CONTROL

SYSTEMS
Chapter 10 : State Space Response
 

 GATE Objective & Numerical Type Solutions

Question 2 [Practice Book] [GATE EE 1993 IIT-Bombay : 1 Mark]
Consider a second order system whose state space representation is of the form x  Ax  Bu .
If x1 (t )  x2 (t ) , then system is
(A) Controllable (B) Uncontrollable (C) Observable (D) Unstable
Ans. (B)
 x1   a b   x1 (t )   e 
Sol. Let  x    c d   x (t )    f  u (t ) …. (i)
 2   2   
State equation is given by,
x  Ax  Bu …. (ii)
On comparing equation (i) and (ii), we get
a b  e
A  , B 
c d  f
 a b   e   ae  bf 
AB       
 c d   f   ce  df 
Since x1 (t )  x2 (t ) and x1 (t )  x2 (t )
e  f and a  b  c  d
The controllability matrix is defined as,
QC  [ B AB A2 B...... An 1 B ]
Where n  number of state variable
If QC  0 , then the system is controllable.
If QC  0 , then the system is not controllable.

e ae  bf
QC 
f ce  df
QC  ce 2  def  aef  bf 2
QC  ce 2  de2  ae2  be2 [ e  f ]
QC  e 2  c  d  a  b 
QC  e 2  a  b  a  b   a  b  c  d 
QC  0
Thus, the system is not completely controllable.
Hence, the correct option is (B).

  1 
Question 2 [Work Book] [GATE EE 1994 IIT-Kharagpur : 1 Mark]
C ( s)
The matrix of any state-space equations for the transfer function of the system shown below in figure
R(s)
is
1
R( s) 3 C (s)
s

 1 0  1 1
(A)   (B)   (C)   1 (D) [ 3 ]
 0 1 0 1
Ans. (C)
Sol. Transfer function of given system
3
T (s)  .
s 1
C ( s) 3

R( s) s  1
sC ( s )  C ( s )  3R ( s )
dc (t )
 c (t )  3r (t )
dt
Taking x1  c(t )
dc (t )
So, x1   3r (t )  c (t )
dt
x1  3r (t )  x1
[ x1 ]  [1] [ x1 ]  3[r (t )]
The state space matrix is [–1].
Hence, the correct option is (C).
Alternatively :
Signal flow graph for given block diagram is shown below.
1
x&1 s x1 1
u (s) y
3

-1
c (t )  x1
x1  3r (t )  x1
 x1    1 x1  3 r (t ) ….(i)
The state space representation of system is given by,
x  Ax  Bu ….(ii)
On comparing equation (i) and (ii), we get
A   1
Hence, the correct option is (C).

  2 
Question 4 [Practice Book] [GATE IN 1994 IIT-Kharagpur : 5 Marks]
 x   0 1   x1   0 
A first order matrix differential equation of a system is given as  1         u ,
 x2    2  3  x2   2 
x 
y  [1 1]  1 
 x2 
(i) Find the transfer function of the system.
(ii) Find the solution of the states and the output when the input is a unit step and the initial condition of
0
the states is   .
1 
 x1   0 1   x1   0   x1 
Sol. Given :  x     2  3  x    2  u , y  [1 1]  x  …. (i)
 2   2    2
State equation is given by,
x  Ax  Bu …. (ii)
Output state equation is given by,
y  Cx  Du …. (iii)
On comparing equation (i), (ii) and (iii), we get
0 1 0
A  , B   , C  [1 1]
  2  3  2
(i) Transfer function is,
2
T (s) 
s2
 x (0)  0  1
(ii) Given :  1     , u (t )  unit step, U ( s) 
 x2 (0)  1  s
State equation for a unit-step input
x (t )  ZIR  ZSR …. (iv)
 X1 (s)  1  x1 (0) 
 X ( s)    sI  A  x (0)    sI  A BU ( s )
1

 2   2 
Calculation of ZIR :
1  x (0) 
ZIR   sI  A  1 
 x2 (0) 
 s3 1 
 s  3s  2 s  3s  2  0
2 2
ZIR    
 2 s  1 
 s 2  3s  2 s 2  3s  2 
 1 
 s  3s  2 
2
ZIR   
 s 
 s 2  3s  2 
Calculation of ZSR :
ZSR   sI  A BU ( s )  
1

  3 
  s3 1 
 s 2  3s  2 s 2  3s  2   0  1
      ZSR      
 2 s  2 s
 s  3s  2 s  3s  2 
2 2

 s3 1 
 s 2  3s  2 s 2  3s  2   0 
      ZSR    2  
  2 s  
 s  3s  2 s  3s  2   s 
2 2

 2/ s 
 s 2  3s  2 
      ZSR   
 2 
 s 2  3s  2 
From equation (iv), we get
 1   2 
 X 1 (s)   ( s  1)( s  2)   s ( s  1)( s  2) 
 X ( s)       
 2   s   2 
 ( s  1)( s  2)   ( s  1)( s  2) 
   
Applying partial transform, we get
 1 1  1 2 1 
     
 X 1 ( s)  ( s  1) ( s  2) s ( s  1) ( s  2) 
 X (s)      
 2   1  2   2 2 
 ( s  1) ( s  2)   ( s  1)  ( s  2) 
   
1 1 1 2 1 1 1
X 1 (s)       
s 1 s  2 s s 1 s  2 s s 1
1 2 2 2 1
X 2 ( s)     
s 1 s  2 s 1 s  2 s 1
Taking inverse Laplace transform, we get
x1 (t )  u (t )  e  t u (t ), x2 (t )  e  t u (t )
y(t )  x1 (t )  x2 (t )
y (t )  u (t ) Ans.
Question 7 [Practice Book] [GATE EC 1996 IISc-Bangalore : 5 Marks]
Obtain a state space representation in diagonal form for the following system
d3y d2y dy
2
 6 2
 11  6 y  6u (t )
dt dt dt
3 2
d y d y dy
Sol. Given : 2
 6 2  11  6 y  6u (t )
dt dt dt
Taking Laplace transform, we get
s3Y (s)  6s 2Y (s)  11sY (s)  6Y (s)  6U (s)
Y ( s) 6
T ( s)   3
U (s) s  6s  11s  6
2

Y (s) 6 b b b
T ( s)    1  2  3
U ( s ) ( s  1) ( s  2) ( s  3) s  1 s  2 s  3
b1  3, b2   6, b3  3

  4 
 b1 b b
Y (s)  U (s)  2 U (s)  3 U (s)
s 1 s2 s3
Let Y ( s)  X 1 ( s)  X 2 ( s)  X 3 ( s)
y(t )  x1 (t )  x2 (t )  x3 (t ) ….(i)
b1
Where X1 (s)  U ( s)
s 1
b
X 2 (s)  2 U (s)
s2
b
X 3 ( s)  3 U ( s)
s3
sX1 (s)  X1 (s)  bU 1 (s)

Taking inverse Laplace, we get

x1  b1u (t )  x1 (t ) ….(ii)
Similarly, x2  b2u(t )  2 x2 (t ) ….(iii)
x3  b3u(t )  3x3 (t ) ….(iv)
From (i), (ii), (iii) and (iv), we get
 x1   1 0 0   x1   b1 
 x    0  2 0   x2   b2  u
 2 
 x3   0 0  3   x3   b3 
 x1 
Y ( s)  [1 1 1]  x2  Ans.
 x3 
Question 8 [Practice Book] [GATE EC 1996 IISc-Bangalore : 5 Marks]
From the signal flow graph shown in figure. Obtain the state space model with x1, x2 , x3 and x4 as state
variable and write the transfer function directly from the state space model.
6
4
1 1 3
1
1 s s s 1/s 1
U (s) Y (s)
x4 x3 x2 x1
-2
-5
-7
-9

Sol. The given signal flow graph is shown below.

