RTS exam

Problem 1
Figure 1 shows a block diagram of a MIMO system with two inputs and two outputs.

R x1
u1 b y1

x2 R
a

c y2
R x3
u2

Figure 1: Block diagram of a MIMO system

a) Derive the state space model of the system using the labeled signals.

b) What are the eigenvalues of the system matrix?

c) Is the MIMO system controllable and observable for all values of parameters a, b,
c?

d) Is it controllable if only a single input u1 or u2 is used?

Is it observable from a single output y1 or y2 alone?

e) Can a SISO controller, connected between one of the inputs and one of the outputs,
be used to place the closed loop poles at arbitrary locations? Give reasons for your
answer and - if needed - place restrictions on the values of parameters a, b, c.

1
Problem 2
Consider a system with a state space realization

ẋ(t) = Ax(t) + Bu(t), y(t) = Cx(t) + Du(t)

where        
−1 −2 1 2 1 0 0 0
A= B= C= D=
1 −4 1 0 0 1 0 2

a) Compute the transfer function representation G(s) of the system.

b) Consider the configuration in Figure 2, where I denotes the identity matrix. Deter-
mine the dimensions of the signals r, e, u, y, x̂, xI , uF and uFI .

r e I xI u FI u y
FI G(s)
- s
uF

x̂
Observer

Figure 2: Observer-based control with integral action

For the following tasks assume that D = 0

c) Consider the configuration in Figure 3, where the observer contains an exact plant
model (A, B, C).

r e I xI u y
G(s)
- s

x̂
Observer

Figure 3: Augmented plant

Construct a state space model (Ā,B̄,C̄) of an augmented system, where the input
ū, output ȳ and states vector x̄ are

2
    
  y x
r
ū = ȳ = x̂ 
 x̄ = x̂ 

u
xI xI

Give the result in terms of the plant model (A,B,C) and L, where L is the observer
gain.

d) Write Matlab code that calculates F and FI such that the closed-loop poles are
assigned to desired locations, specified in a vector p. Assume that A, B, C, L and
p are in the workspace.

3
Problem 3
Consider the following continuous-time system

ẋ1 (t) = u(t)

ẋ2 (t) = x1 (t)
y = x2 (t)

a) Assume the system is preceded by a zero order hold device. Find an exact discrete-
time state space model for a sampling time T = 1.

b) Is the discrete-time system stable?

c) What is the static gain of the discrete-time system? Explain its physical meaning.

d) Give Matlab code for solving (a) and for plotting the step response of the discrete-
time system.

e) For each of the pole locations g, h, i, j, k, and l in the z-plane marked in Figure 4,
find the corresponding impulse response in Figure 5.

0.8

0.6

0.4

0.2
l k i g
0

−0.2

−0.4
j
−0.6
h
−0.8

−1
−1.5 −1 −0.5 0 0.5 1

Figure 4: Pole location in z-plane

4
 20
1
1.

4.
0 0.5

0
−20
0 5 10 15 20 0 5 10 15 20
3
1
2
2.

5.

0.5
1
0
0
0 5 10 15 20 0 5 10 15 20

1
2
3.

6.

0.5
1

0 0
0 5 10 15 20 0 5 10 15 20

Figure 5: Step responses of discrete-time systems

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Problem 4
Consider the following state space model:

x(k + 1) = Φ x(k) + Γ u(k), x(0) = 0

y(k) = C x(k) + D u(k).

The impulse response data g(k) are given by:

g(0) = 0, g(1) = 8, g(2) = 4, g(3) = 2,

g(4) = 1, g(5) = 0.5, g(6) = 0.25, g(7) = 0.125

a) Construct a 4 × 4 Hankel matrix H4 with the given data g(k).

b) Estimate values of Φ, Γ, C and D in the above state space model that match the
given impulse response data.

The singular value decomposition of the Hankel matrix H4 is computed as

 
−0.8677 −0.4339 −0.2169 −0.1085
 −0.4339 0.8992 −0.0504 −0.0252 
U = 
 −0.2169 −0.0504 0.9748 −0.0126 
−0.1085 −0.0252 −0.0126 0.9937
 
10.6250 0 0 0
 0 0.0010 0 0 
S= 
 0 0 0.0006 0 
0 0 0 0.0002
 
−0.8677 0.4971 0 0
 −0.4339 −0.7574 −0.4364 −0.2182 
V = 
 −0.2169 −0.3787 0.8983 −0.0509 
−0.1085 −0.1894 −0.0509 0.9746

c) Which order of the system would you assume? Give reasons!

Compute matrices Γ and C of the state space model for this system, and compare
these values with the result from (b).

d) Give MATLAB code for computing Γ and C of the system using Hankel matrix
Hk (assume Hk is in the workspace).