ECE 425 – STATE SPACE DESIGN AND DIGITAL CONTROL

Attempt all questions

15th June 2022

1. With reference to control systems, what do you understand by the following terms.
i. State
ii. State vector
iii. State variables
iv. State-space
v. State observer
vi. Full-Order State Observer
vii. Reduced-order state observer
viii. Minimum-Order Observer
2. State the necessary and sufficient conditions for arbitrary Pole Placement.
3. Consider a system defined by
𝒙 = 𝑨𝒙 + 𝑩𝑢
𝒚 = 𝑪𝒙
−1 0 1 0
where 𝑨 = [ 1 −2 0 ], 𝑩 = [0] and 𝑪 = [1 1 0]. Transform the system equations into
0 0 −3 1
i. Controllable canonical form
ii. Observable canonical form
4. Consider a system defined by Equation below, where 𝑥 = state vector (n-vector), 𝐶 = 1 ∗ 𝑛 constant matrix,
𝐵 = 𝑛 ∗ 1 constant matrix, 𝐴 = 𝑛 ∗ 𝑛 constant matrix, 𝑢 = control signal (scalar), and 𝐷 = constant (scalar)
𝒙 = 𝑨𝒙 + 𝑩𝑢
𝒚 = 𝑪𝒙 + 𝐷𝑢
if the control signal is 𝑢 = −𝐾𝑥, proof that if the system is not completely state controllable, then there are
eigenvalues of matrix 𝑨 − 𝑩𝑲 that cannot be controlled by state feedback.
5. A regulator system has a plant whose transfer function is given by
𝑌(𝑠) 10
=
𝑈(𝑠) (𝑠 + 1)(𝑠 + 2)(𝑠 + 3)
Define state variables as 𝑥1 = 𝑦, 𝑥2 = 𝑥1̇ , and 𝑥3 = 𝑥2̇ . By use of the state-feedback control 𝑢 = −𝑲𝒙, it is
desired to place the closed-loop poles at = −2 ± 𝑗2√3, and 𝑠 = −10. Determine the necessary state-
feedback gain matrix 𝑲 using the following techniques.
i. Transformation Matrix T
ii. Direct Substitution Method
iii. Ackermann’s Formula
6. Consider a system defined by Equation 𝒙 = 𝑨𝒙 + 𝑩𝑢. Where

0 1 0 0
𝑨=[ 0 0 1 ] , 𝑩 = [ 0]
−1 −5 −6 1
if the desired closed-loop poles are at 𝑠 = −2 ± 𝑗4, and 𝑠 = −10. Using the control law 𝑢 = −𝑲𝒙.
Determine the state feedback gain matrix 𝑲 using the following techniques.
iv. Transformation Matrix T
v. Direct Substitution Method
vi. Ackermann’s Formula
7. Design a type 1 servo system when the plant transfer function has an integrator (use all the 3 methods).
i. If the plant transfer function is and the desired closed-loop poles are 𝑠 = −2 ± 𝑗2√3, and 𝑠 = −10.
𝑌(𝑠) 1
=
𝑈(𝑠) 𝑠(𝑠 + 1)(𝑠 + 2)
ii. If the reference input 𝑟 is a step function, obtain the unit-step response of the designed system.
 0 1 0 0
8. Consider the type 1 servo system shown below, where 𝑨 = [0 0 1 ], 𝑩 = [0] and 𝑪 = [1 0 0].
0 −5 −6 1

i. Determine the feedback gain constants 𝑘1 , 𝑘2 , and 𝑘3 such that the closed-loop poles are located at
𝑠 = −2 ± 𝑗4, and 𝑠 = −10.
ii. If the reference input r is a step function, obtain the unit-step response of the designed system.

0 1 0 0
9. Given a system described by the state equation 𝒙̇ = 𝑨𝒙 + 𝐵𝑢, where 𝑨 = [ 0 0 1 ] and 𝑩 = [0]
−30 −31 −10 1
using the control law 𝑢 = −𝑲𝒙. Determine the feedback gain 𝑲 if the desired location of the closed-loop poles is
at 𝑠 = −4 and 𝑠 = −6 ± 𝑗5 (use all the 3 methods).

