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Discrete-Time Control Systems (Pie)

Katsuhiko Ogata

Chapter 5

State-Space Analysis - all with Video Answers

Educators


Chapter Questions

02:18

Problem 1

Obtain a state-space representation of the following pulse-transfer-function system in the controllable canonical form
$$
\frac{Y(z)}{U(z)}=\frac{z^{-1}+2 z^{-2}}{1+4 z^{-1}+3 z^{-2}}
$$

James Kiss
James Kiss
Numerade Educator
02:18

Problem 2

Obtain a state-space representation of the following pulse-transfer-function system in the observable canonical form
$$
\frac{Y(z)}{U(z)}=\frac{z^{-2}+4 z^{-3}}{1+6 z^{-1}+11 z^{-2}+6 z^{-3}}
$$

James Kiss
James Kiss
Numerade Educator
02:18

Problem 3

Obtain a state-space representation of the following pulse-transfer-function system in the diagonal canonical form
$$
\frac{Y(z)}{U(z)}=\frac{1+6 z^{-1}+8 z^{-2}}{1+4 z^{-1}+3 z^{-2}}
$$

James Kiss
James Kiss
Numerade Educator
01:13

Problem 4

Obtain a state-5pace representation of the system described by the equation
$$
y(k+2)+y(k+1)+0.16 y(k)=u(k+1)+2 u(k)
$$

Robert Daugherty
Robert Daugherty
Numerade Educator
06:54

Problem 5

Obtain the state equation and output equation for the system shown in Figure 5-11.

Barsha Rana
Barsha Rana
Numerade Educator
00:55

Problem 6

Obtain the state equation and output equation for the system shown in Figure 5-12

Christopher Stanley
Christopher Stanley
Numerade Educator

Problem 7

Obtain the state-space representation of the system shown in Figure 5-13

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Problem 8

Figure 5-14 shows a block diagram of a discrete-time multiple-input-multiple-output system. Obtain state-space equations for the system by considering $x_1(k), x_2(k)$, and $x_3(k)$ as shown in the diagram to be state variables Then define new state variables such that the state matrix becomes a diagonal matrix

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02:09

Problem 9

Obtain the state equation and output equation for the system shown in Figure 5-15

Christopher Stanley
Christopher Stanley
Numerade Educator
02:18

Problem 10

Obtain a state-space representation of the discrete-time control system shown in Figure 5-16

James Kiss
James Kiss
Numerade Educator
02:18

Problem 11

Obtain a state-space representation of the following system in the diagonal canonica form.
$$
\frac{Y(z)}{U(z)}=\frac{z^{-1}+2 z^{-2}}{1+0.7 z^{-1}+0.12 z^{-2}}
$$

James Kiss
James Kiss
Numerade Educator
02:18

Problem 12

Obtain a state-space representation of the following pulse-transfer-function system sucl that the state matrix is a diagonal matrix:
$$
\frac{Y(z)}{U(z)}=\frac{1}{(z+1)(z+2)(z+3)}
$$

Then obtain the initial state variables $x_1(0), x_2(0)$, and $x_3(0)$ in terms of $y(0), y(1)$ and $y(2)$

James Kiss
James Kiss
Numerade Educator

Problem 13

A state-space representation of the scalar difference equation system
$$
\begin{aligned}
y(k+n) & +a_1(k) y(k+n-1)+\cdots+a_n(k) y(k) \\
& =b_0(k) u(k+n)+b_1(k) u(k+n-1)+\cdots+b_n(k) u(k)
\end{aligned}
$$
where $k=0,1,2, \ldots$, may be given by
$$
\begin{aligned}
{\left[\begin{array}{c}
x_1(k+1) \\
x_2(k+1) \\
\vdots \\
x_{n-1}(k+1) \\
x_n(k+1)
\end{array}\right] } & =\left[\begin{array}{ccccc}
0 & 1 & \cdots & 0 & 0 \\
0 & 0 & \cdots & 0 & 0 \\
\vdots & \vdots & & \vdots & \vdots \\
0 & 0 & \cdots & 0 & 1 \\
-a_n(k) & -a_{n-1}(k) & \cdots & -a_2(k) & -a_1(k)
\end{array}\right]\left[\begin{array}{c}
x_1(k) \\
x_2(k) \\
\vdots \\
x_{n-1}(k) \\
x_n(k)
\end{array}\right]+\left[\begin{array}{c}
h_1(k) \\
h_2(k) \\
\vdots \\
h_{n-1}(k) \\
h_m(k)
\end{array}\right] u(. \\
y(k) & =x_1(k)+b_0(k-n) u(k)
\end{aligned}
$$