6
4
1 1 3
1
1 x&4 s s s 1/s 1
U (s) Y (s)
x4 = x&3 x3 = x&2 x2 = x&1 x1
-2
-5
-7
-9

  5 
 From signal flow graph,
x1  x2
x2  x3
x3  x4
x4  u  2 x4  5x3  7 x2  9 x1
y  x1  3x2  4 x3  6 x4
From the above equations the state space representation in vector matrix notation is given below.
 x1   0 1 0 0   x1  0 
 x   0 0 1 0   x2  0 
 2    [u ]
 x3   0 0 0 1   x3  0 
      
 x4    9  7  5  2   x4  1 
 x1 
x 
[ y ]  [1 3 4 6 ]  2 
 x3 
 
 x4 
(i) Notice that the last row of A contains the negative values of the coefficients of the homogeneous part
of the differential equation in ascending order, except for the coefficient of the highest-order term,
which is unity.
(ii) B is a column matrix with the last row equal to 1 and the rest of the elements are all zeros.
This matrix is known as a phase variable canonical form. It is also referred as controllable canonical
form (CCF).
(iii) C is a row matrix with coefficients of numerator in ascending order of transfer function.
The transfer function can be written as,
Y (s) 6s 3  4s 2  3s  1
TF   4 Ans.
U ( s ) s  2 s 3  5s 2  7 s  9
Question 9 [Practice Book] [GATE EC 1997 IIT-Madras : 2 Marks]
A certain linear time invariant system having the state and the output equation given below.
 x1  1 1  x1  0 
 x   0 1   x   1  u
 2    2  
x 
y  1 1  1 
 x2 
dy
If x1 (0)  1, x2 (0)  1, u (0)  0, then is
dt t 0
(A) 1 (B) – 1 (C) 0 (D) None of these
Ans. (A)
 x1  1 1  x1  0 
Sol. Given :  x   0 1   x   1  u
 2    2  
x 
y  1 1  1 
 x2 
x1  x1  x2
x1 (0)  x1 (0)  x2 (0)

  6 
 x1 (0)  1  (1)  2
x2  x2
x2 (0)  x2 (0)  1
y  x1  x2
dy
 x1  x2
dt
dy
 x1 (0)  x2 (0)  2  1  1
dt t  0
Hence, the correct option is (A).
Question 10 [Practice Book] [GATE EC 1997 IIT-Madras : 5 Marks]
For the circuit shown in the figure chose state variable as x1, x2 , x3 to be iL1 (t ), vc 2 (t ), iL3 (t )
2W 4W 4W

+ e(t ) 1F
- 1H H
Vc 2
iL1 iL 3

Write the state equations

 x1   x1 
 x   A  x   B [e(t )]
 2  2
 x3   x2 
Sol. The given circuit diagram is shown below.
i1 i2 i3
2W 4W 4W

+ e(t ) 1F
- 1H H
Vc 2
iL1 iL 3

Applying KVL in loop 1, we get

diL1
 e(t )  2i1  e(t )  2(iL1  i2 )  e(t )  2iL1  2i2 ….(i)
dt
 diL1 
  Vc 2 
 dt  i ….(ii)
2
4
Using (ii) in (i), we get
 diL1 
  Vc 2 
 e(t )  2iL1  2  
diL1 dt
dt 4
diL1 1 diL1 1
 e(t )  2iL1   Vc 2
dt 2 dt 2
diL1 2 4 1
 e(t )  iL1  Vc 2 ….(iii)
dt 3 3 3
dvC 2
 i2  iL 3 ….(iv)
dt
  7 
 Using (ii) in (iv), we get
 diL1 
  Vc 2 
dvC 2  dt  i
 L3
dt 4
dvC 2 1 diL1 1
  Vc 2  iL 3 ….(v)
dt 4 dt 4
Using (iii) in (v), we get
dvC 2 1  2 4 1  1
  e(t )  iL1  Vc 2   Vc 2  iL 3
dt 43 3 3  4
dvC 2 1 1 1
 e(t )  iL1  Vc 2  iL 3 ….(vi)
dt 6 3 6
diL 3
 vC 2  4iL 3 ….(vii)
dt
From equation (iii), (vi), (vii) the state equation in vector matrix notation is
 4 1  2
  0  3
 x1   3 3   iL1   
 x     1  1 1  V    1  e(t ) Ans.
 2  3 6   C2   6 
 x3     iL 3   
 0 1  4 0
   
Question 11 [Practice Book] [GATE EE 1998 IIT-Delhi : 5 Marks]
The state space representation of a system is given by,
 x1    5 1   x1 
 x     6 0  x 
 2   2
Find the Laplace transform of the state transition matrix. Find also the value of x1 at t  1 if x1 (0)  1 and
x2 (0)  0 .
 x    5 1   x1 
Sol. Given :  1      …. (i)
 x2    6 0  x2 
x1 (0)  1 and x2 (0)  0 .
State equation is given by,
x  Ax  Bu …. (ii)
On comparing equation (i) and (ii), we get
  5 1
A 
  6 0
The state transition matrix is given by,
(t )  L1  sI  A
1

 s 0    5 1   s  5 1
[ sI  A]       6 0   6 s 
 
 0 s    
Adj[ sI  A]
      [sI  A]1   
sI  A
 s 1 
      Adj[ sI  A]    
  6 s  5

  8 
      sI  A  [ s ( s  5)  6]  s 2  5 s  6  ( s  2)( s  3)
 s 1 
 ( s  2) ( s  3) ( s  2) ( s  3) 
( s)   sI  A  
1
 Ans.
 6 s5 
 ( s  2) ( s  3) ( s  2) ( s  3) 

