on7 A preblem of the linear vegulater type. Cad dE UP) + pce) lt) Plt) a KLE) pre = a PRE) PE Ot) = 6= 240%) ee or uxti=— pre oe] “e aa pal = pre) The Po matrix for Enis system is ente a len 6] Ge= ° ewe . Hence, we have (ME) = Py, (TZ) (0) + He Ct) Wo). (2) Letting Tat gives PA) = O = F(T) KO) + Pia OP(O), or Pre) = -— Gar) G(T) x*0O).Letting Tat in Co) gives BOL bo Py CED RCD Fiza (G) pea), or xia = [p(—-Gi2lh) Pol) ard) PO), Substituting in this erpressiow gives wea € ath a wee) = [e wt (2 at Je cco / which applies fer so Wwe . wo pred GB PRS weite *(o). = 92, I Gz CF) GF) OD and uk = t alt) Pal) GT? % C0) be wt. Ser 56 Co) ULE) = x (oO). ‘ fe) Frem the solutivar of re fate ~ aeutate eguatioas ar ex OFF Hy CT ED KKADE IEE Ipern, or prea Or) Ht) By CE) ECE) 5 hence a ert ret) ate) = ap mE?(we deop Ube *® from x*/t) Lecouce Che expressiayg Lor wet) “s Valid for all state values), (a As C-T Fb Ta) > ce WE) me RR CO) @-* gar This 1s reasonakle physica// Since for the specified plant te reach the erigin contre! mast be applied as t->T, bat Since *CT) oO, bhe Seodback Geh patyix must approach infinity. te generate a wongere contro! Valuc. As Teo | Fle, Ta)- whieh {8S smali @xcest that When £ > TFT we have the. Same result as before, that is F-> co, U*(7T) HO,5-1/0 From £9. (5.2-/2) Kee) = Pnlkest) OH) +P, e*E). with x)= 2 we. obtain POs ~ Pa ep, t) P, Eye) FE). Since ure) = ~ Re) Bie) gee) wre RG BE) Cie, 1G, Gi KE) (valid for all xe) ), SHI (a) The state —cos fate eguations xe ~i 0 =T] f xe) prel i-3 14 | ee)have he transition matrix tet zt, = #é ~Z € €lt)= wet 3B e-2t_ g pat He BE +eet]- rE From the sslation of Problem Sm/0 uX(t}= ge ?e-D , ¢ 2e-t) "eye. (L) With xa) free , using Eg. (5.2-/4) 208g “Ff Gives ot prc = Fase] Fa Gd) xe) th as, nalpt)_ piled) URE) = ale E ] et ergata XO).