Tutorial 2a Skee4113

Tutorial 2 number 1
• Find the state-space representation in

phase variable form for each of the
systems shown in transfer function below :
C ( s) 100
(a ).  4
R( s ) s  20s  10s  7 s  100
3 2
C (s) 30
(b).  5
R( s ) s  8s  9s  6s  s  30
4 3 2
Sunday, March 4, 2018 PMDRMFRCIED 1

Solution(a)
• Cross multiply
C (s) 100
 4
R( s ) s  20s  10s  7 s  100
3 2
s 4 3 2

 20s  10s  7 s  100 C ( s )  100 R ( s )
   
c  20 c  10 c  7 c  100c  100r
   
c  100c  7 c  10 c  20 c  100r
Solution(a)
• State variables, derivatives and output
 
x1  c  x1  c  x2
  
x2  c  x2  c  x3
   
x3  c  x3  c  x4
  
x4  c  x4  c
   
 x4  c  100 x1  7 x2  10 x3  20 x4  100r
y  c  x1
Solution(a)
• Using the standard form derived in the
notes and textbook
 0 1 0 0   0 
  0 0 1 0   0 
x  x    r (t )
 0 0 0 1   0 
   
 100  7  10  20 100
c  1 0 0 0x
Solution(b)
• Cross multiply
C (s) 30
 5
R( s ) s  8s  9s  6s  s  30
4 3 2
s 5 4 3 2

 8s  9s  6s  s  30 C ( s )  30 R( s )
         
c  8 c  9 c  6 c  c  30c  30r
         
c  30c  c  6 c  9 c  8 c  30r
Solution(b)
 
x1  c  x1  c  x2
  
x2  c  x2  c  x3
  
x3  c  x3  c  x4
     
x4  c  x4  c  x5
       
x5  c  x5  c
    
 x5  c  30 x1  x2  6 x3  9 x4  8 x5  30r
y  c  x1
Solution(b)
notes and textbook
 0 1 0 0 0  0
 0 0 1 0 0  0
    
x 0 0 0 1 0  x   0  r (t )
   
 0 0 0 0 1  0
 30  1  6  9  8 30
c  1 0 0 0 0x
Tutorial 2 number 2
• For each system shown in transfer
function below, write the state equations
and the output equation for the phase-
variable representation.
C (s) 5s  10
(a).  4
R( s) s  2s  s  5s  10
3 2
C ( s) s  2s  12s  7 s  3
4 3 2
(b).  5
R( s) s  9s  10s  8s
4 3 2

Solution(a)
• The transfer function can be represented
as a block diagram as follows
R(s) 1 X(s) 5s  10 Y(s)

s 4  2s 3  s 2  5s  10

Solution(a)
• Writing the differential equation for the first
box    
x  2 x  x  5 x  10 x  r (t )
• Defining the state variables
x1  x

x2  x

x3  x
 
x4  x
Solution(a)
• Thus;
 
x1  x  x2
 
x2  x  x3
  
x3  x  x4
    
x4  10 x  5 x  x  2 x  r (t )

 x4  10 x1  5 x2  x3  2 x4  r (t )
Solution(a)
• From the second box

c  5 x  10 x
y  10 x1  5 x2  0 x3  0 x4
Solution(a)
notes and textbook
 0 1 0 0  0 
  0 0 1  
0  0  
x x r (t )
 0 0 0 1  0 
   
 10  5  1  2 1
y  10 5 0 0x
Solution(b)
R(s) 1 X(s)
s 4  2s 3  12s 2  7 s  3 Y(s)
s 5  9s 4  10s 3  8s 2

Solution(b)
box    
x  9 x  10 x  8 x  r (t )
x1  x

x2  x

x3  x
 
x4  x
  
x5  x
Solution(b)
• Thus;
 
x1  x  x2
 
x2  x  x3
  
x3  x  x4
  
x4  x  x5
     
x5  8 x  10 x  9 x  r (t )

 x5  8 x3  10 x4  9 x5  r (t )
Solution(b)
      
y  x  2 x  12 x  7 x  3x
y  3x1  7 x2  12 x3  2 x4  x5

Solution(b)
notes and textbook
0 1 0 0 0  0 
0 0 1 0 0  0 
    
x  0 0 0 1 0  x  0 r (t )
   