Taking inverse Laplace transform, we get
 2e 2t  3e 3t e 2 t  e 3 t 
(t )   2 t 3 t 2 t 3 t 
 6(e  e ) 3e  2e 
Calculation of ZIR :
ZIR  (t ) x (0)
 2e2t  3e 3t e2t  e3t  1 
ZIR   2 t 3t 2 t 3t   
6(e  e ) 3e  2e  0 
 x1 (t )   2e2t  3e3t 
ZIR =   2 t 3t 
 2  6( e  e ) 
x (t )
x1 (1)   2e 2  3e 3   0.121 Ans.
Question 14 [Practice Book] [GATE EE 2000 IIT-Kharagpur : 5 Marks]
e t  te t te  t 
Consider the equation x (t )  Ax (t ) given : e   t
At

  te e  t  te  t 
(i) Find a set of states x1 (1) and x2 (1) such that x1 (2)  2 .
1  s  2 1
(ii) Show that  sI  A  ( s) 
1
  ,   (s  1)2
  1 s 
(iii)From ( s ) , find the matrix A.
e t  te t te  t 
Sol. Given : e At   t  and x1 (2)  2
  te e  t  te  t 
(i) Solution of homogenous equation is given by,
x (t )  (t ) x (0)
 x1 (t )  e t  te t te t   x1 (0) 

 x (t )   t  
 2    te e t  te t   x2 (0) 
x1 (t )  (e  t  te  t ) x1 (0)  te  t x2 (0) …..(i)
x2 (t )  (  te  t ) x1 (0)  (e  t  te  t ) x2 (0) …..(ii)
Substituting t  1 and t  2 in equation (i),
x1 (1)  (e 1  e 1 ) x1 (0)  e 1 x2 (0)
x1 (1)  0.74 x1 (0)  0.37 x2 (0)
x1 (2)  (e  2  2e  2 ) x1 (0)  2e  2 x2 (0)  2
x1 (2)  0.406 x1 (0)  0.27 x2 (0)  2
x2 (1)   e 1 x1 (0)  (e 1  e 1 ) x2 (0)   0.37 x1 (0)
Sum of states x1 (1)  x2 (1)  0.745x1 (0)  0.37 x2 (0)  0.37 x1 (0) Ans.

  9 
 (ii) Laplace transform of state transition matrix can be written as,
L[(t )]  [ sI  A]1
 1 1 1 
 s  1  ( s  1) 2 ( s  1) 2 
L[(t )]   
 1 1 1 
  ( s  1) 2 
s  1 ( s  1) 2 

1  s  2 1 Adj[ sI  A] Adj[ sI  A]
(s)  [sI  A]1    …..(iii)
( s  1)2  1 s  sI  A 
where (t )  e At (s)  L1[e At ]  L1[(t )] Hence proved.
(iii) Laplace transform of state transition matrix can be written as,
[sI  A]1  (s)
From equation (iii),
 s  2 1
Adj[ sI  A]   
 1 s 
 s 1 
[ sI  A]   
1 s  2
 s 0 a b   s 1 
 sI  A   
    
0 s   c d   1 s  2
 a b   s  s 0  (1) 
A  
 c d   0  1 s  ( s  2) 
0 1
A  Ans.
 1  2
Question 15 [Practice Book] [GATE EE 2001 IIT-Kharagpur : 1 Mark]
 3 1 
Given the homogeneous state-space equation x   x
 0  2
The steady state value of xss  lim x (t ), given the initial state value of x (0)  10  10  , is
T

t 

0   3   10  
(A) xss    (B) xss    (C) xss    (D) xss   
0   2  10   
Ans. (A)
 3 1 
Sol. Given : x   x
 0  2
Calculation of ZIR :
x (t )  (t ) x (0)
 s 0  3 1   s  3 1 
[sI  A]    
0 s   0  2  0 s  2
(t )  L1[sI  A]1
s  2 1 
Adj[ sI  A]  
 0 s  3
sI  A  ( s  2)( s  3)

  10 
  s2 s2 
 ( s  2)( s  3) ( s  2)( s  3) 
[ sI  A]1   
 s3 
 0
 ( s  2)( s  3) 
1
 s  3 1   10 
1
x (t )  L 
 0 s  2    10 
 1 1 
s 3 ( s  2) ( s  3)   10 
x (t )  L1   
 1    10 
 0 s2 
Applying partial fraction, we get
 1 1 1 
s 3 
( s  2) ( s  3)   10 
x(t )  L1     10 
 1   
 0 s2 

e 3t e 2t  e  3t   10 
x (t )      10 
 0 e  2t   
Steady state value can be calculated as,
 20e3t  10 2t  0 
xss  lim   2t  
t 
 10  0 
Hence, the correct option is (A).
Question 16 [Practice Book] [GATE EC 2002 IISc-Bangalore : 5 Marks]
The block diagram of a linear time invariant system is given in the figure is

X 2 (s)
+ +
- 1 + 1 X 1 (s)
U (s) å s
å s +
å Y (s)
- -

2
(a) Write down the state variable equations for the system in matrix form assuming the state vector to be
[ x1 (t ) x2 (t )]T .
(b) Find out the state transition matrix.
(c) Determine y (t ), t  0, when the initial values of the state at time t  0 are x1 (0)  1, and x2 (0)  1.
Sol. (a) From the figure given, we have
x2 (t )   u (t )  2 x2 (t )
x1 (t )  u (t )  x2 (t )  x1 (t )
y (t )  x1 (t )  x2 (t )

  11 
 From the above equations,
 x1 (t )    1 1   x1 (t )   1
 x (t )    0  2   x (t )     1 u (t ) …. (i)
 2    2   
 x (t ) 
y (t )  [1 1]  1  Ans.
 x 2 (t ) 
State equation is given by,
x  Ax  Bu …. (i)

(b) The state transition matrix is given by,

(t )  L1[ sI  A]1
On comparing equation (i) and (ii), we get
 1 1  1
A  , B 
 0 2   1
 s 0  1 1   s  1 1 
[ sI  A]     
0 s   0  2  0 s  2
s  2 1 
Adj[ sI  A]  
 0 s  1
sI  A  ( s  1)( s  2)
 s2 1 
 ( s  1)( s  2) ( s  1)( s  2) 
[ sI  A]1   
 s 1 
 0
 ( s  1)( s  2) 
 1 1 
 ( s  1) ( s  1) ( s  2) 
(t )  L1  
 1 
 0 ( s  2) 

e  t e  t  e  2t 
(t )    Ans.
0 e  2t 
(c) From equation,
y (t )  x1 (t )  x2 (t ) ….. (i)
Solution of state equation is given by,
x (t )  ZIR  ZSR
t

e
A(t   )
x (t )  e x(0) 
At
Bu ( ) d 


Assume the input is zero as not given in the question.

If input is zero then we consider zero input response.
 e  t e  t  e  2t   x1 (0)   e  t e  t  e  2t  1
x (t )  e At x (0)       1
0 e  2t   x2 (0)   0 e  2t   
x1 (t )  e t  e t  e 2t  2e t  e2t
x2 (t )  e 2t
From equation (i), we get
y (t )  2 e  t  e  2 t  e 2 t  2 e  t Ans.

