Indian Institute of Technology Goa

School of Electrical Sciences

Assignment #2, Sep 2020
Linear System Theory (EE-601)

1 Consider a continuous time linear time invariant dynamic system described by

−1 −2 2 0 0
𝑥̇ (𝑡) = [−1 −3 2] 𝑥(𝑡) + [−1 1] 𝑢(𝑡)
−2 −4 3 −1 1
1 1 0
𝑦(𝑡) = [ ] 𝑥(𝑡)
0 1 1

(a) Obtain the transfer function of the system

(b) Is the system BIBO stable? Asymptotically stable?
2 A dynamic system is modeled by
1 1 0 1
𝑥̇ (𝑡) = [0 −1 0 ] 𝑥(𝑡) + [0] 𝑢(𝑡)
0 0 −2 0

𝑦(𝑡) = [1 0 0]𝑥(𝑡)

Is the system BIBO stable? Asymptotically stable?

3 Determine the stability of these systems (marginal, asymptotic, unstable).
You have to clearly justify your answer.
0.4 1 10000000
(a ) 𝑥(𝑘 + 1) = [ ] 𝑥(𝑘) + [ ] 𝑢(𝑘)
2 2 0
0
𝑥𝑒 = [ ] , 𝑢𝑒 = 0
0

−0.4 1 1 0
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(b ) 𝑥̇ (𝑡) = 𝑇 [ 0 −0.4 1 0 ] 𝑇 −1 𝑥(𝑡) + [ ] 𝑢(𝑡)
1
0 0 −0.4 0
1
0 0 0 0.1

−0.4 1 1 0
(c ) 𝑥̇ (𝑡) = [ 0 −0.4 1 0] 𝑥(𝑡)
0 0 −0.4 0
0 0 0 0

4 Obtain the impulse response of a single input multiple output system from its

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 state-space model and extend the same for MIMO system.
5 You are given the following nonlinear dynamical system:
𝑥̇ 1 (𝑡) = 𝑥1 (𝑡) sin(𝑥22 (𝑡)) + 𝑥12 𝑥2 (𝑡)𝑢(𝑡)
𝑥̇ 2 (𝑡) = 𝑥1 (𝑡)𝑒 −𝑥2 (𝑡) + sin(𝑢2 (𝑡))
𝑦(𝑡) = 2𝑥1 (𝑡)𝑥2 (𝑡) + 𝑥22 (𝑡) + 𝑢(𝑡)

Obtain the linearized state space representation of the following nonlinear system around

𝑥𝑒1
𝑥𝑒 = [𝑥 ] and 𝑢𝑒 = 𝑢∗
𝑒2

These equilibrium quantities are assumed to be given. You should obtain A, B, C, D for

𝑥̃̇(𝑡) = 𝐴𝑥̃(𝑡) + 𝐵𝑢̃(t) 𝑦̃(𝑡) = 𝐶𝑥̃(𝑡) + 𝐷𝑢̃(𝑡)

Where
𝑥̃(𝑡) = 𝑥(𝑡) − 𝑥𝑒 and 𝑢̃(𝑡) = 𝑢(𝑡) − 𝑢𝑒

Note that A, B, C, D will be a function of the xe and ue

6 Given 𝐴, 𝐵, 𝐶, 𝐷, determine the stability of the system around this equilibrium point:
0
𝑥𝑒 = [ ] , 𝑢𝑒 = 0
0

Consider an LTI CT system

−2 + 2𝑡 4
𝑥̇ (𝑡) = [ ] 𝑥(𝑡)
−1 2 + 2𝑡
Obtain the state transition matrix 𝑓(𝑡, 𝑡0 ) for the above system. Clearly show your steps
Is this system asymptotically stable?
7 State-space simulation. In this problem, we will use MATLAB to simulate a state-space
system.
Consider the spring-mass-damper model:
𝑦̈ + 𝑐𝑦̇ + 𝑘𝑦 = 𝑢
a) Let 𝑐 = 0.2 and 𝑘 = 1. Create a transfer function model for this system in
MATLAB using the command tf. This can be done by specifying numerator and
denominator coefficients or by using s directly.
b) Plot the impulse response for using the impulse command, and repeat the task

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 using 𝑐 = 0.01 (less damping) and 𝑐 = 0.4 (more damping). Describe what you
see.
c) This time, create a state-space model for this system in MATLAB using the
command ss. Start by finding the (𝐴; 𝐵; 𝐶; 𝐷) matrices by hand. Plot the impulse
response as in part a and verify that you get the same results.
d) MATLAB can convert between state-space and transfer function for you. If H is the
state-space object from part b, run 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛(𝐻) and verify that you
recover the transfer function from part a.
e) Likewise, if G is the transfer function object from part a, run 𝑠𝑠(𝐺) to find a state-
space realization. Is this realization the same as H? Explain.
8 Consider the time-varying linear dynamical system:
Suppose we can find a matrix function 𝑃(𝑡) with the property that
𝑃̇(𝑡) = 𝐴(𝑡)𝑃(𝑡) and det(𝑃(𝑡)) ≠ 0 for all 𝑡 (1)
𝐴𝑃(𝑡) with this property is called a fundamental matrix.
Note that in the case where 𝐴(𝑡) is constant, we can use 𝑃(𝑡) = 𝑒 𝐴𝑡
Define 𝜙(𝑡, 𝜏) = 𝑃(𝑡)𝑃(𝜏)−1
Prove that the solution to (1) is given by:
𝑡
𝑦(𝑡) = 𝐶(𝑡)𝜙(𝑡, 0)𝑥0 + ∫0 𝐶(𝑡)𝜙(𝑡, 𝜏)𝐵( 𝜏)𝑢( 𝜏)𝑑 𝜏 + 𝐷(𝑡)𝑢(𝑡)
Hint: Use the transformation 𝑥(𝑡) = 𝑃(𝑡)𝑧(𝑡)

9 Obtain a state-space representation for the s-degree-of-freedom (s-D.O.F.) robotic

manipulator from the equation of motion
𝑀(𝑞)𝑞̈ + 𝑉(𝑞, 𝑞̇ )𝑞̇ + 𝑔( 𝑞) = 𝜏
where
𝑞= vector of generalized coordinates
𝑀(𝑞)=𝑠 × 𝑠 positive definite inertia matrix
𝑉(𝑞, 𝑞̇ )= 𝑠 × 𝑠 matrix of velocity related term
𝑔( 𝑞)= 𝑠 × 1 vector of gravitational term
𝜏= vector of generalized forces
The output of the manipulator is the position vector𝑞.

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10 Find the equillibrium points of the following systems:
1. 𝑥(𝑘 + 1) = 𝑥(𝑘)[𝑥(𝑘) − 0.5]
2. 𝑥(𝑘 + 1) = 2𝑥(𝑘)
𝑥1 (𝑘 + 1) 0.1 0 𝑥1 (𝑘)
[ ]=[ ][ ]
𝑥2 (𝑘 + 1) 1 0.9 𝑥2 (𝑘)
11 Determine the BIBO stability of the syatem with difference equations
𝑦1 (𝑘 + 2) + 0.1 𝑦2 (𝑘 + 1) = 𝑢(𝑘)
𝑦2 (𝑘 + 2) + 0.9 𝑦1 (𝑘 + 1) = 𝑢(𝑘)