Modern Cvnbo| Syslem

Coube i >91o
hpter- 1 M aftem eA cal Medelenp
c
in stete cpce

bactgnund In classjcal Cmfw! he behaviour of 1inr tim

Conho | Sysbus, ures h e kme do mam or uene do uain

nvanont
ave moedalud usirf
undfr
aS mekho ds, Ans Systau
Ln a u H e s e
aor f OutfPet
TANGp appvah, uuhr s ra to ef Laplaa
conueutioal
Huis
inihal condi
tipus. 1hus,
, naflecti
A p u tCaassial up a te
te tansrfuitaa
conho1) un
al Aa
initatron ass oiand
Si44aas

aPpoa Modern Contol

Stata paa apcau
E Ppvac(uasiealCoutol)
ttates n accouut aulh
I t i s hu vetaton batunssun Ha
Shate vanasizc( Stote, iupe
omd V a a b la m -
put
o uput Omd output).

Ittates a Syrtun t any

rest
Longidernd duihauy ak
State ( 1uhacendithon

can be dikfaveut fomta»).

A is loasas Ou totas mosxk
aaphical approa fw Cahu|1
m setecti p 1Jt
olesiPn i Bodo ploti ovtlous w l i t augaloa
eer pm aduas erodor dHavehaiuatn
are basí caiuy thraa and
Sdiuron propar VaKasles, Siuplty
whiu fail w zíVa He
optt Mai
to non-

t canba afp Liel

rauuvd. linaarHme
linea as w2tl as tme
a P p i c a s l ah
toavinf SLso.
4is Onuy as. V a n f &ysauns
1nvaaut
amsak tau
APPieastato non-linear
non-Uaar

Not appu cas1ao as ule as MLMo Psau.

nd m imD mftuns
Stn
Any tpe ef iuput conbe
2 4 qiues auaunis
fr ome spectfe Cosiderad f r e deipniup
SMap, Ramp ete
ypes 1nput i
 3res Ssleu
a r a many tyror et shstouu w Comt»l; Asaaa I
) tineor ond non-linga
b) SpSo andiMMO
C) LTV Od iTI
&) Slake ant dyhar.
Hme Vonicnt onodA me urpnauut
kfe wnestuu ow 3 lehre a d danaunt
7steu beca
cus
euaAa Strefe elonentt
ud
Centerned wt
e witn oY witmput mamo
Contineuf t i me

A:Static Syrte e eutpus tuefsqrteun dopandi

Fhe
vecout iput, buf not ontre pert rtuture input

elaunatr E e
Theg r e gyslu witmout a m y Stnapa
Copaitr Cud ineu tfr.
Iti Smsem otnuout meMerg

e. Zts Sta-A°c SMsHem.

. -5

b Dynauuit q[ eu eputput t u e mlen doperna& d

Pveut a ueilal pet value of iuput h e Srysta á dgnauic

*7heg are ysthu hnvin e n s g s n e f e e l o n a b r U a CaP

coP
aci r und t nductor
7 y ave Sqitem utith mamor.

T
Yat er

T i e V i a t aud Invmdu, T{yerpose 4» ipuk atly i t t t u e ,

t is i e vonauut unlars Ame Venoue Most ofhe SqNeunave LTt
 COncept
M ba wp
e , Consi der a fvt baAI m a . 1he scove
n e frteall Ma

d a t a ak evem inshaut twu mouldpe and iufovunoti on

f e aScore
toto befuve hhat instaut. 7his pocaduref up dat}TAe
cove loxtir Hi Ahe end f me
Las ulhn z e t exaet and prea
muatt
hwa

SeScove fL L Ve m a t . 7his updlatin pvo cedue

has ma mau

Potau ce in e underchonslinp q Me concapt S**

Consi dey tm
* netulorp aS slhowr in the A loow
Xco) initaI Conolirions

C uttL Dynani fct)

YDut Syste
nput butput
S+ate Xt)