10. Consider the inverted-pendulum system shown below. If 𝑚 = 2𝑘𝑔, 𝑚 = 0.5𝑘𝑔, 𝑙 = 1𝑚, state variables are
𝑥1 = 𝜗, 𝑥2 = 𝜗̇, 𝑥3 = 𝑥, 𝑥4 = 𝑥̇ , and output variables are 𝑦1 = 𝜗 = 𝑥1 and 𝑦2 = 𝑥 = 𝑥3

i. Draw the block diagram of the inverted-pendulum control system

ii. Derive the state-space equations for this system
iii. It is desired to have closed-loop poles at 𝑠 = 𝜇𝑖 (𝑖 = 1,2,3,4) such that 𝜇1 = −4 + 𝑗4, 𝜇2 =
−4 − 𝑗4, 𝜇3 = −20, 𝜇4 = −20. Determine the state-feedback gain matrix 𝑲.
11. Consider the system defined by
𝑥̇ 0 1 𝑥1 1
[ 1] = [ ][ ] + [ ]𝑢
𝑥̇ 2 0 2 𝑥2 0
Show that this system cannot be stabilized by the state feedback control 𝑢 = −𝑲𝒙 for whatever matrix 𝑲
chosen
12. Consider the system defined by
𝑥̇ 1 0 1 0 𝑥1 0
[𝑥̇ 2 ] = [ 0 0 1 ] [ 𝑥2 ] + [ 0 ]𝑢
𝑥̇ 3 1.244 0.3956 −3.145 3 𝑥 1.244
𝑥1
𝑦 = [1 0 0] [𝑥2 ]
𝑥3
 Given the set of desired poles for the observer to be 𝑠 = −5 ± 𝑗5√3, and 𝑠 = −10, design a full-order
observer.
13. Consider the double integrator system defined by 𝑦̈ = 𝑢, with the state variables as 𝑥1 = 𝑦, and 𝑥2 = 𝑦̇ the
state-space representation for the system is
𝑥̇ 0 1 𝑥1 1
[ 1] = [ ][ ] + [ ]𝑢
𝑥̇ 2 0 2 𝑥2 0
𝑥1
𝑦 = [1 0] [𝑥 ]
2
Design a regulator for this system.
i. Using the pole-placement-with-observer approach, design an observer controller. Choose the desired
closed-loop poles for the pole placement part to be 𝑠 = −0.7071 ± 𝑗0.7071.
ii. Assume using a minimum-order observer, choose the desired observer pole at 𝑠 = −5.
14. Consider a system defined by
𝒙 = 𝑨𝒙 + 𝑩𝑢
𝒚 = 𝑪𝒙
0 1 0 0
where 𝑨 = [ 0 0 1 ], 𝑩 = [0] and 𝑪 = [1 0 0]. Design a regulator system by the pole-placement-
−6 −11 −6 1
with observer approach.
i. Assume that the desired closed-loop poles for pole placement are located at 𝑠 = −1 ± 𝑗1 and 𝑠 =
−5.
ii. The desired observer poles are located at 𝑠 = −6, 𝑠 = −6, and 𝑠 = −6.
iii. Obtain the transfer function of the observer controller
15. Using the pole-placement-with-observer approach, design observer controllers (one with a full-order observer
and the other with a minimum-order observer) for the system shown below.

