Brief Review on Linear System

➢ Laplace Transformation
▪ Time domain (t) into Laplace (s) domain
▪ Differential Equation in time domain becomes Polynomial Equation in Laplace domain
▪ Transfer function of a set of Differential Equations
➢ State space form
▪ A higher order differential equation reduced into a set of reduced order differential equations
▪ As an example, a 2nd order differential equation becomes two 1st order differential equations
▪ Solution could be obtained via transfer function (Laplace transformation)
▪ Solution could be obtained via Integration procedure of differential equations system
➢ Integration procedure of linear differential equations system
▪ Parameter Variation → Define homogeneous solution and Fundamental Matrix
▪ Diagonalisation → Evaluate eigenvalues and eigenvectors
1 𝑥ሷ + 𝛼𝑥ሶ + 𝛽𝑥 = 𝑓(𝑡)

Define 𝑥 = 𝑥1 ; 𝑥ሶ = 𝑥2
Hence, 𝑥1ሶ = 𝑥2 ; 𝑥ሷ = 𝑥1ሷ = 𝑥2ሶ
Thus,
𝑥1ሶ = 𝑥2
𝑥2ሶ = −𝛼𝑥2 − 𝛽𝑥1 + 𝑓(𝑡)

𝑥1ሶ 0 1 𝑥1 0
= + 𝑓(𝑡)
𝑥2ሶ −𝛽 −𝛼 𝑥2 1

0 1 0
𝐴= 𝐵=
−𝛽 −𝛼 1
2 𝑑𝑥1
= 2𝑥1 − 4𝑥2 − 2𝑓(𝑡)
𝑑𝑡
𝑑𝑥2
= −𝑥1 − 4𝑥2 + 3𝑓(𝑡)
𝑑𝑡
𝑥1 0 = 0; 𝑥2 0 = 1

𝑥1 ′ 2 −4 𝑥1 −2
= 𝑥 + 𝑓(𝑡)
𝑥2 ′ −1 −4 2 3
 2 −4
𝐴=
−1 −4

By means of DIAGONALISATION, we can evaluate the exponential matrix as

𝑒 𝐴𝑡 = 𝐶𝑒 𝑡𝐷 𝐶 −1
Where C and D, are the eigenvectors and eigenvalues matrices of A, respectively.

𝜆−2 4
𝜆𝐼 − 𝐴 = = 𝜆2 + 2𝜆 − 12 = 0
1 𝜆+4

𝜆1 = 2.6; 𝜆2 = −4.6

2.6 0 1 0.6
𝐷= 𝐶=
0 −4.6 −0.15 1
 2.6 0 1 0.6
𝐷= 𝐶=
0 −4.6 −0.15 1

𝑒 2.6𝑡 0
𝑒 𝐷𝑡 =
0 𝑒 −4.6𝑡

0.92𝑒 2.6𝑡 + 0.08𝑒 −4.6𝑡 0.55𝑒 −4.6𝑡 − 0.55𝑒 2.6𝑡

𝑒 𝐴𝑡 = 𝐶𝑒 𝐷𝑡 𝐶 −1 =
0.14𝑒 −4.6𝑡 − 0.14𝑒 2.6𝑡 0.92𝑒 −4.6𝑡 + 0.08𝑒 2.6𝑡

−4𝑡 0
→ 𝑓 𝑡 = 2𝑡 𝐵𝑢 𝑡 = 𝑋(0) =
6𝑡 1

−1.6𝑒 2.6𝑡 + 0.7𝑒 −4.6𝑡 + 3.4𝑡 + 0.9

𝑋 𝑡 =
0.24𝑒 2.6𝑡 + 1.15𝑒 −4.6𝑡 + 0.64𝑡 − 0.39

−1.6 + 0.7 + 0 + 0.9 0

Check solution with initial condition → 𝑋 0 = =
0.24 + 1.15 + 0 − 0.39 1
 2 −4 −2
𝐴= 𝐵=
−1 −4 3
By means of LAPLACE TRANSFORMATION and defining a Transfer Function

𝑋(𝑠)
= 𝐺(𝑠)
𝐹(𝑠)
−1
−1 𝑠−2 4 −2
𝐺 𝑠 = 𝑠𝐼 − 𝐴 𝐵 =
1 𝑠+4 3
1 𝑠+4 −4 −2 1 −2𝑠 − 20
𝐺 𝑠 = 2 = 2
𝑠 + 2𝑠 − 12 −1 𝑠−2 3 𝑠 + 2𝑠 − 12 3𝑠 − 4

2
→ 𝑓 𝑡 = 2𝑡 𝐹(𝑠) = 2
𝑠
ℒ −1
1 −4𝑠 − 40 𝑥1 (𝑡)
𝑋 𝑠 =𝐺 𝑠 𝐹 𝑠 = 2 𝑋 𝑡 =
𝑠 𝑠 − 2.6 𝑠 + 4.6 6𝑠 − 8 𝑥2 (𝑡)
3 𝑑𝑥1
= 2𝑥1 − 4𝑥2 − 2𝑓(𝑡)
𝑑𝑡
𝑑𝑥2
= −𝑥1 − 4𝑥2 + 3𝑓(𝑡)
𝑑𝑡
𝑥1 0 = 0; 𝑥2 0 = 1

𝑥1 ′ 2 −4 𝑥1 −2
= 𝑥 + 𝑓(𝑡)
𝑥2 ′ −1 −4 2 3
𝑥1
𝑦 = 𝑥1 + 2𝑥2 = 1 2 𝑥
2

𝑋(𝑠)
2 −4 −2 = 𝐺(𝑠)
𝐴= 𝐵= 𝐹(𝑠) −1
−1 −4 3 𝐺 𝑠 = 𝑠𝐼 − 𝐴 𝐵
𝑌(𝑠)
𝐶= 1 2 = 𝐶𝐺(𝑠)
𝐹(𝑠)