T o find Vouc, t * bnowledpe q h e i ta c a p a i t o r Yoape a F C

mO Onu n fovmmah on abou Vin utin not be Sufficieut to 05*hu

Yeusy Vout at ang hme tO. SuuL asyflom in wh pha

r Mot
nly depedent onhhe iwput but auo onte
A n
ndihbn are called
Systoun wit menory er d) namic Systeus
COnKidar Me natulok as show i ts i belD

h e ouput uull dapan n y o n a

Vot
in put afplied Vin
S u n asysten in whicuHeoutput
are calta
t r depends Oniy onme +uput appLied at t-0,
Syrtouns uin 2erp memery prStotic Syrleus
So, hne time-do main analysis asnd dlo8n of c nho! 8yslen uiete
Concept e Statu Ane Mstom.
he state of te s4stm a Let
o4 vaias Le4, whose valw topether ei
e ipuk SiG nals and e fuahons des Cn binq Ae dy namics, uiu pnuid
ha utue Stote a d
Dukputet t u smtan.
*For a dynauie $7r , n e state o a y s u n is des Cibad w f
a set o Skate Voiabtes Xtt) =(*ie), Xace)-
- - - - xnce). The stote Vanau
are hese Vanasles mat delarnnine fuhre behaviDuv ef a9yJtemahWhenta
re
Peient Aak of qtu $ytam aud iuput
 Xco nihal wndi iow

Dynaic s ystam putput Ye)

input State xCE)

A Sat of
state Yaia6te
si8 n a l .
)Dutputftanal ad ut) is uput t
tnowleaj2
suu. tmat
Xe) XLU), X24) Ce a et
- - Xn lth) at

(X4(to), X>Cth) -
a vatues me stote V a i a s l a s x (to) dator
ut) fr t2to,
enof* *
a fme to, and Hre input sigmat
fuhuve Values te outputs awd itate VaMabi te
stase NaiasQ&,SOl
Bahre
T Pproua
vetaadinp furma tat us defiue 5tate,

Vectr and state s

pace vanaslas
(Caaa
suaiut set f
stade ot a systm s the
7he vanas10s
at tEP)
T
q tnee
Sueh f h a t pndwldpe
TE
Varasles) detarmiuet
a lanhebiDuyr
computuy

F inprut pr tzty,
the smrtem r auy time tz to- aa
V iDuy
olafav m i n e uhve
Varasles
mat
Hhor bub
e
VGKAslesae
smstaun
and iuput are
daibe2
when tme pve^ent
Stati of a
desete
ayrto
oeomp loeg
- n are nusded
X
S at (2ast n vaM abies Hne input
s
pL*
eytelso mnt Buc
tan
s t a t e Qp asys
1 2eAViPur of dn
namit

Au fuhure 9f
S t a t e Var
Shate a t t-to is Spesfied,
a r e a ut f
ditral

Sun n
vatasles
d e l a n u i n n d ) , hen
Petay
06cervaLI2
Les. Measwesle
o

are nud not be phni coy

Vanasles
Stte

uantihos
anelhote fuat
u a n t i b4S.
phs i c a l G
do not v e p y e a n t t a t e Vonasky.
Vanasl
mat a
chootau
can be
04servas le
m e a s u a sle
ner
A h e r

advartafe g*he State

State vanasleu is an
Su edom in e n o r ing
SPau mtmods meatua/2
easy
is lonUinieut v
hoose
Ouwver, it

uanti hes fr he state vanab les

ontained iu tue
heso shato vaias lat a u r lwrin shinf elouents
State VeState
ch 5A Ve chr is avechr hat desemine uniGuwty He *
Ora
eAtE) pr ang time t2 to, vnce u stode a t t=tv i ivn
input ut) f t2to ís specifed
1u sot Vechk Xlt) is he ve chr Sum pf a he state vaiablef
SPaco7he n-dimensionat space haese Coordinata odis Condt
theX4 xa ---
Xn axis, xn ave sle-le Vota ias Callad
ullhve y, x
State space
ppint tnte
ftate s paco
S t a t a can be vep veiau 4nd by
a

Cousi dor a tocond o rdor Cqtour.

Y a Y ii 2 Se me n um berOf S4orte Vanasles yegul ved is 2 s°j*4

t ) and Xatt)
Smte vechr u l be He mahsx oveley 2X*
X*) = Xalt (vechw nditron)
Xe) = e ) tou)