i. The desired closed-loop poles for the pole-placement part are 𝑠 = −1 ± 𝑗2 and 𝑠 = −5.
ii. The desired observer poles are
a) 𝑠 =– 10, 𝑠 =– 10, 𝑠 =– 10 for the full-order observer
b) 𝑠 =– 10, 𝑠 =– 10 for the minimum-order observer.
iii. Compare the unit-step responses and bandwidth of the designed systems in (i) and (ii).
16. Using the pole-placement-with-observer approach, design the control systems shown below. If the desired
closed-loop poles for the pole placement are located at 𝑠 = −2 ± 𝑗2, and the desired observer poles are
located at 𝑠 = −8, 𝑠 =– 8
 i. Obtain the transfer function of the observer controller.
ii. Compare the unit-step responses of both systems
iii. For System (b), determine the constant 𝑁 so that the steady-state output 𝑦(∞) is unity when the input
is a unit-step input.
0 1 0
17. Given a system described by the state equation 𝒙̇ = 𝑨𝒙, where 𝑨 = [ 0 0 1 ] such that
−1 −2 −𝑎
𝑎(𝑎𝑑𝑗𝑢𝑠𝑡𝑎𝑏𝑙𝑒 𝑝𝑎𝑟𝑎𝑚𝑒𝑡𝑒𝑟) > 0. Determine the value of the parameter 𝑎 so as to minimize the performance
𝑐1
∞
index 𝐽 = ∫0 𝑥 𝑇 𝑥𝑑𝑡, assume an initial state 𝒙(0) = [ 0 ].
1
18. Consider the system below, let 𝑒(0) = 1, and 𝑒̇ (0) = 0

i. Determine the value of the gain 𝐾 so that the damping ratio 𝜁 = 0.5 of the closed-loop system.
ii. Determine the undamped natural frequency 𝜔𝑛 of the closed-loop system.
19. With reference to digital control systems, what do you understand by the following terms.
i. Nyquist rate
ii. Aliasing
iii. Folding
iv. Hidden oscillation
20. Derive the z transform of the following functions
i. Unit step function
ii. Unit ramp function
iii. Polynomial function 𝑎𝑘
iv. Exponential function
v. Sinusoidal function
vi. Cosine function
1
vii. 𝑋(𝑠) = 𝑠(𝑠+1)
viii. 𝑘2
ix. 𝑘𝑎𝑘−1
1−𝑒 𝑇𝑠 1
x. 𝑋(𝑠) = 𝑠 𝑠+1
1
xi. 𝑋(𝑠) = (𝑠+1)2 (𝑠+2)

21. Obtain the z transform of the curve 𝑥(𝑡) shown below if the sampling period 𝑇 is 1 sec.

22. Obtain the inverse z transform for the following

2𝑧 2 +𝑧
i. 𝑋(𝑧) = (𝑧−2)2 (𝑧−1)
 𝑧+2
ii. 𝑋(𝑧) = (𝑧−2)𝑧2
𝑧 −2
iii. 𝑋(𝑧) = (1−𝑧)3
10
iv. 𝑋(𝑧) = (𝑧−1)(𝑧−2)
𝑧(𝑧+2)
v. 𝑋(𝑧) = (𝑧−1)2
𝑧 −1 (0.5−𝑧 −1 )
vi. 𝑋(𝑧) = (1−0.5𝑧−1 )(1−0.8𝑧−1 )2
𝑧 −3
vii. 𝑋(𝑧) = (1−𝑧−1 )(1−0.2)−1 present your answer in a closed form

23. Explain why an ideal low-pass filter isn’t physically realizable

24. Differentiate between a zero-order holder an ideal filter
25. Obtain the pulse transfer function of a system given by
1
i. 𝐺(𝑠) = 𝑠+𝑎
1−𝑒 𝑇𝑠 1
ii. 𝐺(𝑠) = 𝑠 𝑠(𝑠+1)
26. Consider the system below, obtain the pulse transfer function

27. Consider the system below, obtain the pulse transfer function

28. Obtain the block diagrams for the following pulse transfer function 𝐺(𝑧) of a digital filter using the following
techniques. (1) direct programming, (2) standard programming, and (3) ladder programming.
2−0.6𝑧 −1
𝐺(𝑠) =
1+0.5𝑧 −1
29. Consider a zero-order hold preceded by a sampler. Figure below shows the input 𝑥(𝑡) to the sampler and the
output 𝑦 (𝑡) of the zero-order hold. In the zero-order hold the value of the last sample is retained until the next
sample is taken.

i. Obtain the expression for 𝑦(𝑡).

