Solution for Homework 2

ME243A/ECE230A
Fall 2007

Exercise 1
The output of a linear system starting from a non-zero initial state x0 and
forced by the input u can be expressed as the sum of two contributions, the free
response (x0 6= 0, u = 0) and the forced response (x0 = 0, u 6= 0).
y(t) = yf ree (x0 , t) + yf orced (u, t)
Considering this fact it is seen that only statement (b) is true.

Exercise 2
The ideal low-pass filter is non causal, since g(t) is not zero for t < t0 (Figure
1).

Exercise 3
(a)
y[k] = (1)k u[k + 2]

(b)
y[k] = u2 [k + 1]

(c)
y[k] = (1)k u2 [k 1]

10

g(t)

4
2

1.5

0.5

0.5
t

1.5

2.5

Figure 1: Impulse response of the ideal low-pass filter ( = 5, t0 = 1).

Exercise 4
(a)
Feeding the input u
= u we get the output:

2
u (t)
u(t 1) 6= 0
u(t 1)
y =

0
u(t 1) = 0
Since y = y for every u and every real constant , the system is homogeneous.

(b)
Feeding the input u
= u1 + u2 we get the output:

2
(u1 (t) + u2 (t))
u1 (t 1) + u2 (t 1) 6= 0
y = u1 (t 1) + u2 (t 1)

0
u1 (t 1) + u2 (t 1) = 0
Since y 6= y1 + y2 the system is not additive.

(c)
The system is not linear, since linearity requires both homogeneity and additivity.
2

u1

G11

y=y1

G21
G12
G22
u2=y

+
y2=u

H
Figure 2: Interconnection diagram.

Exercise 5
(a)
The diagram for the interconnection of the two systems is shown in Figure 2.

(b)
Well posedness of the interconnection requires (I G22 (s)H(s))1 to exist and
be proper, which means (I G22 ()H())1 has to exist. Equivalently, (I
H(s)G22 (s))1 has to exist and be proper.

(c)
W (s) = G11 + G12 H(I G22 H)1 G21
Other equivalent solutions are possible (particularly another one that is obtained from this using the matrix identities of Exercise 7).

Exercise 6
(a)
Noting that G22 () = D22 and H() = D is it readily seen that the condition
for well posedness in the state space is that (I D22 D)1 has to exist.

(b)
Setting = (I D22 D)1 , and calling x and z the states of systems G and H
respectively, a state space representation of the interconnected system is given
by the following.
  
  

x
A1 + B1 DC2 B2 (I + DD22 )C x
B1 + B2 DD21
=
+
u1
z
BC2
A + BD22 C
z
BD21

y1 = C1 + D12 DC2


D12 (I + DD22 )C + [D11 + D12 DD21 ]u1

Other equivalent solutions are possible.

Exercise 7
The first identity is proved post-multiplying both sides by (I +M N ). The second
identity is proved post-multiplying both sides by (I + M N ) and pre-multiplying
both sides by post-multiplying both sides by (I + N M ).
Using the two identities it is possible to show that:
(I + G2 G1 )1 = G2 (I + G1 G2 )1 G1
2

(1)

A matrix M (s) of rational functions of s is proper if and only if the quantity

det( lim M (s)) = det(M ())
s

exists and is less than .

We can take limit and then determinant of both sides of (1) and use the
following properties:
det(AB) = det(A) det(B)
det(A1 ) = (det A)1
lim (A(s)B(s)) = A()B().

The third is to be used with care, avoiding indeterminate forms (which will not
occur if A(s) and B(s) are both proper).
We are left with the following:
(I + G2 ()G1 ())1 = (I + G1 ()G2 ())1
which shows that (I + G2 G1 )1 is proper if and only if (I + G1 G2 )1 is proper.