डा.

बी आर अम्बेद्कर भारतीय प्रौद्योगिकी संस्थान जालंधर

Dr B R AMBEDKAR NATIONAL INSTITUTE OF TECHNOLOGY JALANDHAR
उपकरणीय व गनयंत्रन अगभयांगत्रकी गवभाि
DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING
Tutorial -3
Subject: Modern Control System (ICPC-306)
Department of Instrumentation and Control Engineering
Dr B R Ambedkar National Institute of Technology Jalandhar
Course Coordinator: Dr. Mahendra Kumar; Dr. O P Verma

Topic to be covered: Solution of State Equation in S-Domain, Solution of State Equation in Time-Domain,
Methods of Computing State Transition Matrix, Applications of Cayley-Hamilton
Theorem, Special Cases of Determining The State Transition Matrix, Similarity
Transformation, Method of Similarity Transformation, Eigen Vectors, Generalized
Eigen Vectors, Transformation to Diagonal Canonical Form or Diagonalization,
Determine of State Transition Matrix using the Method of Diagonalization,
Transformation to Jordan Canonical Form, Transformation from Controllable
Canonical form to Diagonal Form, Transformation From Observable Canonical
Form to Diagonal Form, Properties of Similarity Transformation.
Theory Problems:
1. Why is 𝑒 𝐴𝑡 called a matrix exponential?
2. Why is 𝑒 𝐴𝑡 called the state transition matrix?
3. A single-input/single-output (SISO) system is represented by the state model
𝑋̇ = 𝐴 𝑋 + 𝐵 𝑟; 𝑦=𝐶𝑋
Derive the expression for the zero-input response (ZIR).
4. A SISO system is represented by the state model
𝑋̇ = 𝐴 𝑋 + 𝐵 𝑟; 𝑦=𝐶𝑋
Derive the expression for the zero-state response (ZSR).
5. Show that for a SISO system, defined by
𝑋̇ = 𝐴 𝑋 + 𝐵 𝑟; 𝑦=𝐶𝑋
the zero-input response is given by
𝑦𝑍𝐼𝑅 (𝑡) = 𝐶 𝑒 𝐴𝑡 𝑋(0)
6. Show that for a SISO system, defined by
𝑋̇ = 𝐴 𝑋 + 𝐵 𝑟 𝑦=𝐶𝑋
the zero-state response due to a unit impulse input is given by
𝑦𝑍𝑆𝑅 (𝑡) = 𝐶 𝑒 𝐴𝑡 𝐵
7. Show that for a SISO system, defined by
𝑋̇ = 𝐴 𝑋 + 𝐵 𝑟 𝑦=𝐶𝑋
the zero-state response due to a unit step input is given by
𝑦𝑍𝑆𝑅 (𝑡) = 𝐶 𝐴−1 [𝑒 𝐴𝑡 − 1] 𝐵
8. What is meant by a resolvent matrix of a square matrix?
9. Explain the method of obtaining the state transition matrix of a square matrix by Laplace transform
method. Illustrate the method by means of an example.
10. Explain the method of obtaining the state transition matrix of a square matrix by power series
method. Illustrate the method by means of an example.
11. Explain the method of obtaining the state transition matrix of a square matrix by using Sylvester's
interpolation formula. Illustrate the method by means of an example.
 डा. बी आर अम्बेद्कर भारतीय प्रौद्योगिकी संस्थान जालंधर
Dr B R AMBEDKAR NATIONAL INSTITUTE OF TECHNOLOGY JALANDHAR
उपकरणीय व गनयंत्रन अगभयांगत्रकी गवभाि
DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING
12. State and explain the Cayley-Hamilton theorem.
13. Explain the method of finding the inverse of a nonsingular matrix by Cayley-Hamilton theorem.
14. Using Cayley-Hamilton theorem, explain how a matrix polynomial of degree 𝑛 can be reduced to
one of degree (𝑛 − 1) or less.
15. What is meant by an analytic function of a square matrix?
16. Explain the method to evaluate an analytic function of a square matrix.
17. Explain the method of obtaining the state transition matrix of a square matrix, with distinct Eigen
values, by using Cayley-Hamilton theorem. Illustrate the method by means of an example.
18. Explain the method of obtaining the state transition matrix of a square matrix, with repeated Eigen
values, by using Cayley-Hamilton theorem. Illustrate the method by means of an example.
19. Explain similarity transformation.
20. What is a transformation matrix?
21. What is a modal matrix? Explain.
22. Define an Eigen vector.
23. Define a generalized Eigen vector. Explain by means of an example.