  12 
Question 20 [Practice Book] [GATE EE 2002 IISc-Bangalore : 5 Marks]
Obtain a state variable representation of the system governed by the differential equation
d 2 y dy  dy 
2
  2 y  u (t )e  t , with the choice of state variables as x1  y, x2    y  et . Also find x2 (t ) ,
dt dt  dt 
given that u (t ) is a unit step function and x2 (0)  0 .
d 2 y dy
Sol. Given : 2
  2 y  u (t )e t
dt dt
x1  y …..(i)
 dy 
x2    y  et …..(ii)
 dt 
Differentiating the above equation (i), we get
 x1  y …..(iii)
From equation (i), (ii) and (iii),
 x1  y  x2 e  t  y  x2 e  t  x1 …..(iv)
Differentiating the above equation (ii), we get
x2  
yet  ye
 t  ye
 t  yet …..(v)
y  u(t )et  y  2 y
 …..(vi)
Substitute equation (vi) in (v), we get
x2  (u (t )e  t  y  2 y )et  ye
 t  ye
 t  yet
 t  2 yet  yet  u(t )  ye
x2  u (t )  ye  t  yet …..(vii)
Substituting equation (i) and equation (iv) in (vii), we get
x2  u (t )  [ x2 e  t  x1 ]et  yet  u (t )  x2  x1et  x1et
x2  u(t )  x2 …..(viii)
From equation (iv), (viii) the state equation in vector matrix notation.
 x1  1 e t   x1  0 
 x          u (t )
 2  0 1  x2  1 
From equation (i) the output equation is
x 
y  [1 0]  1 
 x2 
x2 (t ) calculation :
Input is step and x2 (0)  0
From equation (viii),
x2  u(t )  x2
Taking Laplace transform, we get
1
sX 2 ( s )  x2 (0)     X 2 ( s )
s
Given x2 (0)  0
1
X 2 (s) 
s ( s  1)

  13 
 Applying partial fraction, we get
1 1
X 2 ( s)  
s s 1
Taking inverse Laplace transform, we get
x2 (t )  1  e  t
Question 23 [Practice Book] [GATE EE 2003 IIT-Madras : 2 Marks]
The following equation defines a separately excited dc motor in the form of a differential equation
d 2 B d  K 2 K
2
    Va
dt J dt LJ LJ
The above equation may be organized in the state-space form as follows :
 d 2 
 2  d
 dt   P  dt   QVa
 d   
 
 dt 
Where the P matrix is given by
 B K2   K2 B  0 1  1 0 
    
(A)  J LJ  (B)  L J J (C)  K 2 B
 (D)  B K2 

      
 1 0   0 1   L J J   J L J 
Ans. (A)
 d 2 
 2  d
Sol. Given :  dt   P  dt   QVa
 d   
 
 dt 
Let 1  ,  
d
      
 1  2  ….. (i)
dt
d 2
      
2   
dt 2
d 2 K B d K 2
       V    
dt 2 LJ
a
J dt LJ
 
 2    B  K  2   
2
K

        J LJ     LJ  Va   


 1  1   
 0   1   0 
K2 B K
      2  1  2  Va             ….. (ii) 
LJ J LJ
From equation (i) and (ii), we get
 B K 2 

     A   J 
LJ   
 1 0 
Hence, the correct option is (A).

  14 
Question 5 [Work Book] [GATE IN 2004 IIT-Delhi : 2 Marks]
Y ( s) s6
A state space representation for the transfer function  2 is x  Ax  Bu , y  Cx . Where
U ( s ) s  5s  6
 0 1 0 
A  , B    . The value of C will be
  6  5 1 
1   1 2
(A)   (B) 6 1 (C)   (D) 1 6
 2  1 0 
Ans. (B)
Y ( s) s6
Sol. Given :  2
U ( s ) s  5s  6
0 1 0
A  , B 
  6  5 1
Transfer function is given by,
T (s)  C[sI  A] 1 B  D ….. (i)
 s 0  0 1   s 1 
[ sI  A]      
0 s    6 5 6 s  5
Adj[ sI  A]
[ sI  A]1 
sI  A
 s  5 1
Adj[ sI  A]   
  6 s
sI  A  s ( s  5)  6
1  s  5 1 1  s  5 1
[ sI  A]1   2
s ( s  5)  6   6 s  s  5s  6   6 s 
 

1  s  5 1  0  1 1
[ sI  A]1 B  2  2
s  5s  6   6 s  1  s  5s  6  s 
   

1 1 s6
C[ sI  A]1 B  [C ]  s   s 2  5s  6
s  5s  6
2
 
1
C   s6
s
Only possible option for C is C  6 1
Hence, the correct option is (B).
Alternatively :
In direct decomposition form,
(i) The last row of A contains the negative values of the coefficients of the homogeneous part of the
differential equation in ascending order, except for the coefficient of the highest-order term, which
is unity.
(ii) B is a column matrix with the last row equal to 1 and the rest of the elements are all zeros.
(iii) C is a row matrix with coefficients of numerator in ascending order of transfer function.
Note : Numerator terms of transfer function gives the C matrix.

  15 
Question 28 [Practice Book] [GATE EC 2004 IIT-Delhi : 2 Marks]
The state variable equations of a system are x1  3 x1  x2  u , x2  2 x1 , y  x1  u .
The system is
(A) Controllable but not observable. (B) Observable but not controllable.
(C) Neither controllable nor observable. (D) Controllable and observable.
Ans. (D)
Sol. Given : x1  3 x1  x2  u , x2  2 x1 , y  x1  u …. (i)
State equation is given by,
x  Ax  Bu …. (ii)
Output state equation is given by,
y  Cx  Du ….(iii)
On comparing equation (i) and (ii), we get
  3 1 1 
A  , B  and C  1 0
 2 0 0 
The controllability matrix is defined as,
QC  [ B AB A2 B...... An 1 B]
Where n  number of state variable
If QC  0 , then the system is controllable.
If QC  0 , then the system is not controllable.

 3 1 1   3
AB       
 2 0  0   2 
1  3
QC  
0 2 
QC  2  0

Thus, the system is completely observable.

The observability matrix is defined as,
QO  C T AT C T .... ( An 1 )T C T 
Where n  number of state variable
If QO  0, then the system is observable.
If QO  0, then the system is not observable.

 3 2  1   3
AT C T       
 1 0  0   1
1 3 
QO  
0  1
QO  1  0
Hence, the correct option is (D).

