𝑅2 = 1 Ω

𝑣(𝑡) +
𝐿3 = 3 H 𝑣𝑖 (𝑡)
𝐿1 𝐶
=2H
2
EEE-101 - Control Systems Engineering
4H
Tutorial - 𝑅32

𝑖(𝑡) X1 (s)
Ω 1. Find the transfer function
F (s) − 𝑣0 (𝑡)
𝐿3 = 3 H 𝑣𝑖 (𝑡)
𝑥 (𝑡) 𝑥2 (𝑡)
1 +
H 𝐾1 = 1 N/m 𝐾2 = 1 N/m
𝐹(𝑡)
𝜃1 (𝑡)
7 N-m-s/rad 2N
𝑀 = 1 kg
𝑓𝑣1 = 2 N-s/m 𝑀1 = 1 kg 𝑓𝑣2 = 1 N-s/m 2 𝑓𝑣3 = 1 N-s/m 1 kg-m2
𝑅1 8N

Figure 1
𝐶1

θ2 (s)
2. For the system shown below, find the transfer function
𝑥2 (𝑡) T (s)

𝜃1 (𝑡) 𝑇(𝑡) 𝜃2 (𝑡)

𝐹(𝑡) 2 N-m-s/rad
7 N-m-s/rad
= 1 kg 𝑓𝑣3 = 1 N-s/m 1 kg-m2 1 kg-m2
8 N-m/rad 3 N-m/rad

Figure 2

3. Given the electrical network in the below figure, find a state-space representation of the system
dynamics considering vi (t) as the input and vo (t) as the output.
𝑢 1 𝑦1
𝑠+2
𝐶1 𝑅

2 𝑦2
𝑠+2
𝑣𝑖 (𝑡) + 𝐿 +
− 𝐶2 𝑣𝑜 (𝑡)
−

1 −1 1 −1 1
𝑦
Figure 3
1 1
𝑠 𝑠
4. Find a state-space model of the system described by the given equation where u(t) is the input
and y(t) is the output.

d3 y(t) d2 y(t) dy(t)

3
+ 4 2
+6 + 8y(t) = 10u(t).
dt dt dt

1
5. The block diagram of a system with input u and outputs y1 and y2 is shown below. Find a state
space model of the system.

𝑢 1 𝑦1
𝑠+2
𝐶1

2 𝑦2
𝑠+2
𝑣𝑖 (𝑡) +
Figure 4 −

6. Consider the following state-space description of an LTI MIMO system.

" #1 " −1 # " 1 # −1 " #1" #
𝑢 ẋ1 −1 −1 x1 1 1 u1 𝑦
= + ,
ẋ2 6.5 0 x2 1 0 u2
" # " #" # " #" #
y1 1 0 1 x1 0 01 u1
= + ·
y2 0 1 𝑠 x2 0 0𝑠 u2

Find its transfer function.

7. A system is represented by the following state-space model

" # " #
0 1 1 1
ẋ(t) = x(t) + u(t),
0 −3 1 0

h i
y(t) = 1 2 x(t)·

h i⊤
Find the expression of y(t), considering initial condition x(0) = −1 3 and the input u(t) as a
unit step.

8. A state-space representation of an LTI system is given as

ẋ = Ax + Bu, x(0) := x0 ∈ Rn ,
y = Cx + Du.

A new set of state variables (z) is chosen having a relation with the previous state vector (x) as
x = T z, where T is any n×n nonsingular matrix. The new state-space representation of the system
becomes

ż = Āz + B̄z, z(0) := z0 ,

y = C̄z + D̄u.

Show that the state transition matrices are related as eĀt = T −1 eAt T .

2
9. An unforced LTI system is represented by
   
0 1 0 1
ẋ(t) =  0 0 1  x(t), x0 = −3 ·
   

−6 −11 −6 4

With a new choice of state variables (z), the system equation takes the form as
 
−1 0 0
ż(t) = Āz(t), where Ā =  0 −2 0  .
 

0 0 −3

Find the expression of x(t) by evaluating eĀt (and by using the result of Q.6).