Sofiane Khadraoui

U NIVERSITY OF S HARJAH
C OLLEGE OF E NGINEERING
D EPARTMENT OF E LECTRICAL AND COMPUTER
ENGINEERING

Course: Signals & Control systems

Problem Set
Chapters 4 and 5: System Modeling & Linearization

Prepared by
Sofiane K HADRAOUI
University of Sharjah

February 17, 2020

University of Sharjah

Sofiane Khadraoui
 Sofiane Khadraoui
CONTENTS

1 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S 2
1.1 L APLACE T RANSFORM AND T RANSFER FUNC -
TION 2
1.2 L INEARIZATION OF NONLINEAR MODELS 4
1.3 S TATE S PACE REPRESENTATION 8
1.4 S OLUTION OF S TATE -S PACE M ODEL 11
1.5 T RANSFER F UNCTION F ROM THE S TATE -S PACE
M ODEL 13
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1
 Sofiane Khadraoui
1
I N T RO D U C T I O N TO C O N T RO L S Y S T E M S

1.1 L A P L AC E T R A N S F O R M A N D T R A N S F E R F U N C T I O N

Problem 1.1. For each of the following differential equations de-

termine the system transfer function (y(t ) & u(t ) are the system
input and output, respectively):

d 3 y d 2 y dy du
a) 3 + 2+ = 3 −u
dt 3 dt dt dt
d4y d3y d2y dy d2u du
b) 4
+ 6 3
+ 2
+ 9 + 3y = 2
+5 +u
dt dt dt dt dt dt
!
d4y d3y dy d2y d2u du
Z
c) − 4 + 3
− 3 dt + 6 2
+ y = 5 2
+3 −u
dt dt dt dt dt dt

d3y d2y dy d2u du

Z
d) 3 3
− 2 −4 +5 (y − 2u) dt = 2
−2
dt dt dt dt dt

Answer 1.1.
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2
 1.1 L A P L A C E T R A N S F O R M A N D T R A N S F E R F U N C T I O N 3

Sofiane Khadraoui
Problem 1.2. For each system transfer function given below:

U(s) G(s) Y(s)

s+2
G(s) =
s2 + 3s + 2
s2 + 5s + 6
G(s) =
4s3 + 12s2 + 11s + 3
s2 − 3s + 2
G(s) =
s2 + 4s + 3
1. determine the corresponding differential equation

2. find the step response of the system (i.e. the system output
obtained when a unit-step input, u(t ), is applied).

Assume that there is no energy stored in the system.

Answer 1.2.

1. differential equations are:

• ÿ + 3ẏ + 2y = u̇ + 2u
...
• 4 y + 12ÿ + 11ẏ + 3y = ü + 5u̇ + 6u
• ÿ + 4ẏ + 3y = ü − 3u̇ + 2u

2. step responses are:

• y(t ) = 1 − e−t
• y(t ) = 2 − 3.75e−0.5t + 2e−t − 0.25e−1.5t
• y(t ) = 0.666 − 3e−t + 3.333e−3t
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 4 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S

Sofiane Khadraoui
1.2 L I N E A R I Z AT I O N O F N O N L I N E A R M O D E L S

Problem 1.3. For each nonlinear differential equation given be-

low, find the nonlinear state space model.

a) ÿ + y2 ẏ + 3y3 − 6y = y(u2 − 2)
√
b) ÿ + 2 ẏ + 2 + 3y2 u = u2

c) y2 ÿ + ẏ = u2 − 2

Answer 1.3.
     
ẋ1 f1 (x1 , x2 ) x2
a)  = =
     

ẋ2 f2 (x1 , x2 ) −x12 x2 − 3x13 + x1 (u2 + 4)
     
ẋ1 f1 (x1 , x2 ) x2
b)  = =
     
√ 2 2

ẋ2 f2 (x1 , x2 ) −2 x2 + 2 − 3x1 u + u
 
    x2
ẋ1 f1 (x1 , x2 )  
c)  = = 1 
     
 
ẋ2 f2 (x1 , x2 ) −x2 + u2 − 2
 
2
x1
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 1.2 L I N E A R I Z AT I O N O F N O N L I N E A R M O D E L S 5

Sofiane Khadraoui
Problem 1.4. Linearize the following nonlinear state space mod-
els around the given operating point (xeq , ueq ).