  16 
Question 30 [Practice Book] [GATE EE 2006 IIT-Kharagpur : 1 Mark]
3(s  2)
For a system with the transfer function H (s)  , the matrix A in the state space form
s  4s2  2s  1
3

x  Ax  Bu is equal to
 1 0 0  0 1 0 0 1 0  1 0 0

(A) 0 1 0  (B)  0 0 1  
(C) 3  2 1  (D)  0 0 1 
   
  1 2  4    1 2  4  1  2 4    1 2  4 
Ans. (B)
3( s  2) 3s  6
Sol. Given : H ( s)   3
s  4s  2s  1 s  4s 2  2s  1
3 2

Y ( s) X ( s)
Let H (s) 
X ( s) U ( s)
X (s) 1
where  3 …(i)
U ( s) s  4s  2s  1
2

Y (s)
 3s  6 ...(ii)
U (s)
Using equation (i), we have
( s 3  4 s 2  2 s  1) X ( s )  U ( s )
s 3 X ( s )  4 s 2 X ( s )  2 sX ( s )  X ( s )  U ( s )
Taking inverse Laplace transform,
d 3x d 2x dx
3
 4 2
2  x u …(iii)
dt dt dt
x  x1 …(iv)
dx
 x2  x1 …(v)
dt
d 2x
 x3  x2 …(vi)
dt 2
From equation (iii), (iv), (v) and (vi), we have
d 3x
  x1  2 x2  4 x3  u  x3 …(vii)
dt 3
Using equation (v), (vi) and (vii) we have,
 x1   0 1 0   x1  0 
 x    0 0 1   x   0  u
 2   2  
 x3   1 2 4  x3  1 
x  AX  Bu …(viii)
0 1 0  0 
When  
A   0 0 1  and B  0 
 1 2  4  1 
3( s  2)
Note : In original Gate question H ( s )  2 . Here order of characteristics equation is two. Order
4s  2s  1
of characteristics equation gives number of state variables, so accordingly there must be only two state
variables. But from given option it is observed that order of system matrix is three which as number of
state variables . So given function H ( s ) has been corrected by taking characteristics equation as
s 3  4 s 2  2 s  1 instead of 4 s 2  2 s  1 .
  17 
Question 31 [Practice Book] [GATE IN 2006 IIT-Kharagpur : 1 Mark]
The state variable representation of a plant is given by x  Ax  Bu , y  Cx , where x is the state variable,
u is input and y is the output. Assuming zero initial conditions, the impulse response of the plant is given
by,
(A) exp( At ) (B)  exp[ A(t  )]Bu ()d 

(C) C exp( At ) B (D) C  exp[ A(t  )]Bu ()d 

Ans. (D)
Sol. Given : x  Ax  Bu ,
y  Cx
x (0)  0
Solution of above state equation in time domain is given by,
x(t )  ZIR  ZSR
t
x(t )  exp( At ) x (0)   exp  A(t  )  Bu ( ) d 
0

In case of zero initial condition we consider zero state response.

x (t )  ZSR

x(t )   exp  A(t  )  Bu ( )d 
0

Output y  Cx  C  exp  A(t  ) Bu ()d 

Hence, the correct option is (D).

. Statement For Linked Answer Questions 32 & 33 .
Consider a linear system whose state space representation is x (t )  Ax (t ) . If the initial state vector of the
1  e  2t 
system is x(0)    , then the system response is x(t )    2t 
. If the initial state vector of the system
 2   2e 
1  e t 
changes to x(0)    then the system response becomes x(t )    t  .
 1  e 
Question 32 [Practice Book] [GATE EC 2007 IIT-Kanpur : 2 Marks]
The Eigen value and Eigen vector pairs ( i , vi ) for the system are
  1    1    1    1 
(A)   1,    and   2,    (B)   2,    and   1,   
  1    2      1    2 
  1    1    1    1 
(C)   1,    and  2,    (D)   2,    and   1,   
   1    2      1    2 
Ans. (A)
Sol. Given : x (t )  Ax (t ) …(i)
1  e  2t 
If the initial state vector of the system is x(0)    , then the system response is x(t )    2t 
. If the
 2   2 e 
1  e t 
initial state vector of the system changes to x(0)    then the system response becomes x(t )    t 
 1  e 
.

  18 
 Solution of state equation of homogenous system represented by above equation is given as,
x (t )  (t ) x (0)
  2 
Let (t )   1 
 3  4 
  2 
x (t )   1  x (0) …(ii)
2 4 
1  e 2t 
When x(0)    ; x(t )  2 t 
 2   2e 
Putting above expressions of x (0) and x (t ) in equation (ii), we have,
 e 2t   1 2   1 
 2 t 

 2 e    3 4   2 
e2t  1  22 …(iii)
2e2t  3  24 …(iv)
1  et 
When x(0)    ; x(t )    t 
 1  e 
Putting above expression of x(0) and x (t ) again in equation (ii), we have,
 e  t   1 2   1 
 t   
  e   3 4   1
et  1  2 …(v)
t
e  3  4 …(vi)
From equation (iii) and (v), we have
e2t  et  2
2  et  e2t …(vii)
1  2et  e2t …(viii)
From equation (iv) and (vi) we have
3  2et  2e2t
4  2et  et
From equation (vii), (viii), (ix) and (x) we have,
 2e  t  e 2t e  t  e 2t 
(t )   t 2 t 
  2e  2e e  t  2e 2t 
Taking Laplace transform,
 2 1 1 1   s3 1 
  
 s 1 s  2 s 1 s  2  ( s  1)( s  2) ( s  1)( s  2) 
( s )     …(xi)
 2  2 
1

2   2 s 
 s  1 s  2  
s  1 s  2   ( s  1)( s  2) ( s  1)( s  2) 
Taking Laplace transform of equation (i), we have
sX ( s )  x (0)  AX ( s )
X ( s )  [ sI  A]1 x (0)
X ( s )  ( s ) x (0)

  19 
 where ( s )  [ sI  A]1
Adj[ sI  A]
( s )  …(xii)
[ sI  A]
From (xi) and (xii), we have,
Adj[ sI  A] 1  s  3 1

sI  A ( s  1)( s  2)  2 s 
where sI  A  ( s  1)( s  2) …(xiii)
 s  3 1
Adj[ sI  A]    …(xiv)
 2 s 
Characteristics equation of system is given by,
sI  A  0
( s  1)( s  2)  0
s  1,  2
Roots of characteristics equation are poles of the system which also represent eigenvalues of system matrix
A.
So eigenvalues of A, 1  1,  2  2
Let x be eigen vector of A, then,
[I  A] x  0
1  1
 1 1   x1 
 2   3  x   0
 1  2
 1 1   x1 
 2 1  3   x   0
  2
 1 1  x1 
 2 2  x   0
  2
 x1  x2  0
2 x1  2 x2  0
x1  x2  0
x1   x2
x2  1
x1  1
 1
For 1  1, eigen vector   
 1
For  2  2
 2 1   x1 
 2   3  x   0
 2  2
 2 1   x1 
 2 2  3   x   0
  2
2 x1  x2  0
2 x1  x2  0
x2  2 x1

