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LINEAR SYSTEM
HOMEWORK 8
Instructor:
Student:
Student ID:
P96007019
Department:
Class:
Contents
Problem 1 ......................................................................................................................... 2
Problem 2 ......................................................................................................................... 6
Page 1
Problem 1
Given the following MIMO transfer function:
3
+ 2
() =
2
2
+2 +2
1
1 ()
()
1. Find a right-coprime matrix fraction description of () =
1 2
0
( + 2 2)
0
+ 2
12
+2
2
1
0
++2 1
11
=
3
= 1
21
1
+ 2
( 2 + 2 + 10)
3 + 3
0
12
2 + 2 0
2
2
+
2
6)
1/6(
1
12
1
[ ]22 )
1 ( =
22
+2
0
1
() = 11
=
2
0
++2
+ 2 3( + 1)
1
() = 21
=
2
2 + 2
1 () =
()
() =
1
+ 2 3( + 1) + 2
0
0
2 + + 2
2
2 + 2
2. Using results from Part (1), find a minimal state-space realization (A,B,C,D) of G(s)
in controller form.
1 0
0
, () = 0 1
() =
0 2
0
=
1 0
2
, =
0 1
0
0 0
2 3
Page 2
2 3 3
1 0
=
, =
2 1
0 2 1
1
=
=
1 0
2 1
0
3
3
1
+ =
=
4 4 2
1 0
= 0 0
0 1
2
= 0
0
0
0
0
1
2 3
2( + 1)
( 1)( + 2)
( + 1)( 3 2 6 4)
3
2
6
() =
( 1)( + 2) 3( + 2)
2
2
0
2
( + 1)( 4)
() =
1
3
() = 1 () ()1 () = ()()
Linear System Theory
Page 3
() =
1 () ()1 ()
()
0
1 () ( + 1)( + 2)
1 ()
=
3
2
3 6 4
+2
4. Using results of Part (3), find the system poles and its structure.
We have:
1 () = 1
1 () = ( + 1)( + 2)
() = 3 3 2 6 4
2
2 () = + 2
0
0
1
0
1/24*(4-6*s-2*s^2+3*s^3+s^4)
1/6*(-2+2*s+s^2)
1/3*(-2-s)
-1/2*(-1+s)*(2+s)^2
1/8*(2-3*s^2-s^3);
1/2*(-2-s);
0;
3/2*(2+3*s+s^2)];
Page 4
simplify(Drw);
simplify(Nrw);
Gs = Nrw/Drw;
% part 2
Ss = [s 0;
0 s^2];
Psi_s = [1 0;
0 1;
0 s];
Dhc = eye(2);
Dlc = [2 0 0;
0 2 3];
Nhc = [1 0;
2 1];
Nlc = [2
3
3;
0
-2 1];
Dhc_inv = eye(length(Dhc))\Dhc;
Dhlc = -Dhc_inv*Dlc;
C = -Nhc*Dhc_inv*Dlc + Nlc;
D = Nhc*Dhc_inv;
B = [1 0;
0 0;
0 1];
A = [-2 0 0;
0 0 1;
0 -2 -3];
% part 3 the Smith-McMillan form
N=[s^2+3*s+2
3*s+3
2*s^2+2*s
s^2+s-2];
d=s^2+3*s+2;
I=eye(2);
R1=[0 1
1 0];
N1=N*R1;
N1=simplify(N1);
R2=[1 -s/3
0 1];
N2=N1*R2;
N2=simplify(N2);
L1=[1 0
-s/3 1];
N3=L1*N2;
N3=simplify(N3);
L2=[0 -1/2
1 0];
N4=L2*N3;
N4=simplify(N4);
L3=[1 0
-3*s-3 1];
N5=L3*N4;
N5=simplify(N5);
R3=[1 s^2/2+s-s^3/6
0 1];
N6=N5*R3;
N6=simplify(N6);
R4=[1 0
Page 5
0 -2];
N7=N6*R4;
N7=simplify(N7);
N_SM = N7;
simplify(N_SM);
R=R1*R2*R3*R4;
R=simplify(R);
L=L3*L2*L1;
L=simplify(L);
SM=N7/d;
SM=simplify(SM);
Problem 2
Consider the following linear time-invariant system (A,B,C,D) where
Let () =
NSM(s).
+2
+3
+ 1 ( + 1)
1
() = ( ) + =
1
+ 2
( + 2)
+3
( + 1)() =
( + 2)( + 1) + 1
( + 2)
( + 2)( + 1)
+3
, we will find the Smith-McMillan form of N(s) i.e.
+1
0
3
() =
( + 1)( + 2)
0
2
Page 6
() = 1 () ()1 () = ()()
1
1
() = + 1 + 3
2
2
0
1
+
2
1
() =
2
2
() =
1 () ()1 ()
()
( + 1)
= 1 ()
1 ()
3 ( + 2)
2
0
3. Determine the system poles and its pole structure from the Smith-McMillan form.
Are the system eigenvalues the same as the system poles? Explain.
() = ( + 1)
1
2 () =
Page 7
Matlab code:
clear all; close all; clc;
A=[0
0
0
0
B=[1
C=[0
D=[1
0 0 0
0 0 0
0 -1 0
0 0 -4];
0;0 1;1 -2;0 0];
3 1 1;2 1 0 0];
0;1 0];
Page 8