[ ]

1 2 3 4
1
0
0
0
b t t t t
1
1

1
1
]
M M M
b bcT
1. Considere um sistema linear, representado na forma de espao de estados (EE), pelo sistema
de equaes:

X Ax b
y Cx
u +

'

&
(2.1)
A funo de transferncia dada por:
(2.2)
O denominador obtido a partir da matriz abaixo, (na forma de Toeplitz):
(2.3)

Mostrar que:
2.1
2.1
2.3
2.4
Onde:
(2.4)
e, (2.5)
RESOLUO
_____________________________________________________________________________________
1. Q

X Ax b
y Cx
u +

'

&
X Txc
c c c
c c
Xc A X b
y C X
u +

'

&

Sabe-se que:

1
1
Ac T AT
bc T b
cc cT

Portanto:

Pg. 1/5
[ ]
1 2 3 4
1 2 3 4

1 0 0 0
0 1 0 0
0 0 1 0
a a a a
A t t t t

1
1
1
1
]
M M M

T
T Ca

Usando a outra relao:

1
Ac T AT

AT TAc [ ]
1 2 3 4 A t t t t M M M a
[ ]
1 2 3 4 At At At At M M M
a [ ]
1 1 2 2 1 3 3 1 4 4 1
a t t a t t a t t a t + + + M M M
Fazendo a transformao do ndice (
1
t b ) e igualando-se as 1s colunas, obtm-se:

1 2 2 1
b b A a b t t a b A + +

Para as 2s colunas, tem-se:

2
1 2 3 3 2 1
( ) b a b A a b A b t t a b a A A b + + + +

Para as 3s colunas, tem-se:

2 3 2
2 1 3 4 4 1 2 3
( ) b a b a A a b a A A b b t t A b A b A a b + + + + + +
A matriz T obtida:


2 3 2
1 1 2 1 2 3
b b b b b b T b A a b A A a ba A A a A a ba + + + 1 + + +
]
M M M

2 3
1 2 3
1 2
1
1
1
1
1

0

0 0
0 0 0
b b b
a a a
a a
a
b A A A
1
1
1
1
]
1
1
]
M M M
c.q.d
2. Q
X Ax b
y Cx
u +

'

&
o X Tx
o o o o
o o
X A X b
y C X
u +

'

&


1
o
A QAQ

Q
o
QA A

[ ]
1
2
3
4
1 0 0 0
q
q
q
q
c
1
1

1
1
]


1
q c

1
2
3
4
1 1
2 2
3 3
4 4

0 1 0
0 0 1
0 0 0
1 0 0 a
a
a
a
q q
q q
A
q q
q q

1 1
1
1 1
1

1 1
1
1 1
1
]
] ]

1 1 1 2 2 1
q A a q q q a c cA + +

Pg. 2/5

2
2 2 1 3 3 2 1
q A a q q q a c a cA cA + + +

2 3
3 3 1 4 4 3 2 1
q A a q q q a c a cA a cA cA + + + +

1
2
3 2
1
1 2
1 2 3
cA a
cA
c
c
T Q
cAa a c
cA cA a cAa a c

+
1
1

1
+ +
1
+ + +
]


1
2
2 1
3
3 2 1
1 0 0 0
1 0 0
1 0
1

a
a a
a
c
cA
Q
cA
a a
cA
1
1
1
1

1
1
1
1
]
]


1 1 1
T Q O a

c.q.d
3. Q
X Ax b
y Cx
u +

'

&
o X Txc
co co co co
co co
X A X b
y C X
u +

'

&

T C


1
co
b T b

co
b Tb

[ ]
1 2 3 4

1
0
0
0
b= t t t t
1
1
1
1
]
M M M


1
b t

1
co
A T AT

a
co
AT TA

[ ] [ ]
4
3
2
1
1 2 3 4 1 2 3 4
0 0 0 -a
1 0 0 -a
0 1 0 -a
0 0 1 -a
At At At At t t t t
1
1

1
1
]
M M M M M M

2
Ab t


2 3
At t

2
3
A b t

3
4
A b t

2 3 2 3
b b , b b T b Ab A A C b Ab A A 1 1
] ]
M M M M M M
T C c.q.d
Pg. 3/5
4. Q
X Ax b
y Cx
u +

'

&
ob X Tx
ob ob ob ob
ob ob
X A X b
y C X
u +

'

&


1
T O

ob
c CT

ob
c c Q

[ ]
1
2

3
4


1 0 0 0 c =
q
q
q
q
1
1
1
1
]
M M M


1
c q

1
;
ob ob
A QAQ QA A Q

1 1
2 2
3 3
4 3 2 1 4 4
0 1 0 0
0 0 1 0
0 0 0 1
a a a a
q q
q q
A
q q
q q
1 1 1
1 1 1

1 1 1
1 1 1
] ] ]

2
q cA


2
3
q cA

3
4
q cA

1
2
3

c
cA
T Q
cA
cA

1
1

1
1
]
2
3

c
cA
O
cA
cA
1
1

1
1
]

1
T O

c.q.d
Pg. 4/5
Pg. 5/5