ECE 515, Fall 2007

Problem Set #1 Solution

Solutions:
(Remember: generally, there are more than one state-space realizations of the same system.)
1. Nonlinear system (10 points)
(a) A straightforward attempt is to denote x1 = y and x2 = y,
then one can write

x1 = x2 ,
x2 = y = 2x1 (x21 + 1)(x2 + 1) + u + 2u.

The main problem in defining the state variables in this case lies in the derivative terms
of the input signal u. The state variables must be such that they will eliminate the
derivatives of u in the state equation.
One way to obtain a correct equation is to define (by direct examination of the given
equation):
x1 = y,
x2 = x1 2u.
Hence the corresponding state-space equations are

x1 = y = x2 + 2u,
x2 = x1 2u = y 2u = 2x1 (x21 + 1)(x2 + 2u + 1) + u,

y = x1 .

(1)

A more systematic way to obtain the state-space equation is using the integration technique (compare to picking state variables by direct examination). From y = 2y (y 2 +
1)(y + 1) + u + 2u,
integrate to obtain
Z
y = 2u + (2y + u) (y 2 + 1)(y + 1).
R
Let x2 = (2y +u)(y 2 +1)(y +1). Then y = 2u+x2 and x 2 = (2y +u)(y 2 +1)(y +1).
Let x1 = y, then we have a state-space realization

x 1 = x2 + 2u
x 2 = 2x1 (x21 + 1)(x2 + 2u + 1) + u
which is the same as (1).
(b) The first step is to obtain its equilibrium. Set u 0 and x1 , x2 0 in equation (1), and
we have


x2 = 0
x1 = 1

2x1 (x21 + 1)(x2 + 1) = 2x1 (x21 + 1) = 0

x2 = 0
Linearize the system (1) at (1, 0), and we get
!
!


 
f 
f 
0 1
2
x =
x +
u,
x=(1,0) x +
x=(1,0) u =
0 2
3
x u=0
u u=0


y = 1 0 x.
1

2. Linked Pendulum Problem (10 points)

(a) Apply Newtons Law in the tangential direction:

u cos mg sin = ml.

Then,
i. Define x1 = , x2 = .


x1 = x2
x2 = gl sin x1

u
ml

cos x1

is a nonlinear state-space realization.

ii. If is small, then sin , cos 1. Thus,

 

 

x1
0 1
x1
0
=
+
u
1
x2
gl 0
x2
ml
is a linearized state-space realization.
(b) Let T be the component of the input force u imparted to mass m1 .






















































































































































































































































1











































































l1

m1

l2

T
u(t)

m2




























m2 g cos 2 + u sin 2 = T
u cos 2 m2 g sin 2 = m2 l2 2
T sin(2 1 ) m1 g sin 1 = m1 l1 1
i. Define x1 = 1 , x2 = 1 , x3 = 2 , x4 = 2 . Then,

x1 = x2

x = g sin x + m2 g cos x sin(x x ) +

2
1
3
3
1
l
m1 l1
x

=
x

3
4

x3
x4 = lg2 sin x3 + cos
m2 l2 u
is a nonlinear state-space realization.
ii. If i 0 and i j 0, then

0
1
x1
g(m1 +m2 )
x2
0

m1 l1
x3 =

0
0
x4
0
0
is a linearized state-space realization.
2

0
m2 g
m1 l1

0
lg2

0
0
1
0

1
m1 l1

sin x3 sin(x3 x1 )u

x1
0

x2 0
+

x3 0
1
x4
ml

3. Satellite Problem (10 points)

Note, in the system:
k
+ u1
r2
r 1
= 2 + u2
r
r
r = r2

(2)
(3)

that does not explicitly appear in the equations. Hence we may pick the states to be
T R3 and denote the inputs to be u = [u1 , u2 ]T R2 . The state
x = [x1 , x2 , x3 ]T = [r,
r, ]
space representation of the system is:

u1 , u2 ) r2 k/r2 + u1
r
f1 (r,
r, ,
u1 , u 2 ) =
r = f2 (r,

r
(4)
r, ,

u1 , u 2 )

2r/r
+ u2 /r
f3 (r,
r, ,
Then

fx =

f1
r
f2
r
f3
r

f1
r
f2
r
f3
r

f1

f2

f3

0
2 + 2k/r3
2r
0
3 2 2p

1
0
0 =
1
0
0
=
2
2

2/p 0
0
2/r
2r/r

u2 /r 2rr

evaluated at r = 0, r = p, = , u1 = u2 = 0 and k = p3 2 . Similarly we have:

1 0
fu = 0 0 .
0 1/p
The linearized equation is therefore:

1 0
0
3 2 2p
1
0
0 x + 0 0 u.
x =
0 1/p
2/p 0
0

(5)

(6)

4. A Multiple Input and Multiple Output (MIMO) System (10 points)

Assume that the system is relaxed at t = 0. Then integrate the differential equations to
obtain:
Z
Z Z
y 1 = u1 + (2y1 + u2 ) +
(3y2 + u1 )
(7)
Z
y 2 = (y1 + 3y2 + u3 ) + (y1 y2 + u2 u3 )
(8)
Denote the inputs to be u = [u1 , u2 , u3 ]T R3 and the outputs y = [y1 , y2 ]T R2 . Define the
state variables to be x = [x1 , x2 , x3 , x4 , x5 ]T R5 where:
Z
Z
x1 = y1 , x2 = (2y1 + u2 + x3 ), x3 = (3y2 + u1 ),
Z
x4 = y2 , x5 = (y1 y2 + u2 u3 ).

Then the state equations are:

x 1 = x2 + u1
x 2 = 2x1 + x3 + u2
x 3 = 3x4 + u1
x 4 = x1 + 3x4 + x5 + u3
x 5 = x1 x4 + u2 u3
y1 = x1
y2 = x4
Or in matrix form:

x =


y =

0
2
0
1
1

1
0
0
0
0

0 0 0
1 0 0
0 3 0
0 3 1
0 1 0

1 0 0 0 0
x
0 0 0 1 0

x +

1
0
1
0
0

0 0
1 0
0 0
0 1
1 1

(9)

(10)

5. State-space vs. Input-output Representation (10 points)

For the given transfer function, we have:
G(s) =

s+1
s+1
B(s)
=
=
.
s3 + 4s2 + 5s + 2
(s + 1)2 (s + 2)
A(s)

(11)

(a) Controllable canonical form. Let A(s)W (s) = U (s), Y (s) = B(s)W (s), i.e. w(3) + 4w
+
T
3
5w + 2w = u and y = w + w. Choose the states to be x = [w, w,
w]
R . Then we have

0
1
0
0
0
1 x + 0 u
x = 0
2 5 4
1


1 1 0 x
y =
(b) Observable canonical form. From y (3) + 4
y + 5y + 2y = u + u we define the states to be
x = [x1 , x2 , x3 ]T :
x1 = y
x2 = y + 4y
x3 = y + 4y + 5y u
Then we obtain:

4 1 0
0
x = 5 0 1 x + 1 u
2 0 0
1


1 0 0 x
y =
4

(c) Using partial fractions, we have:

s+1
(s + 1)2 (s + 2)

1
A1
A2
=
+
(s + 1)(s + 2)
(s + 2) (s + 1)
1
1
+
(s + 2) (s + 1)

=
=

Let X1 (s) =

1
(s+1) U (s), X2 (s)

1
(s+2) U (s),

then Y (s) = X1 (s)X2 (s), or in the time domain:


 
1 0
1
x =
x+
u
0 2
1


1 1 x
y =