24. Describe any two methods of finding Eigen vectors associated with distinct Eigen value of a given
square matrix.
25. Describe a method to find a generalized Eigen vector associated with repeated Eigen values of a
square matrix.
26. Consider a state model
𝑋̇ = AX + Br; y =CX.
Assuming that the Eigen values are distinct, show that a transformation matrix that is composed of
Eigen vectors transforms the given state model into diagonal canonical form.
27. Explain the method of obtaining the state transition matrix for a given system matrix by
diagonalization.
28. With the help of an example, discuss the Jordan canonical form of state model.

29. What is a Vander Monde matrix?

30. Discuss the method of finding the Vander Monde matrix for a given square matrix of size (3 × 3)
with distinct Eigen values.
31. Discuss the method of finding the Vander Monde matrix for a given square matrix of size (3 × 3)
with repeated Eigen values.

32. Explain the method of diagonalization using Vander Monde matrix.

33. Discus a method of finding the transformation matrix that transforms a state model in observable
canonical form to diagonal form, when the Eigen values are distinct.

34. Discus a method of finding the transformation matrix that transforms a state model in observable
canonical form to diagonal form, when the Eigen values are repeated.
35. Write down the properties of similarity transformation.
 डा. बी आर अम्बेद्कर भारतीय प्रौद्योगिकी संस्थान जालंधर
Dr B R AMBEDKAR NATIONAL INSTITUTE OF TECHNOLOGY JALANDHAR
उपकरणीय व गनयंत्रन अगभयांगत्रकी गवभाि
DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING
Numerical Problems: (Level-1)
0 1
1. The system matrix of a linear time invariant system is given as 𝐴 = [ ] and the initial state
−3 −4
2
is 𝑋(0) = [ ]. Determine the state response of the system for zero input.
−1

2. A linear time invariant system is described by the state equation

−1 2 1
𝑋̇ = [ ] 𝑋 + [ ] 𝑟(𝑡) 𝑦(𝑡) = [1 1]𝑋
−1 −3 1
2
If the initial state vector is 𝑋(0) = [ ], find the Zero Input Response and the Zero State Response
0
due to a unit impulse input. Also find the total response.

3. For the system of Example 2, determine the Zero Input Response and the Zero State Response
due to a unit step input. Also find the total response.

4. A linear time-invariant system is described by the state equation

−3 1 0
𝑋̇ = [ ] 𝑋 + [ ] 𝑟(𝑡) 𝑦(𝑡) = [1 0]𝑋
−2 0 1
1
If the initial state vector is 𝑋(0) = [
], find the Zero Input Response and the Zero State
−1
Response due to a unit impulse input. Also find the total response

5. For the system of Example 4, determine the Zero Input Response, the Zero State Response due
to a unit step input. Also find the total response.

6. A state model for a linear system is given by

0 1 0 0
̇
𝑋=[ 0 0 1 ] 𝑋 + [0] 𝑟(𝑡) 𝑦(𝑡) = [4 1 0]𝑋
−18 −21 −8 1
Determine the response due to step input, given that 𝑋(0) = [1 0 0]𝑇 .

7. For the system of Example 4, find the state transition matrix and hence the unit impulse response.

8. A linear time-invariant system is represented by a state diagram shown in Figure 1. Determine the
state transition matrix, the ZIR, the ZSR due to a unit step input and the complete response.
Assume that 𝑋(0) [ 1 1]. Obtain the solution in the time domain.
 डा. बी आर अम्बेद्कर भारतीय प्रौद्योगिकी संस्थान जालंधर
Dr B R AMBEDKAR NATIONAL INSTITUTE OF TECHNOLOGY JALANDHAR
उपकरणीय व गनयंत्रन अगभयांगत्रकी गवभाि
DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING

Fig:1

9. A linear system is represented by the state model

𝑥̇ −1 1 𝑥1 1 𝑥1 1
[ 1] = [ ] [ ] + [ ] 𝑟(𝑡) 𝑦(𝑡) = [2 1] [𝑥 ] 𝑋(0) = [ ]
𝑥̇ 2 −1 −3 𝑥2 2 2 −1

Find the ZIR and the complete solution for the state equation for a unit step input

10. A state model of a linear system is given as

𝑥̇ −1 2 𝑥1 1 𝑥1 1
[ 1] = [ ] [ ] + [ ] 𝑟(𝑡) 𝑦(𝑡) = [1 1] [𝑥 ] 𝑋(0) = [ ]
𝑥̇ 2 −1 −3 𝑥2 2 2 0

Obtain, by the time domain method, the ZIR and the complete response for a unit impulse input.