 ẋ1 = x12 + sin(x2 ) − 1  



 1
a) ẋ2 = −x23 + u xeq =   ; ueq =
 



 0

 y = x + 2x
1 2
0

2


 ẋ1 = −2x1 + x1 x2 + eu  



 1
b) ẋ2 = −x1 − 2x2 + sin(x2 u) xeq =   ; ueq =
 



 0

 y = 2x1 − 3x2 + u

−1

ẋ = −x13 + x1 x2 u2
 1

  


 1
c) ẋ2 = −x23 + x1 x2 u2 xeq =   ; ueq = 1
 
−1




 y = x u − x u2

1 2



 ẋ1 = −x12 + x2 x3 − u  
−1





 ẋ2 = −x2 + x1 x3

  
 
d) xeq =  0  ; ueq = 1
 
ẋ3 = x1 − x3 u

  

  




 0
 y = 4x1 − x3

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Sofiane Khadraoui
Answer 1.4.
All linear state-space models obtained have the following form:

 ẋ = Ax + Bu


 y = Cx + Du


where the matrices A, B, C, and D are defined as follows

a)
  


 ∂ f1 ∂ f1    





 ∂ x1 ∂ x2 
 2x 1 cos ( x 2 ) 2 1
A = = =

    

     
∂ f2 ∂ f2  0 −3x22 0 0

 
(xeq , ueq )


∂ x1 ∂ x2




 


 ∂ f1  
0

∂u 

  
 
B= =  ; C = [1 2] ; D=0

   

  
∂ f2 





 1


 ∂u (xeq , ueq )

b)
    


 −2 + x2 x1 −2 1

 A= =

    
  
−1 −2 + u cos(x2 u) −1 −3


(xeq , ueq )




 2
  
−2e1

2ueu
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



B= =  ; C = [2 − 3] ; D = 1

    

 


 x2 cos(x2 u) 0

 (xeq , ueq )
 1.2 L I N E A R I Z AT I O N O F N O N L I N E A R M O D E L S 7

Sofiane Khadraoui
c)
    
−3x 2 + x u2 x u 2 −4 1
2 1


 1
A= =

    

  
2 2 + x u2


 x2 u −3x 2 1 −1 −2



 (xeq , ueq )




    
−2



 2x1 x2 u

 B= =

    
  
2x1 x2 u −2
 (xeq , ueq )




  
∂g ∂g

 h i


 C = = u − u 2 = [1 − 1]




∂ x1 ∂ x2 (xeq , ueq ) ( x eq , u eq )







 ∂g

 D= = x1 − 2x2 u| =3
∂ u (xeq , ueq ) (xeq , ueq )




d)
    


 −2x1 x3 x2 2 0 0

    

    

A =  x3 −1 x1 =  0 −1 −1

    

  

    

    
−u 0 −1




 1 0 (xeq , ueq ) 1

   
−1 −1





    

    

− 1] ; D = 0
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B= 0  =  0  ; C = [4 0

    



    

    

−x3 (x , u ) 0



 eq eq
 8 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S

Sofiane Khadraoui
1.3 S TAT E S PA C E R E P R E S E N TAT I O N

Problem 1.5. Determine the state space model (state & output
equations) for the following systems defined by differential equa-
tions (y(t ) & u(t ) are the system input and output, respectively):

d 3 y d 2 y dy
a) 3 + 2+ =u
dt 3 dt dt
d3y dy
b) 3
+ 3 + 2y = u
dt dt
d3y d2y dy
c) 2 3
+ 4 2
+ 6 + 6y = 10u
dt dt dt
d4y d3y d2y dy
d) 4
+ 6 3
+ 2 + 9 + 3y = 2u
dt dt dt dt
d3y d2y dy du
e) + 2 − 3 + 2y = 5 + u
dt 3 dt dt dt
d3y d2y dy d2u du
f) 3
− 3 2
− 4 + 5y = 2
+3
dt dt dt dt dt
d3y d2y dy d3u d2u du
g) 3 − − 4 + 5y = + 3 −2 +u
dt 3 dt 2 dt dt 3 dt 2 dt
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 1.3 S TAT E S PA C E R E P R E S E N TAT I O N 9

Sofiane Khadraoui
Answer 1.5.