Determine $h_1(k), h_2(k), \ldots, h_s(k)$ in terms of $a_i(k)$ and $b_f(k)$, where $i=1,2$, . and $j=0,1, \ldots, n$. Determine also the initial values of the state variables $x_1(t$ $x_2(0), \ldots, x_m(0)$ in terms of the input sequence $u(0), u(1), \quad, u(n-1)$ and the outp sequence $y(0), y(1), \ldots, y(n-1)$

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04:47

Problem 14

If the minimal polynomial of an $n \times n$ matrix $\mathbf{G}$ involves only distinct roots, then $\mathrm{t}$ inverse of $\mathbf{z I}-\mathbf{G}$ can be given by the following expression:
$$
(z \mathbf{I}-\mathbf{G})^{-1}=\sum_{k=1}^n \frac{\mathbf{X}_t}{z-z_k}
$$
where $m$ is the degree of the minimal polynomial of $\mathbf{G}$ and the $\mathrm{X}_4$ 's are $n \times n$ matric determined from
$$
g_1(\mathbf{G})=g_1\left(z_1\right) \mathbf{X}_1+g_{\jmath}\left(z_2\right) \mathbf{X}_2+\cdots+g_0\left(z_m\right) \mathbf{X}_m
$$
where
$$
g_\lambda(\mathbf{G})=\left(\mathbf{G}-z_t \mathbf{I}\right)^{j-1}, \quad g_{\ell}(z)=\left(z-z_t\right)^{j-1}
$$
where $j=1,2, \ldots, m$ and $z_k$ is any one of the roots of the minimal polynomial of 1 Using Equation (5-145), obtain $(z \mathbf{I}-\mathbf{G})^{-1}$ for the following $2 \times 2$ matrix $\mathbf{G}$
$$
\mathbf{G}=\left[\begin{array}{rr}
0 & 1 \\
0 & -2
\end{array}\right]
$$

Chris Trentman
Chris Trentman
Numerade Educator

Problem 15

Obtain the pulse transfer function of the system defined by the equations
$$
\begin{array}{r}
\mathbf{x}(k+1)=\mathbf{G} \mathbf{x}(k)+\mathbf{H u}(k) \\
y(k)=\mathbf{C x}(k)+D u(k)
\end{array}
$$
where
$$
\begin{aligned}
& \mathbf{G}=\left[\begin{array}{ccc}
-a_1 & -a_2 & -a_3 \\
1 & 0 & 0 \\
0 & 1 & 0
\end{array}\right], \quad \mathbf{H}=\left[\begin{array}{l}
1 \\
0 \\
0
\end{array}\right] \\
& \mathbf{C}=\left[b_1-a_1 b_0: b_2-a_2 b_0: b_3-a_3 b_3\right] . \quad D=b_0
\end{aligned}
$$

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Problem 16

Find the pulse transfer function of the system defined by
$$
\begin{array}{r}
\mathbf{x}(k+1)=\mathbf{G x}(k)+\mathbf{H} u(k) \\
y(k)=\mathbf{C x}(k)+\mathbf{D} u(k)
\end{array}
$$
where
$$
\begin{array}{ll}
\mathbf{G}=\left[\begin{array}{ccc}
-a_2 & 1 & 0 \\
-a_2 & 0 & 1 \\
-a_3 & 0 & 0
\end{array}\right], & \mathbf{H}=\left[\begin{array}{l}
h_1 \\
h_2 \\
h_3
\end{array}\right] \\
\mathbf{C}=\left[\begin{array}{lll}
1 & 0 & 0
\end{array}\right], & D=b_0
\end{array}
$$