VarD5/es

numbevf
a4 me
7 h Stute space Cas e
w u te a plane in tis
are tuuo 7hws s t t spau wil be as showno
consrdar t ti
X14) 4 ~Xt4) low

xlea) u ) +Woce)
Sx2e) tale)
X2 e4)

tOTe Space uatibns Jn state spoace Onaigsis uave con

v a i a s i e s that aye
invoived in te medalip Fta
w free s
dnamitc Fystams.
- input

output Vamas1a.
-Stute

eluments that memonze he valasf7**

Te
aY Nanaje mtm must involve
npu pr t2t4. Sine utqmtors ave in a Cutinous tie cm gT
ef s u t úntiqrators canse considorud
Serve a5 memr dovis the put put
Ae VartaL le Aaat dotine tutemat Stote dynanuc By m 7us,
e putput e únti q atovs are Lorve as ttate vanas les. qhe numberef state
Van abls ONe 0qual tO ne numby ef inuptrs uVDIVed nHe SYT
 n
SSunetuat
SSume
a mutHP12 inputi
multpe-mutput S*stm {nvolves

urie)
aund m
ouepur

also nat tuare

uave oWe rinput uie), use)
Le), yecE) me). rie), Xa CE) -Xnie)
-

Stade voan as
1es
as
ekne "n'putput
k p u t of
Me i t a f e r s

A t e shm may be decibe4

- -
urj t )
X n j u, u2
-

dt ---urjt)
ul, ua

fa(xl, K --- xn;

aKaLe)ae) -

ddt
- urjt)

dnle) nu) = fnCu,2 wray

be 9iven b
Syree
me) tha
urjt)
-

The Put puts 1 &), yate)

3I(xl,xo -- Xn; u, u - urjt)
744)
- u r i t).
Ya f>(1,xa
, au

(x1,x -xa
m e ) = 6m
- u r í

u ,us
n
Lf we duhine
.ur}t|

Xlt) att) ,ftu,t)

--ur? e/
Xnte)

n w, u
8(,xa--* UI,us
-~ure}
Irj
fa(u, X
-

urj t)|
u
~

e) Yae) , P l u t ) = ( x , x a - *j

ave rnchonat eperatevs

ule
ue) u wre f
urte)
beuomas

han e ag u a t B n guahm
(x,u,t) a
XE) =
f
e) (Xiu,t)Aukput aGuahdn
Ksw
involve ime explieitty, Hhenue
Vew pncihon amd r s
s Called kme v a i n mstem
 hon can be
erpvessad intms of t:neor Ce wbi nahion Pf
State Oma bunus
he
tnput u Mat ef to knsteu a r e LTI ha
tatculateded
utput Can beasu
Xe) = Axe)*Bult).
donot chanpe ovartma
Simi lavly
utput vanasles at Hue t canbe erpvessed
as n e

A ° u iput vai asley amd s t e Voi ates at trme t a

Ce)= Cxe)*D ult).

S
modei of tua systr
a pace enatron er stase
Xit)= Axce) tBut):|
e n - Cxce)+ Dutt). uhure
A-tstate vr $nstom v &volutoh mabir
b- 3nput or amf»i mahr
CDutput ov escar vakon a f s * mak.
hansurrsidn
P i e t Hans missibn
drlnpwe

KW)- Stati v e c r mahix

Ue) > Lnput vevhw m a x
mahx.
) outpuk vecfw
M ne oukput , Y=neof
ne ot sthatis ,
For dnnannit m w
ne

Cnhol i n p u t , a n adder )w
baN mits a)scatrs b)
iran.
nxn m a h s x . 6) >y=x1nks3
A =

B nxr mabx axrsar

mahix.
n xm e ) : SYUErde i n t r z r a k
C
m xr mahsX.
a e demotad by s' qko .

Me state oliasram ef standard moodel d b10ctdiapamfotate &pace

hen
repreentahin uo:l bej
D
Be

nti qmahrs ara te elomantt whiu actuo inafnta the di{pranaO G

s t t e VaA asej ebtai raguired slee onas1e.
Ka S t ) = Jiitdt nkegvmks are denoted y s in LT.
* 1e vkput
P4t o utnpratrs ave &tate vaiasles
he Hme mur of t a ystaun-
number of ntegvators always esuau
1 n h a s ave not w d i n t e 3tae diapam as th aapt*

heinevihasle no isl aha

*T*
04 tai t a 94e le diagroau of sLSo t m rapyaseutdby
e Axite) tbtult) xatt) = azx1U)ta3 xatt) +52ule
And y t)= CxiCE)+ C2xa E)
So u * Ahere a r e 2 Stote vanasler y14e) and xat), thetm p a t o
are v e u red.

