5.31.

Rerespent the systems below in state space in phase variable form. Draw the signal –
flow graphs
Solution:
a.
s+3
G ( s )= 2
s + 2 s+7
Separate the block in two cascaded blocks

From the first block we have,

( s2 +2 s +7 ) X 1 ( s )=R(s)
Taking the Laplace transform assumming zero conditions yields
ẍ 1+ 2 ẋ 1 +7 x1 =r

Choosing state variables as sucessive derivatives, we get

x 1=x 1

x 2= ẋ 1

Then,
ẋ 1=x 2

ẋ 2= ẍ 1=−2 x 2−7 x1 +r

In vector – matrix form:

[][
ẋ1
=
0 1 x1 0
+ r
ẋ2 −7 −2 x 2 1 ][ ] [ ]
x 1=[1 0]
[]
x1
x2

From the second block we have,

C ( s ) =(s+3) X 1 ( s)

Taking the inverse Laplace transform with zero initial conditions, we get
c= ẋ 1 +3 x 1

But,
x 1=x 1

ẋ 1=x 2

Hence,
c=3 x 1 + x 2

In vector – matrix form:

y=c (t )=[3 1]
[]
x1
x2

The representation in phase – variable form is:

ẋ= [−70 −21 ] x +[01 ] r (t)

y= [ 3 1 ] x

Drawing the signal – flow graph

b.
s 2+ 2 s+ 6
G ( s )=
3 s 3+5 s2 +2 s +1
Separate the block in two cascaded blocks

From the first block we have,

( 3 s3 +5 s 2 +2 s+1 ) X 1 ( s )=R (s )
Taking the Laplace transform assumming zero conditions yields
3 x⃛ 1+5 ẍ 1 +2 ẋ 1 + x 1=r

Choosing state variables as sucessive derivatives, we get

x 1=x 1

x 2= ẋ 1

x 3= ẍ 1

Then,
ẋ 1=x 2

ẋ 2=x 3

−1 2 5 1
ẋ 3= ⃛x 1= x 1 − x 2− x 3 + r
3 3 3 3

In vector – matrix form:

[][ ][ ] [ ]
0 1 0 0
ẋ1 x1
0 0 1 0
ẋ 2 = x2 + r
−1 −2 −5 1
ẋ3 3 3 3 x3 3

[]
x1
x 1=[1 0 0 ] x2
x3

From the second block we have,

2
C ( s ) =(s +2 s +6) X 1 (s )

Taking the inverse Laplace transform with zero initial conditions, we get
c= ẍ 1 +2 ẋ1 +6 x 1

But,
x 1=x 1

ẋ 1=x 2

ẍ 1=x 3

Hence,
c=x 3 +2 x 2+6 x 1
In vector – matrix form:

[]
x1
y=c (t )=[ 6 2 1] x2
x3

The representation in phase – variable form is:

[ ] []
0 1 0 0
0 0 1 0
ẋ= x+ r ( t)
−1 −2 −5 1
3 3 3 3

y=[6 2 1]x

Drawing the signal – flow graph

c.
s3 +2 s 2+ 7 s+ 1
G ( s )=
s 4 +3 s3 +5 s 2 +6 s +4
Separate the block in two cascaded blocks

From the first block we have,

( s 4+ 3 s 3+ 5 s2 +6 s+ 4 ) X 1 ( s )=R (s )
Taking the Laplace transform assumming zero conditions yields
x 1'' ' ' +3 x 1' ' ' +5 x 1'' +6 x 1' + 4 x 1=r

Choosing state variables as sucessive derivatives, we get

x 1=x 1
'
x 2=x 1
''
x 3=x 1
' ''
x 4 =x1

Then,
'
x 1 =x2
'
x 2 =x3
'
x 3 =x 4
' '' ' '
x 4 =x 1 =−4 x1−6 x2−5 x 3−3 x 4 +r

In vector – matrix form:

[ ][ ][ ] [ ]
x 1' 0 1 0 0 x1 0
'
x2 0 x2 + 0 r
= 0 0 1
x3 '
0 0 0 1 x3 0
x4
' −4 −6 −5 −3 x 4 1

[]
x1
x
x 1=[1 0 0 0] 2
x3
x4

From the second block we have,

3 2
C ( s ) =(s +2 s +7 s +1) X 1 (s)

Taking the inverse Laplace transform with zero initial conditions, we get
c=x 1' ' ' +2 x1' ' +7 x 1' + x1

But,
x 1=x 1
'
x 1 =x2
x 1' ' =x 3
'' '
x 1 =x 4

Hence,
c=x 4 + 2 x 3 +7 x 2+ x 1

In vector – matrix form:

[]
x1
x
y=c (t)=[1 7 2 1] 2
x3
x4

The representation in phase – variable form is:

[ ] []
0 1 0 0 0
0 0 1 0 0
ẋ= x+ r (t)
0 0 0 1 0
−4 −6 −5 −3 1

y=[1 7 2 1] x

Drawing the signal – flow graph

5.39.
Given a unity feedback system with the forward-path TF
7
G ( s )=
s ( s+9)(s+12)

use matlab to represent the closed loop system in state space in

a.phase-variable form
b.parallel form
Solution:
Code:
numg=7;

deng=poly([0 -9 -12]);

G=tf(numg,deng);

T=feedback(G,1)

[numt,dent]=tfdata(T,'v')

[A,B,C,D]=tf2ss(numt,dent); %Obtain controller canonical form

'(a)' %Display label

A=flipud(A); %Convert to phase-variable form

A=fliplr(A) %Convert to phase-variable form

B=flipud(B) %Convert to phase-variable form

C=fliplr(C) %Convert to phase-variable form

'(b)' %Display label

[a,b,c,d]=canon(A,B,C,D) %Convert to parallel form

Computer response:
T =

------------------------

s^3 + 21 s^2 + 108 s + 7

Continuous-time transfer function.

numt =

0 0 0 7

dent =

1 21 108 7
ans =

'(a)'

A =

0 1 0

0 0 1

-7 -108 -21

B =

C =

7 0 0

ans =

'(b)'

a =

-12.1807 0 0

0 -8.7537 0

0 0 -0.0657

b =

-5.9027

-5.3688

0.0767

c =

-0.0286 0.0438 0.8676

d =

5.45. Diagonalize the following system

[ ][]
−5 −5 4 −1
ẋ= 2 0 −2 x+ 2 r ; y=[ −1 1 2 ] x
0 −2 −1 −2

Solution:
Eigenvalues are -1, -2, and -3 since,
|λI − A|=( λ+3 ) ( λ+2 ) ( λ +1)
Solving for the eigenvectors, Ax=λx
4 x3 −5 x 2− ( λ+5 ) x 1=0

−2 x3 −λ x 2−2 x1=0

−2 x2 −( λ +1) x 3=0

For
λ=−1, x 2=0 , x 1=x 3.
x3
λ=−1 , x 1=x 2=
2
−x 2
λ=−3 , x 1= , x 2=x 3
2
Thus,
−1 −1
ż=P APz+ P Bu ; y=CPz
Where

( ) ( )
−1 0 0 −12
−1 −1
P AP= 0 −2 0 ; P B= 8 ;CP=¿
0 0 −3 −3