ii. Find 𝑌(𝑠)
iii. Obtain the transfer function of the zero-order hold
30. Consider a first-order hold preceded by a sampler. The input to the sampler is 𝑥(𝑡) and the output of the first-
order hold is 𝑦(𝑡). In the first-order hold the output 𝑦(𝑡) for 𝑘𝑇 𝑡 < (𝑘 + 1)𝑇 is the straight line that is the
 extrapolation of the two preceding sampled values, 𝑥((𝑘 — 1)𝑇) and 𝑥(𝑘𝑇), as shown in below. The equation
for the output 𝑦(𝑡) is
𝑡 — 𝑇𝑘
𝑦(𝑡) = [𝑥(𝑘𝑇)— 𝑥((𝑘 — 1)𝑇)] + 𝑥(𝑘𝑇), 𝑘𝑇 ≤ 𝑡 < (𝑘 + 1)𝑇
𝑇

If the input 𝑥(𝑡) is an impulse function at t = 0, obtain the transfer function of the first-order hold.
31. Consider the two functions given by
1 − 𝑒 −𝑇𝑠
𝑋(𝑠) =
𝑠
1 − 𝑒 −𝑇𝑠
𝑌(𝑠) =
𝑠2
i. Show that 𝑠 = 0 is not a pole of 𝑋(𝑠).
ii. Show that 𝑌(𝑠) has a simple pole at 𝑠 = 0
32. Consider the function
𝑒 −𝑎𝑡 , 𝑡≥0
𝑥(𝑡) = {
0, 𝑡<0
Obtain 𝑋(𝑧) by using the convolution integral in the right half-plane.
33. Consider a continuous-time signal 𝑥(𝑡) with frequency spectrum limited to between −𝜔1 and 𝜔1 i.e., 𝑋(𝑗𝑤) =
0, for 𝜔 < −𝜔1 and 𝜔1 < 𝜔. Prove that if this signal is sampled with frequency 𝜔𝑠 < 𝜔 then the Fourier
transform of 𝑥(𝑡) is uniquely determined by 𝑥(𝑘𝑇), 𝑘 = . . . , −2, −1, 0, 1, 2, . . ., and the original continuous-time
signal 𝑥(𝑡) can be given by a sum of an infinite series of weighted sampled values 𝑥(𝑘𝑇) as
𝜔 (𝑡 − 𝑘𝑇)
∞ 𝑠𝑖𝑛 [ 𝑠 2 ]
𝑥(𝑡) = ∑ 𝑥(𝑘𝑇) ( )
𝜔𝑠 (𝑡 − 𝑘𝑇)
𝑘=−∞
2
34. Draw the magnitude and phase curves of the first-order hold. Then compare the magnitude and phase
characteristics of the first-order hold with those of the zero-order hold.
35. From the zero-order hold below determine the output 𝑌(𝑠) and show that 𝑌 ∗ (𝑠) = 𝑋 ∗ (𝑠)

36. Obtain the weighting sequence of the system defined by 𝐺(𝑧) for 𝑛 = 1, 2, and 3, respectively
1
𝐺(𝑧) =
(1 + 𝑎𝑧 −1 )𝑛
37. Consider the closed-loop control system below
 i. Obtain the discrete-time output 𝐶(𝑧) of the closed-loop control system below
ii. Obtain the continuous-time output 𝐶(𝑠).
38. Consider the system shown below.

𝐶(𝑧)
i. Obtain the closed-loop pulse transfer function .
𝑅(𝑧)
ii. Obtain the expression for 𝐶(𝑠)
39. Consider an analog PID controller 𝑚(𝑡) and a digital PID controller 𝐺(𝑠) such that
1 𝑡 𝑑𝑒(𝑡)
𝑚(𝑡) = 𝐾 [𝑒(𝑡) + ∫ 𝑒(𝑡) + 𝑇𝑑 ]
𝑇𝑖 0 𝑑𝑡
where 𝑒 (𝑡) is the input to the controller and 𝑚(𝑡) is the output of the controller, and
𝑀(𝑠) 1
𝐺(𝑠) = = 𝐾 (1 + + 𝑇𝑑 𝑠)
𝐸(𝑠) 𝑇𝑖 𝑠
If the pulse transfer function of the digital PID controller in the positional form is 𝐺𝐷 (𝑧).
𝑀(𝑧) 𝐾𝐼 1
𝐺𝐷 (𝑧) = = 𝐾𝑃 + −1
+ 𝐾𝐷 (1 − 𝑧 −1 ), 𝐾𝑃 = 𝐾 − 𝐾𝐼
𝐸(𝑧) 1−𝑧 2
Compare the polar plots (frequency-response characteristics) of the analog PID controller with those of the
digital PID controller.