ye).
a
aa
X2Lt)
ca

maicai Mlodeli ng Qund Stote Spaca yepyo20ntaio

Ylath
Dy namit &qstoun

networE F r elachrcal &mrbns, te c u m e t

Shatu model srelucheas
Hue veanous capaitr&
acwss
Tndncfrs aud tme Ve {hae
Van ons
hrph
le.
aA Ao be Btote v a i a s
a e leleted
hwitn h e euwny Smf elanandr
asviated
ical vmi asn ve
1hat m e a n s phat
34ate
seteeted a r
inihaf Condihons, ave
Whi are responsib le y

medei ha qiven elaehcal networE

P:510btain sake
2 L

Volt)
vitt
 Sau
a n d C. S e u twv
Soutidn 7he re are hwo n r g y stpinp
tw
elememts
tor
auns Capa"
lawe Cunrent thmPh indu chr flt) emd voltafe
e Vol
snput
Vanablk
vie
7herehr X40 = ict) amd X2 E)= Voit). Ult?e

PPv kvLt e loop

aaja

tvo lte) Arranfinf M0w

Vit)c ilt) p + Ldie) ,

but di)= ist)

dit
d vie)-E i)-4 Voe)
white

XLH) =Ex16)-xau) +u e ) .

Voe)= Veltage aumss coraci tw Srod

dvoct) 1t).
e)bur dvoe) - kace) ace)
dt
S+aamodet o

t||**.ue 9ce) ol
UCE) St
ntat
s p~o vopv

o 1 +|olue:
7he pr der a sht venas u is not mprtent: X4E) OK
Mote e
et
mpdas mahiur 3
Xalt) a n be i lt) duu to w h s c 84te
Volt) and
S t a modeA v
not uninu Pparey of te syt ton
Chanped Hene

Pbtaún Ihk space yep resntahion fr t ff e**

*
HomauuerE
ekuio rk:
L2

ie)
R lote)

8
SDIuiDn Ut) inputt) eile)
re)= Owerput eve). =

vnasles ! xie) titl, vaut) : iz), X31E= Vee

nttHe equarons; ere)= Lidete) t vcut).
de eiie)- vcce).
X3 te)
iLE) =
u) ,
Then Lce) = La odi sE) t THE) P2
de

vce) - Ez
La
iace)

KatE) = X3E)- Ex>ue)

L
Arnd C dvce) TIe) icE) 2urant Hmfh copaci tr
dt
dve it-ise).

wtt)

eovt)= iace)ea (E).

ct)= xaltn La-te)

x3ct)
ThT s he veguived Statam ostat or 8s rop vozafatm.

(19
 tespoeVveen tahio w wecanico yctouns
*in &hani
Mechas as msbm te dis pacauet md ne Velouta }
Sti ing ond rtrom a n Aeteted
a flate Uoaslas

.8 Coider weo Etow. We assumu ue sx tonr s lineav.

mechani cal gigtem slhowe
1he exler wal displacewues }ct)4
r j the input tv t e Ptlew, and Au
uLt)
u htput 1h olispla cemm t ) U masurad pom auiubnu

resiron in hu ab lenu ef exmal fra m.eans

LipraorT
7is
decnd Orlor y stn
The asD is xale). a
e Spjuefy
14u) and
Oe u2ed.
vomias12
hishay ovdev diffrea
Let u dbtina me
al uatsm.

+Ey =U
Potacbed Lwsg.
M +b
maws stwas lciuehe -uE) M bdy+by u.
d
M u-y-
deternu ned fam

poti t m
r dispia
en= t)
Cement

u
y24)= 2(-Ey-bj)*
xis y6e,
xa=
y ce).
*But daupr
Connot S r i XaLe)
-kX1 -bxa)+u be
a w a y b u td i guatan:
state
SSTpate e t .
X2t) - X- 13 *

7he oubput u a h m
y>X1.

m
 tute s po
a rpvesente hot of
Dvelor dforential oguodv
Yepvese
tr a
mte "4 an y Aaytaoy
= u, 7ha*

ut).
ard taoy -

de dt
Unot ad tat e i nput uu) and he nitOA

dvao) a r e qrven. 1 hat ma

a t t o

r
fenar
winnte
i nput
wiApep yo), jto) dCo)
- -
- -
-
. Wa

hhe yslaun
vitnr
o dermins compuuy hu fnture urhe
8tote varaslaf.
Maytat le'), Jte) Ce) a Aet of n

's Com ujniau *

V o n i a s le
NLote, Manemntalt g r curia
8***
enus e r e
inaccunt, d
dovatrve
CA2
°f hifhor prdr ue
a choa G P
Spluh'on8, S
in a n anehrl
eAs tn hovent vonasar are2

desi ras ie. Ptae

Vriabe are not wice
Von a i e
r a g vutPut
letus dafina l 1, F ) itLerp.
d 0 hur
vanosi2are
don vahve
State

v n a e tu¬).

+u
Xn -auu
- - -
- alX

uhere

BE
A

Cx
10- +-
 06tam s t n s pac yepveleut oti on f r u e foowinp dffaeuéra!

atn yu)eSue).
Draw auo stateur
C e y dt7
ta dye) t a

tle pPace diag

ra v a r a s l e
are
allonad.

tote
3, Dny 3
ion is
SOlution s
erder of eguat

XLe) y) [at
u)-
istt)= }«) d y ) =

X Le) xaCt).
dyu)-ay)+Sut)

- fd'y) }
2)
dt 3
+5ut).
- 7 x 1 - a x 1 t t )

X3e) Xx2t)
r e P v e r a n t a 4 n n
0iu b
c e

D 10 Oult)
-2--4,

1Ct)
1 0 o Ct
 TOle Spate yePvezentat on om Tuor ti

lhen aomsfer
avomsfer funeitou
ue is ConveyA fo a k spae vepvoen tah'an

Jtakspace has Commomy fuv

normas fovms ( Canonical furms)
h an d f u e i t a
7 Y dopends on haracterickes poumnomial
od 06farvasly)
( conditions Lip Conh»lleblit4
Sd e Dtar couditions

Conhvilas le Counonicatv
Cosider te hant uneition
bns"t bn-is^+bn-a
t ---- histbo
a Ncn tausta2
S+an-Is taa2s***+

Xu) (tate of u
Shflo) r
a n iutr mi
date funeikon
4 e
ta 1146o
t6
Uehave Ye. xu) bns"+ bn-1s*+b-2 S t - - - --talstRo
st4
S+am-1 S** a-2

uunten as
hiu cn
X) 1 _- 4 s + a o

ttIS+o.
Yu bns^+bn-S*+Ln-1s

-4aIs+a0J ) .
Uol s "tan-i +an-2**e
Xn Sxu), nwehan

2X3

Xn-= Xn
. alX2-aDU tU.
Xn-Qu-2 Xn-i -

- an-
Xn
whi leadi to a state fuahn
0 -- - o X
x2

-aD -au
 ) = bns "+ bn-ish tbn-2 sh 4h1g4bo )ko
Xcu)
n i n tbn-1 xn {hn-2 Xn-1 - . 4 Liy2+Lox4.

(bo-bnao) Xi + (61- nar) I t

ih ives us an put put uaoh
nu
d bp-braa) (61-bna)
-

- -(6n-1-bnan-)

Cey vosle Canenical prm

tacoinS awd ye amaugiuf euakoh

IStLo
y bns"+bn-is"+bnas*t-~-
+auspa0

Uu) Du) t - --
S*+ anS*° On2s

hen Ua) a- ) +s lbn -2 U)

S" [
-

bn Uer) +
hen
-J
= 'tvUu) ao fu)J. -

X1o)
+XIG) J
s t b i u e ) - a u)
20)
wi ks
lbn-1U)-Qu-1
U C)+ Xn-1)J:
Xno)= s

uation5c) becomas and repace

2 h e n sD]VE
fr Ku)
Jes)+Yno).
$CI bn we
have

re
amang irf
Xne) a n d
u)in 2Auahi oh
Ucs)- aoxna)J:
LC6o- bnao) X 1O)
SXI C) = Xnc)t
aI

CCF 0F [lLI-
bna ) Ue)-
X2) +Xn-1C)J.
Xna)
AT )
U)-an1

CT L l b n - 1 - b n a n -

SXn)
BT D-6na

to a Stte a9 uaho
U i n leads
0 0 --- - 0 -ao bl-bnal
--D -aa
+9
i b n -bnan
ba-t-baa-t
(
 nd te
Qut put
e&uahion
- o - ---od bnu.

