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    03 CT LTI Gyak1 2009

    Uploaded by

    Magus6
    CCS tutorial-I

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    03 CT LTI Gyak1 2009

    Uploaded by

    Magus6
    0 views4 pages
    CCS tutorial-I

    Original Title

    03_CT_LTI_gyak1_2009

    Copyright

    © © All Rights Reserved

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    CCS tutorial-I

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    0 views4 pages

    03 CT LTI Gyak1 2009

    Uploaded by

    Magus6
    CCS tutorial-I

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    CCS tutorial-I

    1. Given the following CT LTI SISO system:


    ÿ(t) + 4ẏ(t) + 3y(t) = 2u̇(t) + u(t)
    • Give the transfer function of the system!
    Solution:
    2s + 1 2.5 0.5
    H(s) = C(sI − A)−1 B = 2 = −
    s + 4s + 3 s+3 s+1
    • Give the impulse response function of the system!
    Solution:
    h(t) = L−1 {H(s)} = 2.5e−3t − 0.5e−t
    2. Show that the transfer function is invariant of state transformations!:
    Solution:
    H̄(s) = C̄(sI − Ā)−1 B̄ + D̄ = CT −1 (sI − T AT −1 )−1 T B + D =

    = CT −1 (T (sI − A)T −1 )−1 T B + D =

    = CT −1 T (sI − A)−1 T −1 T B + D =

    = C(sI − A)−1 B + D = H(s)

    3. Consider the matrices:


    · ¸ · ¸
    −1 0 1 £ ¤
    A= B= C= 1 1
    3 1 1
    • Compute the transfer function H(s)!
    Solution:
    2s + 3
    H(s) = C(sI − A)−1 B = 2
    s −1

    1
    • Compute the impulse response function of the system!
    Solution:
    h(t) = L−1 {H(s)} = −0.5e−t + 2.5et

    4. Given the following CT LTI SISO I/O model:


    ...
    y + 10ÿ + 27ẏ + 18y = u

    • Give a possible state space representation of the system defined


    by the above equation:
    Solution:
           
    ẋ3 −10 −27 −18 x3 1 £ ¤
     ẋ2  =  1 0 0  ·  x2  +  0  · u
    ẋ1 0 1 0 x1 0
     
    £ ¤ £ ¤ x3
    y = 0 0 1 ·  x2 
    x1

    • How many inputs/outputs/states does the state space model have?


    Solution: 1 input, 1 output, 3 states
    • Is the state space model unique?
    Solution: no

    5. Given the following differential equations:

    ẏ1 + y3 = u1 − u2
    ÿ1 + ẏ1 = y2 + u2
    ẏ3 + u1 − u2 = 0
    ẏ2 + y1 + y3 = u1

    • Give a possible state space representation of the system defined


    by the above equations:

    2
    Solution:
           
    ẋ1 0 0 −1 0 x1 1 −1 · ¸
     ẋ2   −1 0 −1 0   x2   1 0 
       · +  · u1
     ẋ3  =  0 0 0 0   x3   −1 1  u2
    ẋ4 0 1 1 0 x4 −1 2
     
       x1 
    y1 1 0 0 0  
     y2  =  0 1 0 0  ·  x2 
     x3 
    y3 0 0 1 0
    x4

    • How many inputs/outputs/states does the state space model have?


    Solution: 2 inputs, 3 outputs, 4 states
    • Is the state space model unique?
    Solution: no

    6. Given the CT LTI SISO system:


    · ¸ · ¸
    1 3 1
    ẋ(t) = x(t) + u(t)
    0 2 1
    £ ¤
    y(t) = 0 3 x(t)
    · ¸
    1
    x(0) =
    1

    u(t) = 2

    • Compute x(t), 0 ≤ t < ∞!


    Solution: · 2t ¸
    6e − 6et + 1
    x(t) = ,0 ≤ t < ∞
    2e2t − 1
    • Give the impulse response function of the system!
    Solution:
    h(t) = 3e2t

    3
    7. Given the CT LTI SISO system:
    · ¸ · ¸
    −5 0 2 · ¸
    ẋ = x+ u
    −2 1 1 2
    x(0) =
    £ ¤ 0
    y = 1 0 x

     0, if 0 ≤ t < 1
    u(t) =

    1, if 1 ≤ t

    • Compute y(t) based on the solution of the state equation!


    Solution:
    h R t A(t−τ ) i
    A(t−t0 )
    y(t) = C e x(t0 ) + t0 e Bu(τ )dτ =

     2e−5t , 0≤t<1
    =

    2e−5t + 25 − 25 e−5(t−1) , 1 ≤ t

    • Compute y(t) using the convolution formula of the impulse-response


    function (assuming zero initial conditions)!
    Solution:
    h(t) = CeAt B = 2e−5t

    R∞  0, 0≤t<1
    y(t) = 0
    h(τ )u(t − τ )dτ =
     2
    5
    − 25 e−5(t−1) , 1 ≤ t

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