40. Consider that the system shown below has a sampling period 𝑇 of 1 sec

i. Obtain the continuous-time output 𝑐(𝑡) so that the output between any two consecutive sampling
instants can be determined.
ii. Find the expression for the continuous-time output 𝑐(𝑡).
41. Consider the impulse sampler and first-order hold below. Derive the transfer function of the first-order hold,
assuming a unit-ramp function as the input x(t) to the sampler.

42. Consider the system shown below show that the pulse transfer function is given by
 𝑌(𝑧) 𝑇 1 𝑧 −1
= ( + )
𝑋(𝑧) 2 1 − 𝑧 −1 1 − 𝑧 −1
43. Obtain the closed-loop pulse transfer function of the system shown

i.

ii.

iii.

iv.
44. Consider the discrete-time control system shown below. Obtain the discrete-time output 𝐶(𝑧) and the
continuous-time output 𝐶(𝑠) in terms of the input and the transfer functions of the blocks.

45. Consider the discrete-time control system shown below. Obtain the output sequence 𝑐(𝑘𝑇) of the system when
it is subjected to a unit-step input. Assume that the sampling period 𝑇 is 1 sec. Also, obtain the continuous-time
output 𝑐(𝑡).
46. Obtain in a closed form the response sequence 𝑐(𝑘𝑇) of the system below when it is subjected to a Kronecker
delta input 𝑟(𝑘). Assume that the sampling period 𝑇 is 1 sec.

47. Consider the system shown below. Assuming that the sampling period 𝑇 is 0.2 sec and the gain constant 𝐾 is
unity, determine the response 𝑐(𝑘𝑇) for 𝑘 = 0, 1, 2, 3, and 4 when the input 𝑟(𝑡) is a unit-step function. Also,
determine the final value 𝑐(∞).

48. State the three conditions for stability of a discrete time control system
49. Consider a closed loop control system shown below determine the stability of the system when 𝐾 = 1.

50. State the two methods for testing absolute stability of discrete time control systems
51. Examine the stability of a system whose characteristic equation is given by
i. 𝑃(𝑧) = 𝑧 3 − 1.1𝑧 2 − 0.1𝑧 + 0.2
ii. 𝑃(𝑧) = 𝑧 4 − 1.2𝑧 3 + 0.07𝑧 2 + 0.3𝑧 − 0.08
52. Discuss the following transient response specifications
i. Delay time
ii. Rise time
iii. Peak time
iv. Maximum overshoot
v. Settling time
53. Consider the digital control system shown below.
 i. In the z plane, design a digital controller such that the dominant closed-loop poles have a damping ratio
𝜁of 0.5 and a settling time of 2 sec.
ii. The sampling period is assumed to be 0.2 sec, or 𝑇 = 0.2. Obtain the response of the designed digital
control system to a unit-step input.
iii. Obtain the static velocity error constant 𝐾𝑣 of the system.
54. What are the advantages of using bode diagram in design of control systems
55. Consider a digital control system below. Design a digital controller in the w plane such that the phase margin is
500, the gain margin is at least 10 dB, and the static velocity error constant 𝐾𝑣 is 2 sec, assuming a sampling
period 𝑇 = 0.2.

56. Consider the system below

𝑌(𝑠) 𝑧+1
= 2
𝑈(𝑠) 𝑧 + 1.3𝑧 + 0.4
Represent the system in
i. Canonical form
ii. Observable Canonical form
iii. Diagonal Canonical form
57. Consider the continuous-time system given by
𝑌(𝑠) 1
=
𝑈(𝑠) 𝑠 + 𝑎

i. Obtain the continuous-time state-space representation of the system.

ii. Obtain the discrete-time state-space representations of the system.
iii. Obtain the pulse transfer function for the system
58. Consider the continuous-time system given by. If the sampling period 𝑇 = 1
𝑌(𝑠) 1
=
𝑈(𝑠) 𝑠(𝑠 + 2)

i. Obtain the discrete-time state and output equations

ii. The pulse transfer function
59. Consider the system below.
𝑌(𝑠) 1
=
𝑈(𝑠) 𝑠(𝑠 + 2)

i. Obtain the discrete-time state equation and the output equation at 𝑡 = 𝑘𝑇 + 𝐴𝑇.
ii. Obtain the specific expressions for the state equation and output equation when 𝑇 = 1 𝑠𝑒𝑐 and 𝐴𝑇 =
0.5 𝑠𝑒𝑐.
60. Obtain a state-space representation of the following pulse-transfer-function system in the controllable canonical
form.
𝑌(𝑠) 𝑧 −1 + 2𝑧 −2
=
𝑈(𝑠) 1 + 4𝑧 −1 + 3𝑧 −2
61. Obtain a state-space representation of the following pulse-transfer-function system in the observable canonical
form.
𝑌(𝑠) 𝑧 −2 + 4𝑧 −3
=
𝑈(𝑠) 1 + 6𝑧 −1 + 11𝑧 −2 + 6𝑧 −3
62. Obtain a state-space representation of the following pulse-transfer-function system in the diagonal canonical
form
𝑌(𝑠) 𝑧 −1 +2𝑧 −2
i. 𝑈(𝑠)
= 1+0.7𝑧−1 +0.12𝑧−2
𝑌(𝑠) 1+6𝑧 −1 +8𝑧 −2
ii. 𝑈(𝑠)
= 1+4𝑧−1 +3𝑧−2

63. Obtain a state-space representation of the system described by the equation

𝑦(𝑘 + 2) + 𝑦(𝑘 + 1) + 0.16𝑦(𝑘) = 𝑢(𝑘 + 1) + 2𝑢(𝑘)
64. Obtain the state equation and output equation for the system shown in Figures below

i.

ii.
 iii.
65. Obtain the state-space representation of the system below

i.

ii.
66. Consider a multiple-input-multiple-output discrete-time system below.

i. Obtain state-space equations for the system by considering 𝑥1 (𝑘), 𝑥2 (𝑘), and 𝑥3 (𝑘) as shown in the
diagram to be state variables.
ii. Define new state variables such that the state matrix becomes a diagonal matrix.
67. Consider the pulse-transfer-function system
 𝑧 −1 (1+𝑧 −1 )
i. 𝐺(𝑧) = (1+0.5𝑧 −1 )(1+0.5𝑧−1 )
1+0.8𝑧 −1
ii. 𝐺(𝑧) =
1−𝑧 −1 +0.5𝑧 −2

Obtain the state-space representation of the systems above in the following forms:
i. Controllable canonical form
ii. Observable canonical form
iii. Diagonal canonical form
68. Obtain a state-space representation of the following pulse-transfer-function such that the state matrix is a
diagonal matrix
𝑌(𝑠) 1
=
𝑈(𝑠) (𝑧 + 1)(𝑧 + 2)(𝑧 + 3)
Then obtain the initial state variables 𝑥1 (𝑘), 𝑥2 (𝑘), and 𝑥3 (𝑘) in terms of 𝑦(0), 𝑦(1), and 𝑦(2).

