610 CHAPTER 11 The Design of State Variable Feedback Systems

−(2k 2 − 6k + 3)
p22 = .
4(4k 2 − 8k + 3)

The performance index is computed to be

1
J = xT (0)Px(0) = p11 + 2p12 + p22 = ,
2k − 1

when x(0) = [1 1]T . So as k → ∞, J → 0. The system is unstable without

feedback.
P11.4 The performance index is

J = xT (0)Px(0) = p11 − 2p12 + p22 .

We determine that

)
2k 2 + 1

eb
er or in ing
ed id n
W
no the iss tea s
J= .

itt W tio
w
t p W em ch

e
d on g. in t la

m ld a
2k 2
an ing rnin tors igh

.
r
or ud a uc y
w cl le tr p

So, when k → ∞, the performance index J → 1. The plot of J versus k

e in nt ns co

D
th k ( de f i es

is shown in Figure P11.4.

of or stu e o tat
ity s w g us d S

is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by

k
in o e r
y y p d le d
ro n an o te
st f a s d s ec

60
de o rse de ot
ill le u vi pr
w r sa co pro is
o eir is rk
th nd wo

50
a his
T

40

30
J

20

10

0
0 1 2 3 4 5 6 7 8 9 10
K

FIGURE P11.4
The performance index J versus k.

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