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= = A sI L e t
At
Generalized Leibniz Integral Rule
Adjoint Matrix
Method: Inverse Laplace Transform
Hint: =t-
d = -d
Method:
A a A a I a A a A a a
A a A a A a A
I a A a A a A
I a A a A a A
n
n n
n
n
n
n
n
n
n
n
n
0
2
1 0 1
1
1 1
0
2
1 1
1
0 1
1
1
0 1
1
1
) (
0
=
=
=
= + + + +
L L
L
L
L
L L + + + + + =
n
n
A k A k A k I k A f
2
2 1 0
) (
any
=
+ + + + =
1
0
1
1
2
2 1 0
) (
n
k
k
k
n
n
A
A A A I A f
L
(
= =
1 0
2 1
?
100
A A
Example:
A I A A f let
1 0
100
) ( + = =
2 , 1 , 0 ) 2 )( 1 (
2 0
2 1
2 1
= = = =
100
2 1 0
100
2 2
100
1 1 0
100
1 1
2 ) (
1 ) (
= + = =
= + = =
f
f
1 2
2 2
100
1
100
0
=
=
=
(
+
(
= =
1 0
2 2 1
1 0
2 1
) 1 2 (
1 0
0 1
) 2 2 ( ) (
101
100 100 100
A A f
(
= =
0 2
1 3
? A e
At
Example:
2 , 1 , 0
2
1 3
2 1
= = =
2 ) 2 (
) 1 (
1 0 2 1 0
2
1 0 1 1 0
= + = =
= + = =
t
t
e f
e f
t t
t t
e e
e e
+ =
=
2
1
2
0
2
+ +
=
(
+ +
(
=
t t t t
t t t t
t t t t At
e e e e
e e e e
e e e e e
2 2 2
2
0 2
1 3
) (
1 0
0 1
2
2 2
2 2
2 2
Code Application of Cayley-Hamilton Theorem
% to find a^10
format long
a=[1 2; 0 3]
[t,j]=eig(a)
% adj(a)= no such command as
adj(a)=det(a)*inv(a)
adja=det(a)*inv(a)
colambda=[1 j(1,1); 1 j(2,2)]
flambda10=[j(1,1)^10; j(2,2)^10]
beta=inv(colambda)*flambda10
apower10=beta(1)*eye(2)+beta(2)*a
%
% a =
%
% 1 2
% 0 3
%
%
% t =
%
% 1.000000000000000
0.707106781186547
% 0 0.707106781186547
%
%
% j =
%
% 1 0
% 0 3
%
%
% adja =
%
% 3 -2
% 0 1
%
%
% colambda =
%
% 1 1
% 1 3
%
%
% flambda10 =
%
% 1
% 59049
%
%
% beta =
%
% -29523
% 29524
%
%
% apower10 =
%
% 1 59048
% 0 59049
Transpose of Cof
End of Week 2
Review of Week 2
Response of Linear Time-Invariant System
Calculation of e
At
Inverse Laplace Transform Method
Cayley- Hamilton Theorem Method
Transfer function from State Space Equations
Transition Matrix (Linear Time-Invariant and Linear Time-
Varying Systems)
Question about Quiz
Level of difficulty/Duration/Number of Questions
Not difficult
90 minutes so everyone has enough time to complete
Cover all main ideas discussed in the class.
Format: open book
What to take with you:
Pen/pencil
Calculator
Notes, books
Sheets of paper
Homework #1 is due as well
Recall the Buck Converter Circuits this time
we look at the Switch-On case
variables state as , Choose c L V i
+ =
+ + + =
+ =
) (
) (
* * ) (
) (
) (
* * ) ( *
) (
* ) (
) ( ) (
) (
0
0
t V
dt
t dV
C r t V
t V
dt
t dV
C r t i r
dt
t di
L t V
R
t V
dt
t dV
C t i
c
c
c
c
c
c
L
i
c
L
L L
analysis circuit on Based
( ) ( )
( ) ( )
( ) ( )
+
=
=
(
+
=
+
+
=
|
|
\
|
+
|
|
\
|
+
=
+
|
|
\
|
+ =
|
|
\
|
+ + =
+ =
) (
) (
) (
*
C * R
1
C * R
* * ) ( * ) (
) (
) (
* * ) ( * ) (
) (
*
) (
) (
*
C * R
1
C * R
) ( *
C * R
1
) ( *
C * R
) ( *
C * 1
1
) ( *
C * 1
1 ) (
) ( *
1
) (
* C * 1
) (
) (
* *
1
) (
) ( ) (
) (
0
t V
t V
t i
r r
R
C r t i r t V
t V
dt
t dV
C r t i r t V
dt
t di
L
t V
t i
r r
R
t V
r
t i
r
R
t V
R
r
R
t i
R
r dt
t dV
t V
R dt
t dV
R
r
t V
dt
t dV