11. For the system of Example 10, obtain the complete solution for the state equation for a unit step
input.

𝑑
12. From the result 𝑒 𝐴 𝑡 = 𝐴 𝑒 𝐴 𝑡 , devise a method of finding the state transition matrix.
𝑑𝑡

−1 0
13. Find the state transition matrix for 𝐴 = [ ].
0 −2
−2 0
14. Find the state transition matrix for 𝐴 = [ ].
0 −2
−3 1
15. Find the state transition matrix for 𝐴 = [ ].
−2 0

16. Find, using Sylvester's interpolation formula, the state transition matrix
−2 2
for 𝐴 = [ ].
1 −3

17. Find, using Sylvester's interpolation formula, the state transition matrix for
0 2
𝐴=[ ].
−2 −4
0 3
18. Find the inverse of 𝐴 = [ ] using Cayley—Hamilton theorem.
−2 −5
 डा. बी आर अम्बेद्कर भारतीय प्रौद्योगिकी संस्थान जालंधर
Dr B R AMBEDKAR NATIONAL INSTITUTE OF TECHNOLOGY JALANDHAR
उपकरणीय व गनयंत्रन अगभयांगत्रकी गवभाि
DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING
−2 1 0
19. Find the inverse of 𝐴 = [−1 −2 1] using Cayley—Hami1ton theorem.
0 0 1
0 1
20. If 𝐴 = [ ] compute 𝐹(𝐴) = 𝐴4 + 4𝐴3 + 3𝐴2 + 2𝐴 + 1, using Cayley- Hamilton theorem.
−2 3

0 1
21. Evaluate the analytical function cos A of the matrix 𝐴 = [ ].
−2 −3

22. If A is a (2 × 2) matrix with distinct Eigen values, determine the state transition matrix using the
Cayley-Hamilton theorem.

−2 2
23. Evaluate the state transition matrix for 𝐴 = [ ] theorem. using Cayley-Hamilton.
1 −3

24. If A is a (2 x 2) matrix with repeated Eigen values, determine the state transition matrix using the
Cayley-Hamilton theorem.

−2 1
25. Evaluate the state transition matrix for 𝐴 = [ ] using Cayley-Hamilton theorem.
0 −2

−2 1 0
26. Find the state transition matrix for 𝐴 = [−1 −2 1 ] by Cayley-Hamilton theorem.
0 0 −2

27. Repeat Example 25, considering that A is in Jordan canonical form.

−4 2
28. For the square matrix A = [ ], determine the Eigen value and the associated Eigen vectors.
−1 −1
0 1
29. For a square matrix A = [ ] , determine the Eigen values and the as-sociated Eigen
−2 −3
Vectors.

0 1 0
30. For a square matrix A= [ 3 0 2 ]determine the Eigen values and the associated Eigen
−12 −7 −6
vectors.

−1 2
31. For a square matrix A = [ ], determine the Eigen values and the associated Eigen vectors.
0 −1
−3 2
32. For a square matrix A = [ ]determine the Eigen values and the associated Eigen vectors.
−2 1
−5 1
33. For a square matrix A=[ ] Eigen vectors determine the Eigen values and the associated
−9 1
Eigen Vectors.
 डा. बी आर अम्बेद्कर भारतीय प्रौद्योगिकी संस्थान जालंधर
Dr B R AMBEDKAR NATIONAL INSTITUTE OF TECHNOLOGY JALANDHAR
उपकरणीय व गनयंत्रन अगभयांगत्रकी गवभाि
DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING
−2 4 0
34. For a square matrix associated Eigen vectors. A = [ 0 −2 0 ]determine the Eigen
4 4 −2
values and the associated Eigen vectors.

35. Repeat Question 34 using the definition of Eigen vectors.

−2 4 0
[ 0 −2 0 ]
4 4 −2
−2 2 1
36. A state model for a linear system is 𝑋̇ = [ ]𝑋 + [ ]𝑟 y = [2 - 1]𝑋
1 −3 2
Transform the system into diagonal canonical form. Also find the state transition matrix.

1 6 0
37. A state model for a system is 𝑋̇ = [ ]𝑋 + [ ]𝑟 y= [1 2]𝑋
−1 −4 1

Transform the given system into diagonal canonical form. Also find the state transition matrix.

