONTROL ENGINEERING III By Linus Aloo MAY 2017
3 −2
𝑒 = 𝛼 [ 1] + 𝛽 [ 0 ]
0 1
3
For 𝛽 = 0 𝑎𝑛𝑑 𝛼 = 1 , 𝑒2 = [1]
0
−2
For 𝛽 = 1 𝑎𝑛𝑑 𝛼 = 0 , 𝑒3 = [ 0 ]
1
1 3 −2
𝑃 = [−1 1 0 ]
−1 0 1
1 3 −2 −1 3 −3 2 1 3 −2
𝐴̂ = 𝑃−1 𝐴𝑃 = [−1 1 0 ] [−1 5 −2] [−1 1 0]
−1 0 1 −1 3 0 −1 0 1
4 0 0
= [0 2 0]
0 0 2
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