69. Obtain the pulse transfer function of the system defined by the equations
𝒙(𝑘 + 1) = 𝑮𝒙(𝑘) + 𝑯𝒖(𝑘)
𝑦(𝑘) = 𝑪𝒙(𝑘) + 𝑫𝒖(𝑘)
Where
−𝑎 −𝑎 −𝑎 1
i. 𝐺=[ 1 0 0 ] , 𝐻 = [0] , 𝐶 = [𝑏1 − 𝑎1 𝑏0 ⋮ 𝑏2 − 𝑎2 𝑏0 ⋮ 𝑏3 − 𝑎3 𝑏0 ], 𝐷 = 𝑏0
0 1 0 0
−𝑎 1 0 ℎ1
ii. 𝐺 = [−𝑎 0 1] , 𝐻 = [ℎ2 ] , 𝐶 = [1 0 0], 𝐷 = 𝑏0
−𝑎 1 0 ℎ3
70. Obtain a state-space representation for the system defined by the following pulse-transfer-function matrix
1 1 + 𝑧 −1
𝑌 (𝑧) −1 1 − 𝑧 −1 [𝑈2 (𝑧)]
[ 1 ] = 1−𝑧
𝑌2 (𝑧) 1 1 + 𝑧 −1 𝑈2 (𝑧)
[1 + 0.6𝑧 −1 1 + 0.6𝑧 ]
−1
71. Consider the discrete-time state equation
𝑥 (𝑘 + 1) 0 1 𝑥1 (𝑘)
[ 1 ]=[ ][ ]
𝑥2 (𝑘 + 1) −0.24 −1 𝑥2 (𝑘)
Obtain the state transition matrix
72. Consider the system defined by
𝒙(𝑘 + 1) = 𝑮𝒙(𝑘) + 𝑯𝒖(𝑘)
𝑦(𝑘) = 𝑪𝒙(𝑘) + 𝑫𝒖(𝑘)
Where matrix 𝐺 is a stable matrix. Obtain the steady-state values of 𝑥(𝑘) and 𝑦(𝑘) when 𝑢(𝑘) is a constant
vector
73. With reference to digital control systems what do you understand by the terms
i. Completely state controllable
ii. Completely state observable

74. Consider a system defined by

𝑥1 (𝑘 + 1) 𝑏 𝑥1 (𝑘)
𝑎 1
[ ]=[ ][ ] + [ ] 𝑢(𝑘)
𝑥2 (𝑘 + 1) 𝑑 𝑥2 (𝑘)
𝑐 1
𝑥1 (𝑘)
𝑦(𝑘) = [1 0] [ ]
𝑥2 (𝑘)
Determine the conditions on 𝑎, 𝑏, 𝑐, and 𝑑 for complete state controllability and complete observability.
75. Consider a system defined by
𝑥 (𝑘 + 1) 0 1 𝑥1 (𝑘) 1
[ 1 ]=[ ][ ]+[ ] 𝑢(𝑘)
𝑥2 (𝑘 + 1) −0.16 −1 𝑥2 (𝑘) −0.5
𝑥 (0) 1
[ 1 ]=[ ]
𝑥2 (0) −1
 If the system is completely state controllable. Determine a sequence of control signals 𝑢(0) and 𝑢(1) such that
the state 𝑥(2) becomes
𝑥 (2) −1
[ 1 ]=[ ]
𝑥2 (2) 2
76. Consider the system
𝑥 (𝑘 + 1) 0 1 𝑥1 (𝑘) 1
[ 1 ]=[ ][ ]+[ ] 𝑢(𝑘)
𝑥2 (𝑘 + 1) −0.16 −1 𝑥2 (𝑘) −0.8
𝑥 (0) 1
[ 1 ]=[ ]
𝑥2 (0) −1

Determine whether it is possible to the state to

𝑥 (2) 0
i. [ 1 ]=[ ]
𝑥2 (2) −0.008
𝑥 (2) −1
ii. [ 1 ]=[ ]
𝑥2 (2) 2
77. Consider the system
𝑥1 (𝑘 + 1) 0 1 0 𝑥 (𝑘)
1 0
[𝑥2 (𝑘 + 1)] = [0 0 1𝑎] [𝑥2 (𝑘)] + [1] 𝑢(𝑘)
𝑥3 (𝑘 + 1) 𝑎 𝑏 − 𝑥3 (𝑘) 0
𝑏
1
If the initial state is 𝑥(0) = [1], determine whether or not the state 𝑥(3) can be brought to the origin.
1
1
If the initial state is 𝑥(0) = 0, determine whether or not the state 𝑥(3) can be brought to 𝑥(3) = [1].
1
78. Consider a system defined by
𝑥 (𝑘 + 1) 0 1 𝑥1 (𝑘) 1
[ 1 ]=[ ][ ] + [ ] 𝑢(𝑘)
𝑥2 (𝑘 + 1) −0.16 −1 𝑥2 (𝑘) 1
𝑥 (𝑘)
𝑦(𝑘) = [1 0] [ 1 ]
𝑥2 (𝑘)
If the outputs 𝑦(0) = 1, and 𝑦(1) = 2 are observed and the control signals are 𝑢(0) = 2, and 𝑢(1) = −1.
i. Determine the initial state 𝑥(0).
ii. Determine states 𝑥(1) and 𝑥(2).
79. Consider the system below

