Exercise 3.

13
Represent the following TF in state space. Give your answer in vector-
matrix form:
2
s +3 s +8
T (s )=
(s+1) ( s +5 s+5 )
2

Solving method
2 2
s +3 s +8 s +3 s +8
T (s )= = 3
(s+1) ( s +5 s+5 ) s +6 s +10 s+5
2 2

Separate the system into two cascaded blocks

Find the state equations for the block containing the denominator

[][ ][ ] [ ]
ẋ 1 0 1 0 x1 0
ẋ 2 = 0 0 1 x2 + 0 r
ẋ3 −5 −10 −6 x 3 1

Introduce the effect of the block with the numerator

C (s )=( b 2 s2 +b 1 s+b 0 ) X 1 ( s)=( s 2+3 s+ 8 ) X 1 ( s)

Taking inverse Laplace transform with zero initial conditions

c= ẍ 1 +3 ẋ 1+ 8 x 1=x 3 +3 x 2+ 8 x 1

The output equation

[] []
x1 x1
y= [ b0 b1 b 2 ] x 2 =[ 8 3 1 ] x 2
x3 x3

Hence, the transfer function in vector-matrix form

 [][ ][ ] [ ]
ẋ 1 0 1 0 x1 0
ẋ 2 = 0 0 1 x2 + 0 r
ẋ3 −5 −10 −6 x 3 1

[]
x1
y=[ 8 3 1 ] x 2
x3

Exercise 3.14
Find the TF G(s)=Y (s)/ X (s ) for each of the following systems represented
in state space.

[ ][]
0 1 0 0
a. ẋ= 0 0 1 x+ 0 r , y=[ 1 0 0 ] x
−3 −2 −5 10

[ ] []
2 −3 −8 1
b. ẋ= 0 5 3 x+ 4 r , y=[ 1 3 6 ] x
−3 −5 −4 6

[ ][]
3 −5 2 5
c. ẋ= 1 −8 7 x + −3 r , y= [ 1 −4 3 ] x
−3 −6 −2 2

Solving method

[ ][]
0 1 0 0
a. ẋ= 0 0 1 x+ 0 r , y=[ 1 0 0 ] x
−3 −2 −5 10

Set

[ ]
0 1 0
A ¿ 0 0 1
−3 −2 −5

[]
0
B ¿ 0
10
C ¿[1 0 0]

Since
 [ ][ ][ ]
1 0 0 0 1 0 s −1 0
sI− A=s 0 1 0 − 0 0 1 = 0 s −1
0 0 1 −3 −2 −5 3 2 s+5
¿

Therefore
¿

[]
0
1
¿ 3 2
[ s
2
+ 5 s+ 2 s+5 1 ] 0
s + 5 s +2 s+3 10

10
→ G(s )= 3 2
s +5 s +2 s+3

[ ] []
2 −3 −8 1
b. ẋ= 0 5 3 x+ 4 r , y=[ 1 3 6 ] x
−3 −5 −4 6

Set

[ ]
2 −3 −8
A ¿ 0 5 3
−3 −5 −4

[]
1
B ¿ 4
6
C ¿ [1 3 6 ]

Since

[ ][ ][ ]
1 0 0 2 −3 −8 s−2 3 8
sI− A=s 0 1 0 − 0 5 3 = 0 s−5 −3
0 0 1 −3 −5 −4 3 5 s+4
¿

Therefore
¿

[ ][]
3 −5 2 5
c. ẋ= 1 −8 7 x + −3 r , y= [ 1 −4 3 ] x
−3 −6 −2 2
Set

[ ]
3 −5 2
A ¿ 1 −8 7
−3 −6 −2

[]
5
B ¿ −3
2
C ¿ [ 1 −4 3 ]

Since

[ ][ ][ ]
1 0 0 3 −5 2 s−3 5 −2
sI− A=s 0 1 0 − 1 −8 7 = −1 s+ 8 −7
0 0 1 −3 −6 −2 3 6 s+2
¿

Therefore
¿

Exercise 3.15
Use matlab to find the TF G(s)=Y (s)/ X (s ) for each of the following systems
represented in state space.

[ ] []
0 1 5 0 0
0 0 1 0 5
a. ẋ= 0 0 x+ r , y=[ 1 3 6 6 ] x
0 1 8
−7 −9 −2 −3 2

[ ] []
3 1 0 4 −2 2
−3 5 −5 2 −1 7
b. ẋ= 0 1 −1 2 8 x+ 8 r , y= [ 1 −2 −9 7 6 ] x
−7 6 −3 −4 0 5
−6 0 4 −3 1 4

Solving method

[ ] []
0 1 5 0 0
0 0 1 0 5
a. ẋ= 0 0 x+ r , y=[ 1 3 6 6 ] x
0 1 8
−7 −9 −2 −3 2

Matlab program:

clear;clc;
A= [0 1 5 0;0 0 1 0;0 0 0 1;-7 -9 -2 -3]
B= [0;5;8;2];
C= [1 3 6 6];
D= 0;
T=ss(A,B,C,D);
T=tf(T)

Result:

[ ] []
3 1 0 4 −2 2
−3 5 −5 2 −1 7
b. ẋ= 0 1 −1 2 8 x+ 8 r , y= [ 1 −2 −9 7 6 ] x
−7 6 −3 −4 0 5
−6 0 4 −3 1 4

Matlab program:

clear;clc;
A= [3 1 0 4 -2;
-3 5 -5 2 -1;
0 1 -1 2 8;
-7 6 -3 -4 0;
-6 0 4 -3 1]
B= [2;7;8;5;4];
C= [1 -2 -9 7 6 ];
D= 0;
T=ss(A,B,C,D);
T=tf(T)

Result:

3.16
Use matlab, the Symbolic Math Toolbox, and Eq.3.73 to find the TF
G(s)=Y (s)/ X (s ) for each of the following systems.

[ ] []
0 1 5 0 0
0 0 1 0 5
a. ẋ= 0 0 x+ r , y=[ 1 3 6 6 ] x
0 1 8
−7 −9 −2 −3 2

[ ] []
3 1 0 4 −2 2
−3 5 −5 2 −1 7
b. ẋ= 0 1 −1 2 8 x+ 8 r , y= [ 1 −2 −9 7 6 ] x
−7 6 −3 −4 0 5
−6 0 4 −3 1 4

Solving method

[ ] []
0 1 5 0 0
0 0 1 0 5
a. ẋ= 0 0 x+ r , y=[ 1 3 6 6 ] x
0 1 8
−7 −9 −2 −3 2

Matlab program:
syms s;
A= [0 1 5 0;0 0 1 0;0 0 0 1;-7 -9 -2 -3]
B= [0;5;8;2];
C= [1 3 6 6];
I=eye (4);
T=C*inv(s*I-A)*B;
T=simplify(T);
pretty(T)

Result:

[ ] []
3 1 0 4 −2 2
−3 5 −5 2 −1 7
b. ẋ= 0 1 −1 2 8 x+ 8 r , y= [ 1 −2 −9 7 6 ] x
−7 6 −3 −4 0 5
−6 0 4 −3 1 4

Matlab program:

syms s;
A= [3 1 0 4 -2;-3 5 -5 2 -1;0 1 -1 2 8;-7 6 -3 -4 0;-6 0 4
-3 1]
B= [2;7;8;5;4];
C= [1 -2 -9 7 6 ];
I=eye (5);
T=C*inv(s*I-A)*B;
T=simplify(T);
pretty(T)

Result: