Homework 4 Solutions – ECE6550, Fall 2011

1
a

⇥ ⇤ 1 ↵
= B AB = .
1 +1
Since ↵ 6= + 1 we have rank( ) = 2 and, as such, the system is completely controllable.

b
Since the system is CC, we know that this is indeed possible. Let K = [k1 , k2 ].

↵ + k1 k2 2
A BK ( )= = + ( 1 ↵ + k1 + k2 ) + ↵ ↵k2 k1 + k2 .
+ k1 1 + k2

The desired characteristic polynomial is

2
( + 1 + 5j)( + 1 5j) = + 2 + 26.

Identifying the coefficients gives that

29 29
k1 = 3 + ↵ , k2 = .
1+ ↵ 1+ ↵

2
a
 
C 2 0
⌦= = ,
CA 2↵ 0
which has rank 1, and as such the system is not completely observable.

b
Since the system is not CO we know that we cannot place the eigenvalues of the estimation error dynamics
arbitrarily. However, we might be lucky enough to be able to place them in -1, -2.

↵ + 2`1 0 2
A LC ( )= = + ( ↵ + 2`1 1) + ↵ 2`1 .
+ 2`2 1

The desired characteristic polynomial is

2
( + 1)( + 2) = +3 +2

and identification of the coefficients yields a contradiction, i.e., it cannot be done.

1
3
a
Since the system is CC we already have it on the controllable decomposition form (the uncontrollable
part is non-existent), i.e., we do not need to change the system whatsoever.

b
Since we already have that A12 = 0 and C2 = 0 we already have the system on observable decomposition
form, i.e., no changes are needed in this case as well.

4
Since R( ) = Rn , we do not have to worry about computing intersections. Instead we simply note
that the only pieces that are non-zero in the Kalman decomposition are the ones that are controllable.
And, since the system is already on observable decomposition form we, again, do not actually have to do
anything, i.e., the system is already on Kalman decomposition form.
The minimal part of the system is thus

ẋ1 = ↵x1 + u, y = 2x1 ,

and the McMillan degree is 1.

5
The transfer is possible if and only if

x(T ) eAT x(0) 2 R( ).

Moreover,  ⇢
1 0 1
= ) R( ) = span .
1 0 0
And, as A is already on Jordan form, we know that
 T 
e T eT T eT
eAT = T ) e AT
x(0) = .
0 e eT

Hence, transfer between x(0) and x(T ) is possible if and only if

  ⇢
2 T eT 1
2 span ,
2 eT 0

i.e., i↵
2 = eT ) T = ln(2).