𝒙(𝑘 + 1) = 𝑮[𝒙(𝑘) + 𝑪∗ 𝒖(𝑘)]

𝑦(𝑘) = 𝑪𝒙(𝑘)
0100
Where, 𝑥(𝑘) = state vector (4-vector), 𝑢(𝑘) = control signal (scalar) 𝑦(𝑘) = output signal (scalar), 𝐺 = [0010],
0001
1000
and 𝐶 = [1 0 0 0].
i. Show that the system is completely state controllable and completely observable.
ii. Show that at any initial state 𝑥(0) every state vector can be brought to the origin in at most four
sampling periods if and only if the control signal is given by 𝑢(𝑘) = −𝑪𝒙(𝑘).
80. Consider the continuous-time control system
𝑥1 0 1 𝑥1 0
[𝑥 ] = [ ][ ] + [ ]𝑢
2 −25 −6 𝑥2 1
𝑥1
𝑦(𝑘) = [3 0] [𝑥 ]
2
i. If the system is completely state controllable and observable. Find the eigenvalues of the state matrix
𝜋𝑛
ii. if the sampling period 𝑇 = 4 (where 𝑛 = 1, 2, 3, . . .), show that the discretized system is uncontrollable
and unobservable.
81. Consider the double-integrator system
𝒙(𝑘 + 1) = 𝑮𝒙(𝑘) + 𝑯𝒖(𝑘)
 2 𝑇
1 𝑇
Such that 𝑮 = [ ] , 𝐻 = [ 2 ] and 𝑇 is the sampling period. Determine the state feedback gain matrix 𝑲, if
0 1 𝑇
the is desired closed-loop poles are located at 𝑧 = 𝜇1 and 𝑧 = 𝜇2 , and the state feedback control is given by
𝑢(𝑘𝑇) = −𝑲𝒙(𝑘𝑇).
82. Consider the system defined by
𝑥1 (𝑘 + 1) 0 1 0 𝑥1 (𝑘) 1
[𝑥2 (𝑘 + 1)] = [ 0 0 1] [𝑥2 (𝑘)] + [1] 𝑢(𝑘)
𝑥3 (𝑘 + 1) −0.16 0.84 0 𝑥3 (𝑘) 1
If the control signal is 𝑢(𝑘) = −𝑲𝒙(𝑘) determine the state feedback gain matrix 𝑲 such that the closed-loop
system will exhibit the deadbeat response to any initial state 𝑥(0).

83. Consider the system defined by

𝒙(𝑘 + 1) = 𝑮𝒙(𝑘) + 𝑯𝒖(𝑘)

𝑦(𝑘) = 𝑪𝒙(𝑘)

Where, 𝑥(𝑘) = state vector (2-vector), 𝑢(𝑘) = control signal (scalar), 𝑦(𝑘) = output signal (scalar), 𝐺 =
0 1 0
[ ],𝐻 = [ ] and 𝐶 = [1 1]. Design a current observer for the system. It is desired that the response
−0.16 −1 1
to the initial observer error be deadbeat.
84. Consider the system defined by

𝒙(𝑘 + 1) = 𝑮𝒙(𝑘) + 𝑯𝒖(𝑘)

𝑦(𝑘) = 𝑪𝒙(𝑘)

Where, 𝑥(𝑘) = state vector (3-vector), 𝑢(𝑘) = control signal (scalar), 𝑦(𝑘) = output signal (scalar), 𝐺 =
0 0 −0.25 1
[1 0 0 ],𝐻 = [0] and 𝐶 = [1 0 0]. Assuming that the output 𝑦(𝑘) is measurable, design a minimum-
0 1 0.5 1
order observer such that the response to the initial observer error is deadbeat.