0 0 0 0 1  0 
0 0  8  10  9 1
c  3 7 12 2 1x
Tutorial 2 number 3
• Represent the following transfer function in
state-space phase variable form. Give
your answer in vector-matrix form
( s  3s  7)2
T ( s) 
( s  1)( s  5s  4)
2

Solution
1
s  3s  7
R(s) X(s) 2 Y(s)
s 3  6s 2  9s  4

Solution
box   
x  6 x  9 x  4 x  r (t )
x1  x

x2  x

x3  x
Solution
• Thus,

x1  x2

x2  x3
  
x3  4 x  9 x  6 x  r (t )

 x3  4 x1  9 x2  6 x3  r (t )
Solution
 
y  x  3 x 7 x  7 x1  3x2  x3
• In vector matrix form
0 1 0  0 


x 0 0   
1  x  0 r (t )
 4  9  6 1
y  7 3 1x
Tutorial 2 number 4
• Represent the systems below in state
space phase variable form form and draw
the signal flow graph
s3
(a ).G ( s )  2
s  2s  7
s 2  2s  6
(b).G ( s )  3
s  5s 2  2 s  1
s  2s  7 s  1
3 2
(c).G ( s )  4
s  3s 3  5s 2  6s  4
Solution(a)
• SS rep. in vector matrix form
C s3
 2
R s  2s  7
 0 1  0 
x  x   r
 7  2 1
y  3 1x
Solution(a)
• Writing the state and output equations

x1  x 2

x 2  7 x1  2 x2  r
y  3 x1  x2
Solution(a)
• Signal flow graph in phase variable form
1

1 x2 1/s 1/s 3
r y
x2 x1
-2
-7
Solution(b)
C s  2s  6
2
 3
R s  5s  2 s  1
2
0 1 0  0 


x0 0   
1  x  0  r
 1  2  5 1
y  6 2 1x
Solution(b)

x1  x2

x 2  x3

x 3   x1  2 x2  5 x3  r
y  6 x1  2 x2  x3
Solution(b)
1
2
1 1/s 1/s 1/s 6
r y
x3 x2 x1
-5
-2
-1
Solution(c)
C s  2s  7 s  1
3 2
 4
R s  3s  5 s  6 s  4
3 2
0 1 0 0  0 

0 0 1 0   0 
x  x   r
0 0 0 1  0 
   
 4  6  5  3 1
y  1 7 2 1x
Solution(c)

x1  x2

x 2  x3

x 3  x4

x 4  4 x1  6 x2  5 x3  3 x4  r
y  x1  7 x2  2 x3  x4
Solution(c)
1
2
7
r 1 1/s 1/s 1/s 1/s 1 y
x4 x3 x2 x1
-3
-5
-6
-4

Tutorial 2 number 5
• Given the system below, draw a signal
flow graph and represent the system in
state space phase variable form and
cascade form
5
(a).G ( s ) 
s ( s  6)( s  8)
10
(b).G ( s ) 
( s  1)( s  3)( s  4)( s  6)
Solution(a)
• Cross multiply
C (s) 5
 3
R( s ) s  14s  48s
2
s 3

 14s 2  48s C ( s )  5 R( s )
  
c  14 c  48 c  5r
  
c  48 c  14 c  5r
Solution(a)
 
x1  c  x1  c  x2
  
x2  c  x2  c  x3
  
x3  c  x3  c
 
 x3  c  48 x2  14 x3  5r
y  c  x1
Solution(a)
• Rearrange equation in matrix form
0 1 0  0 


x  0 0   
1  x  0 r (t )
0  48  14 5
y  1 0 0x
Solution(a)
5 1/s 1 1/s 1/s

x3 x21 1
x1
r y
-14
-48

Solution(a)
• Cascade form
5
G ( s) 
s ( s  6)( s  8)
5 1 1 1
G ( s)    
1 s ( s  6) ( s  8)

Solution(a)
• Draw the signal flow graph in cascade
form
R(s) C(s)
5 1/s 1/(s+6) 1/(s+8)
X3(s) X2(s) X1(s)