  20 
 If x1  1 then x2  2
1
For  2  2, eigen vector   
 2 
Hence, the correct option is (A).
. Statement For Linked Answer Questions 11 & 12 .
The state space equation of a system is described by
x  Ax  Bu
y  Cx
0 1  0 
Where x is state vector, u is input, y is output and A    , B    , C  1 0 .
0 2  1 
Question 11 [Work Book] [GATE EE 2008 IISc-Bangalore : 2 Marks]
The transfer function G(s) of this system will be
s s 1 s 1
(A) (B) (C) (D)
 s  2 s  s  2  s  2 s  s  2
Ans. (D)
Sol. Given : x  Ax  Bu and y  Cx
Where
0 1  0 
A  , B    , C  1 0 and D  0
0 2  1 
 s 0  0 1   s 1 
[ sI  A]     
0 s  0 2  0 s  2 
 s  2 1
Adj[ sI  A]  
 0 s 
sI  A  s ( s  2)
Adj[ sI  A]
[ sI  A]1 
sI  A
1  s  2 1
[ sI  A]1 
s( s  2)  0 s 
The transfer function is given by,
T(s) = C[ sI  A]1 B
 s2 1 
 s ( s  2) s ( s  2)  0 
T(s)  1 0  
 s  1 
 0 s ( s  2) 

 1 
 s ( s  2)  1
T(s)  1 0  
 s  s ( s  2)
 s ( s  2) 
 
Hence, the correct option is (D).

  21 
Question 12 [Work Book] [GATE EE 2008 IISc-Bangalore : 2 Marks]
A unity feedback is provided to the above system G(s) to make it a closed loop system as shown in
figure.
r (t ) S G (s) y (t )

For a unit step input r(t), the steady state error in the output will be
(A) 0 (B) 1 (C) 2 (D) 
Ans. (A)
1
Sol. Given : G(s)  and H ( s )  1
s( s  2)
r (t )  u (t )
Taking Laplace transform, we get
1
R( s) 
s
For step input steady state error is given by,
1
ess 
1 K p
1
where K p  lim 
s 0 s ( s  2)
1
ess  0
1 
Hence, the correct option is (A).
Question 36 [Practice Book] [GATE EC 2009 IIT-Roorkee : 1 Mark]
dx 1 0   p
Consider the system  Ax  Bu with A    and B   q  where p and q are arbitrary real
dt 0 1   
numbers. Which of the following statements about the controllability of the system is true?
(A) The system is completely state controllable for any nonzero values of p and q .
(B) Only p = 0 and q = 0 result in controllability.
(C) The system is uncontrollable for all values of p and q.
(D) We cannot conclude about controllability from the given data.
Ans. (C)
1 0   p
Sol. Given : A  , B 
0 1  q
The controllability matrix is defined as,
QC  [ B AB A2 B...... An 1 B]
Where n  number of state variable
If QC  0 , then the system is controllable.
If QC  0 , then the system is not controllable.
1 0   p   p  0   p 
AB        
0 1   q   0  q   q 

  22 
 p p
So QC  
q q 
QC  0
Thus, the system is not controllable for all values of p and q.
Hence, the correct option is (C).
Note :
(i) Matrix A is in diagonal canonical form but not distinct eigenvalues hence we can not apply direct
concept to test controllability.
(ii) Matrix A is not even in Jordan canonical form even there are repeated roots in diagonal elements
because in JCF there should be 1 above the repeated root like
1 1
A 
0 1
This concept cannot be used here. If A is in diagonal canonical form (DCF) or Jordan canonical form
(JCF) the pair (A, B) is completely controllable if all the elements in the rows of B that correspond to
the last row of each Jordan block are nonzero.

. Common Data For Questions 13 & 14 .

The signal flow graph of a system is shown below.
1
2 1/s 1/s 0.5
U(s) Y(s)
1
–1
–1
Question 13 [Work Book] [GATE EC 2010 IIT-Guwahati : 2 Marks]
The state variable representation of the system can be
 1 1 0   1 1  0 
(A) x    x   u (B) x    x   u
 1 0  2  1 0  2
y   0 0.5 x y   0 0.5 x
 1 1 0   1 1  0 
(C) x    x   u (D) x    x   u
 1 0  2  1 0  2
y   0.5 0.5 x y   0.5 0.5 x
Ans. (B)
Sol. The given signal flow graph is shown below.
1
2 x&2 1/s x&1 1/s x1 0.5
U(s) Y(s)
1
–1
–1
From given SFG,
y  0.5 x1  0.5 x1
y  0.5(  x1  x2 )  0.5 x1  0.5 x2
x2   x1  2u
x1   x1  x2

  23 
  x1   1 1   x1   0 
 x    1 0   x    2  u
 2   2  
x 
y   0 0.5  1 
 x2 
Hence, the correct option is (B).
Question 42 [Practice Book] [GATE EC/EE/IN 2012 IIT-Delhi : 2 Marks]
The state variable description of an LTI system is given by,
 x1   0 a1 0   x1  0 
 x    0 0 a   x   0  u
 2  2 2  
 x3   a3 0 0   x3  1 
 x1 
y  1 0 0  x2 
 x3 
Where y is the output and u is the input. The system is controllable for
(A) a1  0, a2  0, a3  0 (B) a1  0, a2  0, a3  0
(C) a1  0, a2  0, a3  0 (D) a1  0, a2  0, a3  0
Ans. (D)
Sol. Given :
 x1   0 a1 0   x1  0 
 x    0 0 a2   x2   0  u ….. (i)
 2 
 x3   a3
0 0   x3  1 
 x1 
y  1 0 0  x2  ….. (ii)
 x3 
State equation is given by,
x  Ax  Bu …. (iii)
On comparing equation (i) and (iii), we get
 0 a1 0  0 
A   0 0 a2  and B  0 
 
 a3 0 0  1 
The controllability matrix is defined as,
QC  [ B AB A2 B...... An 1 B]
Where n  number of state variable
If QC  0 , then the system is controllable.
If QC  0 , then the system is not controllable.

0 a1 0  0   0 
AB   0 0 a2  0    a2 
 a3 0 0  1   0 

  24 
 0 a1 0   0   a1a2 
A B  AAB   0
2
0 a2   a2    0 
 a3 0 0   0   0 
0 0 a1a2 
QC  0 a2 0 
1 0 0 
QC  (0  a1a22 )  0
a1  0 and a2  0
Hence, the correct option is (D).
Alternatively :
Given state space model is in Jordan canonical form i.e. repeated roots in diagonal elements.
1. If A is in diagonal canonical form (DCF) or Jordan canonical form (JCF) the pair (A, B) is completely
controllable if all the elements in the rows of B that correspond to the last row of each Jordan block
are nonzero.
2. All the elements below the main diagonal are zero, so a3  0 .
3. Some of the elements immediately above the multiple order eigenvalues on the main diagonal are 1s,
so a1  a2  1 .

