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Therefore location of the roots of the characteristics equation determine stability of state
space system
Example : Consider the following dynamical system . Determine the state transition matrix using disgonalisation
method.
x1 (t ) 0 1 x1 (t )
x (t ) 0 2 x (t )
2 2
x (t ) x1 (0) 0
y (t ) 3 1 1 and x (0) 2 .
x2 (t ) 2
Solution: The eigen values of A are 1 0, 2 2.
Let the eigen vectors be written as
p p
P1 11 , P2 12 .
p21 p22
Since any non zero vector Pi satisfies the matrix equation (i I A) Pi 0 , where i , i 1,2,..n, denotes the i
th eigen values of A, called the eigen vectors of A associated with eigen values i .
Therefore for 1 0 ,
1 p11
0 2 p 0
21
0 1 p11
i.e. 0 2 p 0 .
21
i.e. p21 =0 and p11 is arbitrary and can be set equal to 1.
For 2 2 we have
2 1 p12
0 p 0 .
0 22
i.e. 2 p12 p22 0 .
Since two unknown one can be set arbitrary. Let p12 1, which gives p22 2 .
1 1
i.e. P .
0 2
Then e At can be expressed as
e 1t 0 1
e At P P
0 e 2t
1
1 1 e 0 0 1 2
0 2 0 e 2 t 0 1
2
1 2t
1 (1 e )
2 .
0 2t
e
Cayley-Hamilton theorem:
The theorem states that n n matrix M satisfies its own characteristics equation.
That is if the characteristics polynomial of a n n is defined as
( ) m a1m1 .....................am1 am , m n .
x1 (t ) 0 1 x1 (t )
x (t ) 0 2 x (t )
2 2
x (t ) x1 (0) 0
y (t ) 3 1 1 and x (0) 2 .
x2 (t ) 2
(a) Obtain state transition matrix (t ) .
(b) Determine output y (t ) .
(c) For this system verify that (0) I and 1 (t ) (t ) .
Solution:
(a) The order of A is 2, which means the power series of e At contains only two terms.
Therefore (t ) e = 0 (t ) I 1 (t ) A . Where 0 (t ) and 1 (t ) are the scalar coefficients.
At
The eigen values of the system can be obtained from the characteristics equation
I A 0 .
i.e. ( 2) 0
i.e. 1 0, 2 2.
Therefore e 0t 0 (t ) 0.1 (t )
1 e 2t
i.e. 0 (t ) =1 and 1 (t ) = .
2
So the state transition matrix is given by
(t ) e At = 0 (t ) I 1 (t ) A
1 0 1 e 2t 0 1
= 2 0 2
0 1
1 e 2t
i.e. (t ) 1 2 .
0 e 2t
(b) Now X (t ) (t ) X (0) .
1 e 2t
0
X (t ) 2
1
i.e.
2
e 2t
0
1 e 2t
= 2t
.
2 e
1 e 2t
i.e. output y(t ) 3 1 2t
2e
2t
= 3 5e .
1 e 2t
1 0
(c) (0)
1
2 I.
2t 0 1
0 e t 0
1 e 2t
(1 e 2t )
(t ) 2t
1
2
e 0
1
(1 e 2t )
= = (t ) .
1
2
0 e 2t
Example : Determine state transition matrix using Cayley – Hamilton theorem of the dynamical system described
by
x1 (t ) 0 1 x1 (t ) 0
x (t ) 1 2 x (t ) 1u .
2 2
Solution:
1
i.e. 0
1 2
i.e. ( 1) 2 0 .
Since A is of second order the remainder polynomial R( ) = ( 0 1 ) . 0 and 1 are the scalar coefficients.
f ( ) f (1) e t 0 1
d d
and f ( ) 1 te t R( ) 1 1 .
d d
From these two equation we have 0 (1 t )et ,1 te t .
i.e. The state transition matrix is given by
f ( A) e At 0 I 1 A
(1 t )e t te t
= t .
te (1 t )e t