A R See 0bervat le anenical fovu is a tvun pose of He P%shu

Conhe las le (anonio fovm (Ao z Ac') Snput wmatix4

e v a le cansical fvvn s eual o A trane pose oukp
F ConbIlasle lanonita soy* (Bo= C«").7he rutput moh ef C6soyua
anonsu vm is egal to hu trans pose of Conh lab Ie anonia

o f iput mah* ( Co= B)

7
k rans missibn Mahrx ef pscarvasle Canonical fvm is atepes
8 a d e ransmassion Mahix f Conbriale Camenical fon (Ps= PCiJ:

a) Conhe llat 1e Canonial pv.

b ) 0 S e rvasle
Cemonial foym. S 4 26staY=o
and yz s4stV
ay)=Yu) st%+2 S - 9c726s-34

s3+9¢+26S+4 Xie) xJ-26n-4A

metued. e l z A14*PY. |
Canonical m
Soluion A Conhollasle
SD
aguaha)
ordor dikerenhai
WL Olways SDlve fr hiphar

num
' s * 2-9116 S- 24,
tioys
S
Thus
a
Stte aguaton'
a d denowui we-tr yepyeset

ueput wahn
9styo)-26fxes)-2fxe). Dafn
y)+>S Yo)+2y)
-

St4)=
S4to voai as le a
X19) Yey), X2G) = She), X3U) = ¢ye).7hs
x3LE)-26x2e)-24k1e)
X3 (E) 3 e ) + +Kate) t2xALE)9
010
ACCF uCe)
-4-26-9|3
Y2 ()
B 0Servasle
(andni Cal fvv (OBF)
Ln 0BF A f CCE i A1
e
OBE
BoCeT and Co= BcT, Do= DeT So

08E uluu be X 00-24

00-26|
D -91xX3

CF)
DiO Dnal Canonic foun and

lhas olirtnit polas pl, P-*

Suppose Hne transfar function
td
CAn be a t í z e d
+CU)
Yu) u ) + CUM * Stp
Stp2

Uc) --Xnc) u)
LSn, ¥20)
-

lting XIcs) = S+p

S+p Stp2

le have
PixI +U
Z PLX2+U

n Pnxn tU whrn Rads tv a State uahin

P2- D

0Ps-
Cmd the otput pat

n X
c2 --- n /*
Y
Sor d cn CCnonical vm (TCF
The anor funciton c a s e dacthi3ed aud have muttpl:ate
Poles P4, und tu yest pos are datinict, Hhe trn1f fucta
(an be wlnten as
Yo)C Un tc2 U)
Uu) +
+ 4Cr S)
Stp Cr+| Uo) 4Cvtau)
tp)
S+pi) S+pz (Stps)

+Cn
(S+pn-r)
Lat Xics) =
u)
StPI
Os
be uunten
ucs), whre can
X2c)
-

(Stp)"
inS {milar ay
X2 ()E X.u)
SAP
Xra)= W--1)u)
X3u)= xau) -

- -

Stp
SAp
Since Hh vest
po les aire digh niet adarakon Houo
ne dingo hal fovm. Ln uhma douaimhe SHals

XI PIxItU
X2 *PIx1+XI

Xr -?IXr+X»-

XrtI - plxrtl+u

state afuahon
leAdt to
a
uíhi
Xn-v t U .
Xn=- Pn-v

-O
1-PlO

4 -Pl-

r U
r
0---Phn

mahex í stmilar v diaponat

CAPut
Cn
IC2
 Vbta State s pnca yepvean teki ne usinf dioferal Canonica fn

au) 2
terl4t6 (S) (it2)GR)

Solutim ATPL Parhai feckon

St S3

2 2
A St1/G)
(+2) (ors)/s-- (1+2) (-1+3)

B St2l) 2 2
(se) (ordfs-2 (-) (-a)
C St3|áu) -
H) Ce2)ne-3 -341) (-342)
hus Xu) ua 1 ue)
SAP
AL )Xusua sxI+XI = ua)
-xut)+uct). -
SXI XI+u) xie)

X20) v) 1vc) Sxa+2x0 z u

StP2 Sta
z2xate)+ut). --
axatues)=)
xst)
2u)
SX Sx3Bx?
1u)) X3u) = 1u
Y3s) S+3
SAp3 7hsn yu)
3x3+uct).
Í3t) =

SX3 -3x3 +uu)

Yu) CI u ) t ca uo) t SAP

Stpa
S4P
2 u) + 1 7he Jta Spco faation Ainbe
Yu) 100)
StI StO

/ , Y=
 l A a t a space vepyeu tatien fr t o ff TF ustg Joedar (aeui
Gu) St43 St3
(J42)1 (+1)