C r
R dt
t dV
C
R
t V
dt
t dV
C t i
c
c
L
c c
c i
c
c
c i
L
c
L
c c
c
c
L
c
c
c
L
c
c
c
c c
c
c
c
c
c
L
L L
L L
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
(
+ +
=
(
(
+
(
(
(
(
(
+
+
+
+ +
=
(
(
(
(
+ +
=
(
+
=
=
+ =
(
+
+ +
+ =
) (
) (
*
R R
*
) (
) ( *
0
1
) (
) (
*
C * R
1
C * R
R *
R
R *
r * R r * r r * R
) (
) (
) (
) (
*
R R
*
) (
) (
*
C * R
1
C * R
* * ) ( *
) (
* * ) ( * ) (
) ( ) (
) (
) (
) (
*
R *
R
R *
r * R r * r r * R
) (
1 ) (
0
c c L L
0
0
c c L L
t V
t i
r
R
r
r R
t V
t V
L
t V
t i
r r
R
r L r L
dt
t dV
dt
t di
t V
t i
r
R
r
r R
t V
t i
r r
R
C R t i R
dt
t dV
C R t i R t V
R
t V
dt
t dV
C t i
t V
t i
r L r L
t V
L dt
t di
c
L
c c
c
i
c
L
c c
c c
c
L
c
L
c c
c
c
L
c c
L
c
L
c
L
c
L
c c
i
L
+ =
+ + + =
+ =
) (
) (
* * ) (
) (
) (
* * ) ( *
) (
* ) (
) ( ) (
) (
0
0
t V
dt
t dV
C r t V
t V
dt
t dV
C r t i r
dt
t di
L t V
R
t V
dt
t dV
C t i
c
c
c
c
c
c
L
i
c
L
L L
analysis circuit on Based
variables state as
dt
(t)
c
dV
and Choose c V
( ) ( ) ( )
[ ]
(
=
(
(
+
+
(
(
(
+
+ + +
+
+
=
(
(
(
(
= =
+ =
+
+
+ + +
+
+
=
+ +
|
|
\
|
|
|
\
|
+ + +
|
|
\
|
|
|
\
|
+ + =
+ + + =
|
|
\
|
+ + = + =
) (
) (
* * 1 ) (
) ( *
C * R *
0
) (
) (
*
C * R *
* ) * * * (
C * R *
1 0
) (
) (
) (
) ( ), ( ) ( Let
) (
) (
* * ) (
) ( *
) (
*
* ) * * * (
) ( * ) ( *
) (
) (
* * ) (
) (
* *
R
1
(t) X * C *
) (
) (
* *
R
1
(t) X * C *
) (
) (
* * ) ( *
) (
* ) (
) (
) (
* *
R
1
(t) X * C
) ( ) (
) (
2
1
0
2
1
2
1
2 1
0
2
2
2
2
2
0
t X
t X
C r t V
t V
r L
R
t X
t X
r L
C r r r R r R L
r L
r R
dt
t dX
dt
t dX
dt
t dV
t X t V t X
t V
dt
t dV
C r t V
t V
R
r R
dt
t dV
R
C r r r R r R L
dt
t V d
R
C r R L
t V
dt
t dV
C r t V
dt
t dV
C r r
t V
dt
t dV
C r
dt
d
L
t V
dt
t dV
C r t i r
dt
t di
L t V
t V
dt
t dV
C r
R
t V
dt
t dV
C t i
c
i
c c
c L c l
c
L
c
c
c
c
c
c
L c c L c l
c c
c
c
c c
c
c
c
c
c
c
c
c
L
i
c
c
c
c
L
L
L L
dt
t dV
t X t V t X
c
c
) (
) ( ), ( ) ( Let
2 1
= =
Notes:
Although two different state vectors can be selected, it is
obvious that the input and output relationship of the system
remains the same, hence the transfer function only reflects
the input/output relationship, not how the internal states are
represented. In other words, there may be many other
ways of selecting state variables.
For most engineering systems, they are far more
complicated than an LTI system. Still, LTI system
representation gives us a powerful approach to obtain
some of the basic properties of such systems.
Example: thermal system, battery dynamics
Notice that direct
feed-through term
does not change.
l=n-k n-(n-k)=k independent eigenvectors
l=n-1 n-(n-1)= 1 independent eigenvector
Use a 2x2 matrix as example:
( )
( )
[ ]
[ ] [ ]
[ ] [ ]
[ ] [ ] V1) of definition (by * *
* *
0
1
* *
0
1
*
0
1
T
*
0 *
1 ) ( and eigenvalue repeated h matrix wit 2x2 :
1 0 0 1 0
1 0 0 1 0
1 0 1 0
1
1 0
0 1
0
V V V V A V
V V V V A V A
V V V V A
T AT
AT T
V V
V V I A
V I A
A I rank A
+ =
+ =
(
=
(
=
(
=
=
=
=
=