Summary

Dr. Wenjie Dong

Department of Electrical and Computer Engineering,

The University of Texas Rio Grande Valley

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Topics

Modeling of systems
Linear algebra
Solutions of systems and realization
Stability of a system

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Modeling a Systems

External descriptions for LTI causal CT systems

Time-domain: Z t
y (t) = G (t − τ )u(τ )dτ
0

where G (t) is is the impulse response matrix.

Frequency domain:
Y (s) = G (s)U(s)
where G (s) is the transfer function.
Internal descriptions for LTI causal CT systems

ẋ = Ax + Bu
y = Cx + Du

W. Dong (UTRGV, Dept. of ECE) Summary 2 / 16

Modeling a Systems

External descriptions for LTI causal DT systems

Time-domain:
k
X
y [k] = G [k − m]u[m]
m=0

where G [k] is is the impulse response matrix.

Frequency domain:
Y [z] = G [z]U[z]
where G [z] is the transfer function.
Internal descriptions for LTI causal DT systems

x[k + 1] = Ax[k] + Bu[k]

y [k] = Cx[k] + Du[k]

W. Dong (UTRGV, Dept. of ECE) Summary 3 / 16

Example

For a system defined by

(D 3 + 2D 2 + D)y = (D + 3)x

where x is the input and y is the output, find its state space model and
the transfer function.

W. Dong (UTRGV, Dept. of ECE) Summary 4 / 16

Example

Solution: The transfer function is

s +3
G (s) =
s3 + 2s 2 + s
To find the state space model, we follow the procedure of the realization.
Then
   
−2 −1 0 1
ẋ =  1 0 0 x +  0 u
0 1 0 0
y = [0, 1, 3]x

W. Dong (UTRGV, Dept. of ECE) Summary 5 / 16

Example
Given the following network with input v (t) and output vC , find its state
space model.

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Example

Solution: Choose il (the current goes through L) and vc as states. Then,

 
dvC dvC
−v (t) + R1 iL + C + R2 C + vC = 0
dt dt
diL dvC
−L + R2 C + vc = 0
dt dt
y = vC

So,
dvc 1 1
= − vC + v
dt R1 C + R2 C R1 C + R2 C
diL
= ···
dt
y = vC

W. Dong (UTRGV, Dept. of ECE) Summary 7 / 16

Linear Algebra

For vectors: linear dependent, linear independent,

For matrices: range space, null space, rank, nullity
eigenvalues, eigenvectors, generalized eigenvectors, Jordan form,
minimal polynomial.
Calculate f (A).
Solve Ax = b and solve AM + MB = C .

W. Dong (UTRGV, Dept. of ECE) Summary 8 / 16

State-space Solutions and Realization

• For

ẋ = Ax + Bu
y = Cx + Du

find y (t) for given u(t) and the initial condition x(0).
• Given G (s), find a state-space model.

W. Dong (UTRGV, Dept. of ECE) Summary 9 / 16

Example

For
   
0 1 0
ẋ = x+ u
−1 −2 1
y = [1, 0]x

where x(0) = [1, 0]> and u(t) = 2e −t , find y (t) for t ≥ 0.

Solution: Take Laplace transform on both sides of the equations and find
Y (s). Then take the inverse Laplace transform to find y (t).

W. Dong (UTRGV, Dept. of ECE) Summary 10 / 16

Example

It is given  1 2 
G (s) = s+1 s+2
3 s
− s+2 s+1

find a realization (i.e., (A, B, C , D))

Solution: Follow the procedure for the realization.

W. Dong (UTRGV, Dept. of ECE) Summary 11 / 16

Stability of LTI CT Systems

Input-output stability: BIBO stable, BIBO unstable

BIBO stable ⇔ The poles of each element in G (s) have negative real
parts
BIBO stable ⇔ Each element of G (t) is absolutely integrable in [0, ∞)
Internal stability: Marginally stable, asymptotically stable
Marginally stable ⇔ all eigenvalues of A have negative real parts or
have zero real parts and the poles with zero real parts are simple roots
of the minimal polynomial of A.
Asymptotically stable ⇔ all eigenvalues of A have negative real parts

W. Dong (UTRGV, Dept. of ECE) Summary 12 / 16

Stability of LTI DT Systems

Input-output stability: BIBO stable, BIBO unstable

BIBO stable ⇔ The poles of each element in G [z] are inside a unit
circle
BIBO stable ⇔ Each element of G [k] is absolutely summable in [0, ∞)
Internal stability: Marginally stable, asymptotically stable
Marginally stable ⇔ all eigenvalues of A are inside the unit circle or on
the unit circle and the poles on the unit circle are simple roots of the
minimal polynomial of A.
Asymptotically stable ⇔ all eigenvalues of A are inside the unit circle

W. Dong (UTRGV, Dept. of ECE) Summary 13 / 16

Example

Determine the stability of a system with the impulse response matrix

 −2t
2te −3t

e
G (t) =
2t 1 + e −3t

Solution: Not BIBO stable.

W. Dong (UTRGV, Dept. of ECE) Summary 14 / 16

Example

Determine the stability of a system with the transfer function

" #
s 1 2
s 2 +3s+2 (s+1)(s+2)(s+3) s 3 +s 2 +2s+1
G (t) = 3 s 2s
s 3 +s 2 s+2 s+1 s 2 +2s+3

Solution:Check the locations of the poles of each element of G (s). For

high-order transfer function, you can use Routh table to check the
locations of the poles. Not BIBO stable.

W. Dong (UTRGV, Dept. of ECE) Summary 15 / 16

Example

For the system

   
1 0 2 1
ẋ =  0 1 2 x + 0 u
 
−2 −3 1 1
y = [1, 0, 1]x

determine the internal stability of the system.

determine the input-output stability of the system
Solution: 1. Determine the locations of the matrix A using Routh table.
2. Find the transfer function and find the poles of the system.

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