Slution *rP9 partai f e n expanitn

au) tB2
S+2)2 St2 S+

S4
Y B (+n) Gu) le -*
a * ( ) ' G) -) (H) 2
fr B3 (sAu) G) |f: -i 1)
-s -t3 2 2, 7har
-142
XIu)= yu) , ya s) =
Stpi tp)Ka, Xag) Xu) we lan8 t
Stp
X Sx1+a x
Sta Xa Sxi= -axi+ Xa
Xate)> -axi+x>ct).- - -

Stpa St2
S x a = -2 xa + uc,) X t e ) = -2xs +uct) - - 0

X3 uy) Y3s)= 1u sx3 +X3 2 ua

SHP3 S+

X3 x3 +uu) Ke) e - x3 lt) +uct) --

hen u ase pau repyes2ehí dn oil b

-2 ||X
2 0

1 -a l | +
 SDme pht& launs Qud Solutous
0 tain Stay space
rapyeieutotion poA ff bloct oli apam

uXu
2
Soluti on XIC
-XItutt), ae) =XI2x3ce) t 3x|
a ce= -XI#U-2x +3 K3 )
+utt).
X2te)2 aan -2xa

yepvoutahon f a ff Lloeu.diapar
L9prk outa Stte 8phce

ra bloetoapa
3tomeulerk fr e t glhta 6pae vopyoranJahom d

| X1 | 1
io1 u

X
o 3 x3

- 2 3 X3
 Dueuncitior en stute space vepyesentab
Y a L1L Sqstau ropyesued by sStets Apac yepvaranto
o w i n g es whon wut initu Conditfon Lw) = XD, tbirfp
d -
ns rm f e eguaky we have cdlL
a d - b t -c a

Sxu)-xto) =
A xe) +Bua)
SL-AXo) = lotBuu)
Xe)|$1 A xo +Bus)
Yn=Cxc)+Dua)
Cs1-A otBuG))+Duo)

Cts1-Axo + (c (s1-hl"B +D) u)

to D p r o
soun iput
T ran sfor fe ncihi ons), thetunsfpr funeition

Uu)
dobrmi nant r4 I-t| i untchu polgnouuial og eT

1Convert o eb taiw TE hom te 4 stale 8pace vepyerett n

4|+13/, y=/4 a|
SPluton Gue csAI"8+D

3s-L-s
s-3

Homerp! 0L taun TF hem te ff MIMo stmk Spa YepveLeuTalaba

3 11
i|u. Y=|i .D-lol.
 fnalts nd i(i
DeAnih o} et A be nxn maik 1hen a veal Aumber A i Calad

e n Value ef mahir A ,
if ond Onty if Mart is an n-diwantiDnal
n. A n su-
on2em Vechy V r whic Avi : Aivi, i - 1,1,1
Y V Calkd an efen yechw e hhat wmatk A, asrocaled w

4T he epen Value A. Ln aAhon j2 Can dolor uine S y 7

locafion of danbn
COn y steun is dvetly yelased to t root ef

Sa51e.
hepeti ve yePipn me ystim
1 fr H siw wing mahik A fined
a) lifen Vo-lua
b) eipen Vectw
C) hesp Aw JHas Lr7

Solutipn 2H/2 t)arleo

A1: -1 ausd A : are he eifen Valuas

) for Alz -1
eifen vetr;
9/4013-12U/20 akalFo
meand
hat
XIl =1 atd Xi2 1 , -1,fa
Valus

x t x12 20 freifen
Vectr is

X13+YX\4 =0

X13 2 and X1ye 4 ,et wni RANS

vechr
f eifen v a l u Of S,eipes

StsR beaale diz1,ddz

be nepekVe 7hus, he snshu i n

3
 ipn ouk uith
Comptex Cojupatog
i t Coplex Cnj
upfe 2ipen Values
Sidar he raal
Port of Mhe ayatara ue ton
eipau Valuus oul tue
Part ueli Cavkes the s an i miziMa
Osce Lahom.
e8 Considew
we mawx

Hn tue eipa Valms Cnd defaynmine

SDlutin1 1 - 1 l : 1 3

(ha)A5)t13 =o2Al -8
t3î, d2- -a -3
the mstom is SAasle, Lue tuere is an eci llafio

(4