Linear Systems Theory

Problem Sheet

1. Consider the LTI system    

−1 2 1
Ẋ = X+ u
4 −9 1
Find the state feedback gains such that the closed loop eigenvalues are placed at {−50, −50}.
2. Consider the 2-input, fifth order LTI system Ẋ = AX + BU with
   
2 1 0 0 0 0 0

 0 2 1 0 0 


 0 1 

A=
 0 0 2 0 0 ,B = 
  1 0 

 0 0 0 −1 1   −1 3 
0 0 0 0 −1 0 1
(a) Is the system controllable?
(b) Is the system controllable with any one of the two inputs?
(c) Can there exist a v(t) and scalars α1 and α2 such that the control u1 (t) = α1 v(t) and
u2 (t) = α2 v(t) can control the system?
(d) What if the aim is only to stabilize the system?
3. If the system in Question No. 2 has an output y with
 
y= 1 0 1 0 0 X
can the output be used to monitor the stability of the system?
4. Consider the following LTI system
   
0 0 0 0 1
 0 −2 0 0   1 
Ẋ =  2.5 2.5 −1 0  X +  0
   u

2.5 2.5 3 0 0
 
y = 0 0 1 1 X
(a) Determine the dimension of the controllable, uncontrollable, observable, unobservable
subspaces.
(b) Construct the Kalman Decomposition for the system.
5. A SISO LTI system is represented with the transfer function
35s7 + 1086s6 + 13285s5 + 82402s4 + 278376s3 + 511812s2 + 482964s + 194480
G(s) =
s8 + 17s7 + 144s6 + 978s5 + 5409s4 + 19773s3 + 41486s2 + 44032s + 17760
Design a controller which does not use explicit differentiators, such that all the poles of
the closed loop system are placed to the left of s = −1.

1
6. Consider the transfer function model

2s + 4
G(s) =
6s3 + 21s2 + 21s + 6
(a) Find a state space model for the system and check for its controllability and observ-
ability.
(b) Perform the same operation on the minimal representation of the transfer function.
Note : Minimal representation would have the numerator and denominator polyno-
mials to be co-prime.
7. Let a second order system have the state space representation

ẋ1 = x2
ẋ2 = x2 − x1 + u
y = x1 + x2

Design a ’proportional controller’ such that the closed loop eigenvalues are placed as close
to s = −3 as possible.
8. A sprint coupled cart system (See Fig. 8) is described by the differential equations

Figure 1: Spring Coupled Carts

m1 ẍ1 + k(x1 − x2 ) + f = 0
m2 ẍ2 + k(x2 − x1 ) + f = 0

(a) Construct the state space representation of the system considering x1 , x2 and their
rates as states.
(b) Determine the reachability space (W) for this system.
(c) Check if W = Rn
6 Rn , perform the decomposition into controllable and uncontrollable modes
(d) If W =
and give the physical interpretation of the uncontrollability.
 
−1 −2
9. Consider the dynamical system ẋ = Ax with A = .
1 −4

(a) Find the solution for the equation AT P + P A + Q = 0, with Q being an identity
matrix of appropriate dimensions.
(b) Show that the system ẋ = Ax is an asymptotically stable based on the result obtained.

2
  
0 1 0
10. Given A =  0 0 1 .
1 0 0
Find A100 .
11. Compute the matrix exponent for
 
−1 1 0
A =  −4 3 0 
2 −1 2

12. Consider the system in state space representation :

   
0 0 1 0
ẋ =  0 −1 0  x +  1  u
−2 0 −3 1
 
y = 2 1 1 x

(a) Convert the given state space system into Jordan Canonical form.
(b) Compute the minimal transfer function for the system.
13. Determine the observability of the following system.
   
0 1 0 1 0 0 1
 0 0 1 1 1 1   0 
   
 1 0 1 1 0 −1   0 
Ẋ =  X +  u
 1
 0 −1 0 0 1 


 1 

 0 −1 0 −1 0 −1   0 
1 0 1 0 1 0 1
 
1 0 0 0 0 0
Y =  0 1 0 0 0 0 X
0 0 1 0 0 0

14. Given that a controllable and observable LTI system ẋ = Ax+Bu, y = Cx with A ∈ Rn×n ,
B ∈ Rn×p , C ∈ Rp×n , and A, B, C are all full rank matrices;
show that ABC 6= BCA.