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1. Write down state space equations with u = v and y = i. Take x1 = iL and x2 = vc . Find
out the relation between R1 , R2 , L, C for which the system loses controllability.
+ iL
L
R
v
+
2
R
vC
is an invertible matrix.
wi A = i wi .
(Such a wi is called a left - eigenvector.)
In this case, show that (A, b) is controllable if and only if wi b 6= 0 i.
6. Show that the system
x = Ax + Bu
y = Cx
0 1 0 0
with, A = 0 0 1 , B = 0 and C = 4 5 1 is not observable . Hence,
6 11 6 1
Y (s)
show that the transfer function U (s) has a pole-zero cancellation.
1 0.5 0.5
x = x+ u
1 0 0
y = 1 0 x
0
with initial condition x(0) = and unit step input u(t).
0
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