       



 ẋ 1 0 1 0 x1 0
 ẋ2  =  0 0 1   x2  +  0  u

       


ẋ3 0 −1/3 −1/3 x3 1/3




a)  

x



 1
y = [1 0 0]  x2 

  




 x3

       



 ẋ 1 0 1 0 x 1 0
ẋ = 0 0 1 +
 2   0 u
x
       


  2  
ẋ3 −2 −3 0 x3 1




b)  

x



 1
y = [1 0 0]  x2 

  




 x3

       



 ẋ 1 0 1 0 x1 0
ẋ = 0 0 1 x + 0 u
       


  2     2  
ẋ3 −3 −3 −2 x3 5




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c)  

x



 1
y = [1 0 0]  x2 

  




 x3
 10 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S

Sofiane Khadraoui
       


 ẋ1 0 1 0 0 x1 0

ẋ2 0 0 1 0 x2 0

       
= + u

       
ẋ3 0 0 0 1 x3 0

  

       
−3 −9 −1 −6



 ẋ4 x4 2
d)  




 x1
 x
  
y = [1 0 0 0]  2

 


 x3
 

 


 x4

       



 ẋ 1 0 1 0 x 1 0
 ẋ2  =  0 0 1   x2  +  0  u

       


ẋ −2 3 −1 x3 1



 3
e)  

x1




y = [1 5 0]  x2 

  




 x3

       



 ẋ 1 0 1 0 x 1 0
ẋ = 0 0 1 x + 0 u
       


  2     2  
ẋ3 −5 4 3 x3 1




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f)  

x



 1
y = [0 3 1]  x2 

  




 x3
 1.4 S O L U T I O N O F S TAT E - S PA C E M O D E L 11

Sofiane Khadraoui
       



 ẋ 1 0 1 0 x1 0
 ẋ2  =  0 0 1   x2  +  0  u

       


ẋ3 −5/3 4/3 1/3 x3 1/3




g)  

x1


 1


y = [−2/3 − 2/3 10/3]  x2  + u

 


 3

 x3

1.4 S O L U T I O N O F S TAT E - S PA C E M O D E L

Problem 1.6. For each of the following state space models, find
the T x(t ) and
 state variable T
the output y(t ), if u = 0 and x(0) =
x1 (0), x2 (0) = [1, 2] :

 " # " #" # " #


 ẋ1 −1.5 1.5 x1 6

 = + u
 ẋ2 1/6 −1.5 x2 0



a) " #

x

1

y = [0 2]




 x2

 " # " #" # " #


 ẋ1 −2 1 x 1 1

 = + u
 ẋ2 0 −3 x2 2

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

b) " #

x

1

y = [1 0]




 x2
 12 I N T RO D U C T I O N TO C O N T RO L S Y S T E M S

Sofiane Khadraoui
 " # " #" # " #

 ẋ1 −5 −1 x 1 1

 = + u
ẋ 6 0 x 0

2 2



c) " #

x1


y = [1 3]




 x2
 " # " #" # " #

 ẋ 1 0 1 x 1 1

 = + u
 ẋ2 −2 −3 x2 0



d) " #

x

1

y = [1 0]




 x2
 " # " #" # " #

 ẋ 1 −5 0 x 1 1

 = + u
ẋ 0 −1 x 0

2 2



e) " #

x

1

y = [1 0]




 x2

Answer 1.6.
 
7e−t − 5e−2t

2
 7e−t + 5e−2t
a) x(t ) = 
 7e−t + 5e−2t 
 =⇒ y (t ) = Cx (t ) =
3
6
!
3e−2t − 2e−3t
b) x(t ) = =⇒ y(t ) = 3e−2t − 2e−3t
2e−3t
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!
5e−3t − 4e−2t
c) x(t ) = =⇒ y(t ) = 32e−2t −25e−3t
12e−2t − 10e−3t
 1.5 T R A N S F E R F U N C T I O N F R O M T H E S TAT E - S PA C E M O D E L 13

Sofiane Khadraoui
!
4e−t − 3e−2t
d) x(t ) = =⇒ y(t ) = 4e−t − 3e−2t
6e−2t − 4e−t
!
e−5t
e) x(t ) = =⇒ y(t ) = e−5t
2e−t

1.5 T R A N S F E R F U N C T I O N F R O M T H E S TAT E - S PA C E M O D E L

Problem 1.7. For each state space model given above in Prob-
lem 1.6, find the transfer function of the corresponding system.

Answer 1.7.
2
a)
s2 + 3s + 2
s+5
b)
s2 + 5s + 6
s + 18
c)
s2 + 5s + 6
s+3
d)
s2 + 3s + 2
1
e)
s+5
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