Question 27 [Work Book] [GATE EE 2015 (Set-02) IIT-Kanpur : 2 Marks]

For the system governed by the set of equations
dx1
 2 x1  x2  u
dt
dx2
  2 x1  u
dt
y  3x1
Y (s)
The transfer function is given by
U (s)
3(s  1) 3(2s  1) (s  1) 3(2s  1)
(A) (B) 2 (C) (D)
( s – 2s  2)
2
( s – 2s  2) ( s – 2s  1)
2
( s – 2s  2)
2

Ans. (A)
dx1
Sol. Given :  2 x1  x2  u
dt
dx2
  2 x1  u
dt
y  3x1
 x1   2 1   x1  1
 x     2 0   x   1 u  ….. (i)
 2   2  
x 
y  3 0  1  ….. (ii)
 x2 
State equation is given by,
x  Ax  Bu …. (iii)

  25 
 Output state equation is given by,
y  Cx  Du …. (iv)
On comparing equation (i), (ii), (iii) and (iv), we get
 2 1 1
A  , B    and C  3 0  
 2 0 1
Transfer function is given by,
T ( s )  C[ sI  A]1 B …. (v)
 s 0   2 1   s  2 1
[ sI  A]    
 s s   2 0  2 s 
Adj  sI  A
 sI  A 
1

sI  A
s 1 
Adj[ sI  A]   
 2 s  2 
sI  A  s ( s  2)  2  s 2  2 s  2
 s 1 
 s  2s  2 s  2s  2 
2 2
[ sI  A]1   
 2 s2 
 s 2  2s  2 s 2  2s  2 
From equation (v), we get
 s 1 
 s  2s  2 s  2s  2  1
2 2
T ( s )   3 0  
 2 s  2  1
 s 2  2s  2 s 2  2s  2 
 s 1 
 s 2  2s  2 
T ( s )  3 0  
 s4 
 s 2  2s  2 
3( s  1)
T (s)  2
s  2s  2
Hence, the correct option is (A).
Question 46 [Practice Book] [GATE IN 2015 IIT-Kanpur : 2 Marks]
 1 2 1
A system is represented in state-space as x  Ax  Bu where A    and B    . The value of  for
 6  1
which the system is not controllable is _________.
Ans. (– 3)
 1 2 1
Sol. Given : A  , B 
 6  1
 1 2  1  3 
AB      
 6  1   6 
The controllability matrix is defined as,
QC  [ B AB A2 B...... An1 B]
Where n  number of state variable

  26 
 If QC  0 , then the system is controllable.
If QC  0 , then the system is not controllable.
For a system to be uncontrollable, its controllability determinant should be equal to zero.
1 3 
QC   
1 α  6 
1 3
QC  0
1 6
63  0
  3
Hence, the correct answer is – 3.
Question 28 [Work Book] [GATE EC 2016 (Set-03) IISc-Bangalore : 2 Marks]
A second-order linear time-invariant system is described by the following state equations
d
x1 (t )  2 x1 (t )  3u (t )
dt
d
x2 (t )  x2 (t )  u (t )
dt
Where x1 (t ) and x2 (t ) are the two state variables and u (t ) denotes the input. If the output c (t )  x1 (t ) ,
then the system is
(A) controllable but not observable (B) observable but not controllable
(C) both controllable and observable (D) neither controllable nor observable
Ans. (A)
Sol. Given : x1 (t )  2 x1 (t )  3u (t )
And x2 (t )  2 x2 (t )  u (t )
 x1 (t )  2 x1 (t )  3u (t )
x2 (t )   x2 (t )  u (t )
 x1   2 0   x1  3
 x    0 1  x   1 u
 2   2  
x 
c (t )  x1 (t )  1 0  1 
 x2 
 2 0  3
 A  , B    , C  1 0
 0 1 1
For controllability
3 6
QC   B AB    
1 1
QC  0
Hence system is controllable.
For observability
 C   1 0
Q0      
CA  2 0 
Q0  0
Hence system is not observable.

  27 
 IES Objective Solutions
Question 5 [Practice Book] [IES EE 1994]
Consider the closed-loop system shown in the figure.
1 x2 1 x1
U (s) Y (s)
s s

The state model of the system is

 x1   0 1   x1  0  x 
(A)           u, y  1 0  1 
 x2       x2  1   x2 
 x1   1 0   x1  0  x 
(B)           u, y  1 0  1 
 x2       x2  1   x2 
 x1   1 0   x1  0  x 
(C)           u, y  1 0  1 
 x2       x2  1   x2 
 x1   1 1   x1  0  x 
(D)           u, y  1 0  1 
 x2       x2  1   x2 
Ans. (A)
Sol. From the given figure, the output equation is,
Y (s)  X 1 (s)

x 
y  [1 0]  1 
 x2 
The state equations are,
x1  x2
x2  u  x2   x1

 x1   0 1   x1  0 
 x       x   1  u

 2   2  
Hence, the correct option is (A).
Question 8 [Practice Book] [IES EE 1995]
1 1 b 
Consider the system x (t )    x(t )   1  u (t )
0 1 b2 
c(t )   d1 d 2  x(t )
The conditions for complete state controllability and complete observability is
(A) d1  0, b2  0, b1 and d2 can be anything (B) d1  0, d 2  0, b1 and b2 can be anything
(C) b1  0, b2  0, d1 and d2 can be anything (D) b1  0, b2  0, b2 and d1 can be anything
Ans. (A)

  28 
 1 1 b 
Sol. Given : x (t )    x(t )   1  u (t ) …. (i)
0 1 b2 
c (t )  [ d1 d 2 ] x (t ) …. (ii)

State equation is given by,

x  Ax  Bu …. (iii)
Output state equation is given by,
y  Cx  Du …. (iv)
On comparing equation (i), (ii), (iii) and (iv), we get
1 1  b1 
A  , B  b  , C   d1 d 2  and D = 0
0 1  2
The controllability matrix is defined as,
QC  [ B AB A2 B...... An 1 B ]
Where n  number of state variable
If QC  0 , then the system is controllable.
If QC  0 , then the system is not controllable.

QC   B AB 
1 1  b1  b1  b2 
AB       
0 1 b2   b2 
b b1  b2 
QC   1   b1b2  b1b2  b22  b22
b2 b2 
If b  0, QC  0
If b = non-zero term, the system is state controllable.
The observability matrix is defined as,
QO  C T AT C T .... ( An 1 )T C T 
Where n  number of state variable
If QO  0, then the system is observable.
If QO  0, then the system is not observable.