38. A linear time-invariant system is represented by a state model

−4 1 0 0
̇
𝑋=[ 0 −3 1] 𝑋 + [1] 𝑟 y = [[2, - 1, 1]] * x
0 0 2 2

Transform the model into diagonal canonical form. Also find the state transition matrix. Represent
the network shown in Fig.6 in the physical variable form of state model.

−3 2 1
39. For a state model 𝑋̇= [ ]𝑋 + [ ]𝑟 y = [1 2]𝑋
−2 1 −2
determine the Eigen values and the associated Eigen vectors. Transform the given state
model into Jordan canonical form. Hence, find the state transition matrix.

−3 1 1
40. For a state model 𝑋̇= [ ]𝑋 + [ ]𝑟 y = [1 2]𝑋
−1 1 −2
determine the Eigen values and the associated Eigen vectors. Transform the given state
model into Jordan canonical form. Hence, find the state transition matrix.

41. A state model for a linear system is

−6 1 0 1
̇
𝑋=[−12 0 1] 𝑋 + [2] 𝑟 y = [1, 2, -1]𝑋
8 0 0 1
Transform the given state model into Jorden canonical form. Also find the state transition matrix.

42. Show that a state model in controllable canonical form or in phase variable form with distinct Eigen
values can be transformed into diagonal canonical form using the Vander Monde matrix.

43. A state model of a system in controllable canonical form is

0 1 0
𝑋̇ = [ ]𝑋 + [ ] 𝑟 y =[3 1] 𝑋.
−2 −3 1
 डा. बी आर अम्बेद्कर भारतीय प्रौद्योगिकी संस्थान जालंधर
Dr B R AMBEDKAR NATIONAL INSTITUTE OF TECHNOLOGY JALANDHAR
उपकरणीय व गनयंत्रन अगभयांगत्रकी गवभाि
DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING
Transform the state model into diagonal canonical form.

44. A state model of a system in Phase variable form is

0 1 1
𝑋̇ = [ ]𝑋 + [ ] 𝑟 y = [3 -1]𝑋.
−5 −6 3

Transform the state model into diagonal canonical form.

45. A linear system has a state model in controllable canonical form given
0 1 0 0
̇
𝑋=[ 0 0 1 ] 𝑋 + [0] 𝑟 y = [2, 1, 1]𝑋
−15 −23 −9 1
Transform the state model into diagonal canonical form.

46. A state model of a system in controllable canonical form is

0 1 0
𝑋̇ = [ ]𝑋 + [ ]𝑟 y =[2 -1] 𝑋.
−4 −4 1

Transform the state model into Jordan Conical form.

47. A state model of a system in phase variable form is

0 1 1
𝑋̇ = [ ]𝑋 + [ ]𝑟 y = [1 2]𝑋.
−9 −6 2

Transform the state model into Jordan Conical form.

48. A state model of a linear system is

0 1 0 0
𝑋̇=[ 0 0 1 ] 𝑋 + [0] 𝑟 y = [[4, 1, 1]] * 𝑋
−18 −21 −8 1
Transform the state model into Jordan Conical form.

49. The state model of a system in observable canonical form is

−3 1 1
𝑋̇ = [ ]𝑋 + [ ]𝑟 y =[1 0]𝑋.
−2 0 2
Convert this model into diagonal form.

50. The state model of system in observable canonical form is

−6 1 0 1
𝑋̇=[−11 0 1] 𝑋+ [2] 𝑟 y = [[1, 0, 0]] X
−6 0 0 3
Convert this model into diagonal form.

51. The state model of a system in observable canonical form in

−4 1 3
𝑋̇ = [ ]𝑋 + [ ]𝑟 y =[1 0]𝑋.
−4 0 1
Convert this model into diagonal form.

52. The state model of a system in observable canonical form in

−7 1 0 1
̇
𝑋=[−15 0 1] 𝑋+ [3] 𝑟 y = [[1, 0, 0]]X
−9 0 0 2
Convert this model into diagonal form.
 डा. बी आर अम्बेद्कर भारतीय प्रौद्योगिकी संस्थान जालंधर
Dr B R AMBEDKAR NATIONAL INSTITUTE OF TECHNOLOGY JALANDHAR
उपकरणीय व गनयंत्रन अगभयांगत्रकी गवभाि
DEPARTMENT OF INSTRUMENTATION AND CONTROL ENGINEERING

53. The state model of a system in observable canonical form in

−6 1 0 1
𝑋̇=[−12 0 1] 𝑋+ [2]r y = [1, 0, 0]𝑋
−8 0 0 5
Convert the state model into diagonal form.