Linear System Theory

Homework #4
Semester: 2019 Spring Issued: 06/03/2019
Instructor: Chung Choo Chung Due: 06/17/2019
Office : Engineering Center A402-1 / Phone: 2220-1724

1. Do Problem 4.1 of C T. Chen.

2. Do Problem 5.3 of C. T. Chen.

3. Do Problem 6.8 of C. T. Chen.

4. Do Problem 6.10 of C. T. Chen.

There is a typo in the output matrix in the book. It should be read as          .

5. Do Example 6.8 of C.T. Chen.

(a) Using Matlab command ctrb find the controllable cannonical form and verify it with the example
in the textbook.
(b) Find the transfer function of the original system and the reduced order system.


(c) For the initial state     and unit step input  ⋅ , find    for ∈    .

(d) Find the corresponding initial state 
    for    and find    for∈    .

6. Consider the numerical solution of    by the Forward Euler method.

Let
     

   .
  

Find a sharp bound on the step size  so that the method leads to  →  as  →∞ .

7. Consider the system         where

     
  
      
    

(a) Is ∑ controllable?
(b) Compute using any method    .
(c) Is it possible to find an input    that drives ∑ from

  

    to    
 
If so find   
(d) Is your answer to (c) above unique/
8. Let H(s) be a transfer-function with realization        where
      

     
            
      

(a) Is ∑ controllable? Observable?

(b) Place ∑ in Kalman Canonical form (easy version).
(c) Use your answer above to obtain a lower-dimensional realization for H(s).
(d) Is your answer in part (c) controllable? Observable?
(e) Find H(s).

9. Consider the system

            
where
     

         

        

(a) Verify that (A, B) is controllable.

(b) Transform this system into controllable canonical form.
(c) Design a state feedback law that places the closed loop eigenvalues at -1, -1, -1.
(d) Is your answer unique?

10. Is the realization        below stabilizable? Is it detectable?

     
   
  
   



  
 






     
 
   