QO  [C T AT C T ]
1 0   d1 
AT    , CT   
1 1  d2 
1 0   d1   d1 
AT C T       
1 1   d 2   d1  d 2 
d d1 
QO   1   d12  d1d 2  d1d 2  d12
d2 d1  d 2 
If d1  0, QO  0

  29 
 If d1  non zero term, the system is state observable.
Hence, the correct option is (A).
Alternatively :
é1 1ù éb ù
x& (t ) = ê ú x(t ) + ê 1 ú u (t )
ë0 1û ëb2 û b2 must be non-zero for
controllability
Last row of
Jordan block

First row of Jordan block

é1 1ù
x& (t ) = ê ú x(t ) c (t ) = [ d1 d 2 ] x (t )
ë0 1û
d1 must be non-zero for
observability
Hence, the correct option is (A).

Question 16 [Practice Book] [IES EE 1997]

The state equation of a dynamic system is given by, x(t )  Ax(t )
 1 1 0 0 0 
 0 1 1 0 0 
 
A   0 0 1 0 0 
 
 0 0 0 3 4 
 0 0 0 4 3
The Eigen values of the system would be
(A) real non-repeated only (B) real non-repeated and complex
(C) real repeated (D) real repeated and complex
Ans. (D)
Sol. Given : x (t )  Ax (t )

 1 1 0 0 0
 0 1 1 0 0 

A   0 0 1 0 0
 
 0 0 0 3 4 
 0 0 0 4 3

Eigen values can be obtained as,

A  I  0
 1 1 0 0 0   0 0 0 0
 0 1 1 0 0   0  0 0 0 

A   I   0 0 1 0 0   0 0  0 0  0
   
 0 0 0 3 4   0 0 0  0
 0 0 0 4 3  0 0 0 0  

  30 
  1   1 0 0 0 
 0 1   1 0 0 
 
A  I   0 0 1   0 0 0
 
 0 0 0 3   4 
 0 0 0 4 3   

A I  (1 )[(1 )(1 )  (3 )(3 )  (16)  0

A I  (1)3[9  3  3  2 16]  0
A  I  [1  ]3[2  6  25]  0
 6  36 100 
A  I  [1  ]3  0
 2 
 6  j8 
A  I  [1  ]3  0
 2 
The Eigen values of the system are   1,  1,  1 and 3  j 4 .
Hence, the correct option is (D).
Question 17 [Practice Book] [IES EE 1997]
Consider the following state equation for a discrete system
 1 
 0 
 x1 (k  1)   2  x1 (k )  1  x (k ) 
 x (k  1)    1      u (k ), y (k )  [1 1]  1   4u (k )
 2   1 x (k )
  2   
1  x2 (k ) 
 4 4 
The system given above is
(A) controllable and observable. (B) uncontrollable and unobservable.
(C) uncontrollable and observable. (D) controllable and unobservable.
Ans. (B)
 1 
  0 
 x1 (k  1)  2  x1 (k )  1
Sol. Given :  x (k  1)    1   u (k )
1   x2 (k )  1
….(i)
 2   
 4 4 
 x (k ) 
y (k )  [1 1]  1   4u (k ) ….(ii)
 x2 (k ) 
State equation is given by,
x  Ax  Bu …. (iii)
Output state equation is given by,
y  Cx  Du …. (iv)
On comparing equation (i), (ii), (iii) and (iv), we get
 1 
 2 0 
1
A  , B    and C  [1 1]
 1 1
  1
 4 4 

  31 
 The controllability matrix is defined as,
QC  [ B AB A2 B...... An 1 B ]
Where n  number of state variable
If QC  0 , then the system is controllable.
If QC  0 , then the system is not controllable.
For the given state equation, controllability test matrix is,
QC   B AB 
 1   1
 2 0  
1  2 
AB     
 1 1  1  1 
 
 4 4   2 
 1
1  2  1 1
QC     0
1  1  2 2
 2 
Thus, QC  0
Therefore, the system is uncontrollable.
The observability matrix is defined as,
QO  C T AT C T .... ( An 1 )T C T 
Where n  number of state variable
If QO  0, then the system is observable.
If QO  0, then the system is not observable.
For the given state equation, observability test matrix is,
QO  [C T AT C T ]
 1 1
 2  
4 CT   1 
A 
T
,  1
 0 1  

 4 
 1 1  1
 2  
4  1   4

A C 
T T
  
 0 1   1  1 

 4   4 
 1
 1 
4 1 1
QO     0
 1 1  4 4
 4 
Thus, QO  0
Therefore, the system is unobservable.
Hence, the correct option is (B).
  32 
Question 23 [Practice Book] [IES EE 2000]
y  u 
The control system shown in the given figure is represented by the equation  1    Matrix G   1 
 y2  u 2 

1
u1 y1
s

1
u2 y2
s

1 1 1 1 
 s  s2   s s2 
(A)   (B)  
0 1  0  1
 s   s 
 1   1 1 
0    s  1
  s  1
 s  1 
2

(C)   (D) 
 1   1 
 0  0  
  s  1    s  1 
Ans. (C)
Sol. From the given figure,
1
y1  (u1  y2  y2 )
s 1
1 1
y1  u1 and y2  u2
s 1 s 1
 1 
 0 
 1
y s 1
 y    1 

 2  0
 s  1 
Hence, the correct option is (C).
Question 27 [Practice Book] [IES EE 2001]
The system matrix of a discrete system is given by
0 1
A 
3 5
The characteristic equation is given by
(A) z 2  5z  3  0 (B) z 2  3z  5  0
(C) z 2  3z  5  0 (D) z 2  z  2  0
Ans. (A)
0 1
Sol. Given : A 
 3 5
z 0   0 1   z 1 
 zI  A    
0 z   3 5 3 z  5

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 Characteristic equation is given by,
zI  A  0
z ( z  5)  3  0  z 2  5z  3  0
Hence the correct option is (A).
Question 30 [Work Book] [IES EE 2002]
1 2  0
Let x    x    u and y  [b 0] x
0 1  1 
where b is an unknown constant.
This system is
(A) Observable for all values of b. (B) Unobservable for all values of b.
(C) Observable for all non-zero values of b. (D) Unobservable for all non-zero values of b.
Ans. (C)
1 2   0 
Sol. Given : x    x    u and y  [b 0] x
 0 1  1 
From the given state equation :
1 2  0
A  , B    and C  b 0 
0 1  1 
The observability matrix is defined as,
QO  C T AT C T .... ( An 1 )T C T 
Where n  number of state variable
If QO  0, then the system is observable.
If QO  0, then the system is not observable.

1 0  b 
AT    , CT   
2 1 0
For the given state equation, observability test matrix is,
QO  C T AT C T 
 1 0  b   b 
AT C T       
 2 1  0   2b 
b b 
QO     2b2
0 2b 
If b  0 : QO  0
If b  0.5: QO  0
If b  1: QO  0
Thus, the system is observable for all non-zero values of b.
Hence, the correct option is (C).



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