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02:18

Problem 17

Obtain a state-space representation for the system defined by the following pulse-transfer-function matrix:
$$
\left[\begin{array}{l}
Y_1(z) \\
Y_2(z)
\end{array}\right]=\left[\begin{array}{cc}
\frac{1}{1-z^{-1}} & \frac{1+z^{-1}}{1-z^{-1}} \\
\frac{1}{1+0.6 z^{-1}} & \frac{1+z^{-1}}{1+0.6 z^{-1}}
\end{array}\right]\left[\begin{array}{l}
U_1(z) \\
U_2(z)
\end{array}\right]
$$

James Kiss
James Kiss
Numerade Educator

Problem 18

Consider the discrete-time state equation
Obtain the state transition matrix $\Psi(k)$

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Problem 19

Consider the system defined by
$$
\begin{aligned}
\mathrm{x}(k+1) & =\mathrm{Gx}(k)+\mathrm{Hu}(k) \\
\mathrm{y}(k) & =\mathrm{Cx}(k)+\mathrm{Du}(k)
\end{aligned}
$$
where matrix $\mathbf{G}$ is a stable matrix
Obtain the steady-state values of $\mathrm{x}(k)$ and $y(k)$ when $\mathrm{u}(k)$ is a constant vector

Victor Salazar
Victor Salazar
Numerade Educator
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Problem 20

Consider the system defined by $$
\mathbf{x}(k+1)=\mathbf{G x}(k)
$$
where $\mathbf{G}$ is a stable matrix.
Show that for a positive definite (or positive semidefinite) matrix Q
$$
J=\sum_{k=0}^{\infty} \mathbf{x}^*(k) \mathbf{Q x}(k)
$$
can be given by
$$
J=\mathbf{x}^*(0) \mathbf{P x}(0)
$$
where $P=Q+G^* P G$.

Victor Salazar
Victor Salazar
Numerade Educator
01:18

Problem 21

Determine a Liapunov function $V(x)$ for the following system:
$$
\left[\begin{array}{l}
x_1(k+1) \\
x_2(k+1)
\end{array}\right]=\left[\begin{array}{cc}
1 & -1.2 \\
0.5 & 0
\end{array}\right]\left[\begin{array}{l}
x_1(k) \\
x_2(k)
\end{array}\right]
$$

AG
Ankit Gupta
Numerade Educator
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Problem 22

Determine the stability of the origin of the following discrete-time system:
$$
\left[\begin{array}{l}
x_1(k+1) \\
x_2(k+1) \\
x_3(k+1)
\end{array}\right]=\left[\begin{array}{rrr}
1 & 3 & 0 \\
-3 & -2 & -3 \\
1 & 0 & 0
\end{array}\right]\left[\begin{array}{l}
x_1(k) \\
x_2(k) \\
x_3(k)
\end{array}\right]
$$

Victor Salazar
Victor Salazar
Numerade Educator
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Problem 23

Determine the stability of the origin of the following discrete-time system:
$$
\left[\begin{array}{l}
x_1((k+1) T) \\
x_2((k+1) T)
\end{array}\right]=\left[\begin{array}{rr}
\cos T & \sin T \\
-\sin T & \cos T
\end{array}\right]\left[\begin{array}{l}
x_1(k T) \\
x_2(k T)
\end{array}\right]
$$

Victor Salazar
Victor Salazar
Numerade Educator
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Problem 24

Consider the system defined by the equations
$$
\begin{aligned}
& x_1(k+1)=x_1(k)+0.2 x_2(k)+0.4 \\
& x_2(k+1)=0.5 x_1(k)-0.5
\end{aligned}
$$

Determine the stability of the equilibrium state.

Victor Salazar
Victor Salazar
Numerade Educator