5 1/s 1 1/s 1 1/s 1
r y
x3 x2 -8 x1
-6
Solution(a)
• State and output equation in cascade
form x1  8 x1  x2

x 2  6 x2  x3

x 3  5r
 8 1 0  0 

x   0  6 1 x  0 r
 0 0 0 5
y  1 0 0x
Solution(b)
• Phase variable form, begin with cross
multiply G ( s)  10
( s  1)( s  3)( s  4)( s  6)
C 10
 4
R s  14s 3  67 s 2  126s  72
( s 4  14s 3  67 s 2  126s  72)C ( s )  10 R( s )
      
c  14 c  67 c  126 c  72c  10r
      
c  14 c  67 c  126 c  72c  10r
Solution(b)
 
x1  c  x1  c  x2
  
x2  c  x2  c  x3
  
x3  c  x3  c  x4
  
x4  c  x4  c
 
 x4  c  72 x1  126 x2  67 x3  14 x4  10r
y  c  x1
Solution(b)
• Matrix form in phase variable form
 0 1 0 0  0
  0 0 1 0   0 
x  x    r (t )
 0 0 0 1  0
   
 72  126  67  14 10
y  1 0 0 0x
Solution(b)
10 1/s 1 1/s 1 1/s 1 1/s 1
r x4 x3 x2 x1 y
-14
-67
-126
-72
Solution(b)
• Cascade form
10
G(s) 
( s  1)( s  3)( s  4)( s  6)
10 1 1 1 1
G(s)     
1 ( s  1) ( s  3) ( s  4) ( s  6)

Solution(b)
• Draw the signal flow graph in cascade
form
10 1/s 1 1/s 1 1/s 1 1/s 1

r x4 x3 x2 x1 y
-1 -3 -4 -6

Solution(b)
• State and output equation in cascade

form x1  6 x1  x2

x 2  4 x2  x3

x 3  3 x3  x4

x 4   x4  10r
y  x1
 6 1 0 0  0
 0 4 1 0   0 
x x r
0 0 3 1   0 
   
0 0 0  1 10
y  1 0 0 0x
Tutorial 2 number 6
• Represent the feedback control system
shown in figure below in state space.
• When possible, represent the open loop
transfer functions separately in cascade
and complete the feedback loop with the
signal path from output to input.
• Draw your signal-flow graph (as close as
possible) to be in one-to-one
correspondence to the block diagrams
Block diagram(a)
R(s) E(s)
+ 100 C(s)
- s( s  1)( s  8)

Solution(a)
• Signal flow graph
1 100 1/s 1 1/s 1 1/s

r c=y
x3 x2 x1
-1 -8
-1
Solution(a)
• Writing the state equations;

x1  8 x1  x2

x 2   x2  x3

x 3  100 x1  100r
y  x1
 8 1 0  0 

x   0  1 1 x   0  r
 100 0 0 100
y  1 0 0x
Block diagram(b)
R(s) E(s)
+ 10 C(s)
- s  8s  25
2

Solution(b)
1 10 1/s 1/s
r c=y
x2 x1
-8
-25
-1
Solution(b)
• Writing the state equations;

x1  x2

x 2  25 x1  8 x2  10(r  x1 )

x 2  35 x1  8 x2  10r
y  x1
  0 1  1
x  x   r
 35  8 10
y  1 0x
Block diagram(c)
R(s)
+ E(s)
+ 1 C(s)
100
- - s ( s  1)

Solution(c)
1 100 1 1/s 1 1/s
c=y
r x2 x1
-1
-1
-1
Solution(c)
• Writing the state equations

x1  x2

x 2   x2  x2  100(r  x1 )

x 2  100 x1  2 x2  100r
y  x1
  0 1  1 
x  x   r
 100  2 100
y  1 0x
Block diagram(d)
R(s)
10( s  2)
E(s)
C(s)
+
- ( s  1) 2

Solution(d)
1
1 10 1/s 1/s 2
r c=y
x2 x1
-2
-1
-1
Solution(d)
• Writing the state equations

x1  x2

x 2   x1  2 x2  10(r  c)

x 2   x1  2 x2  100(r  (2 x1  x2 ))

x 2  21x1  12 x2  10r
y  2 x1  x2
  0 1  0
x  x   r
 21  12 10
y  2 1x
Tutorial 2 number 7
• Given the system shown in figure below.
(a). Represent the system in state space in phase
variable form.
(b). Represent the system in state space in parallel
form
R(s) E(s)
+ 10 C(s)
s( s  1)( s  2)
-

Solution(a)
• Phase variable form
10
G (s) 
s ( s  1)( s  2)
C (s) 10
T (s)   3
R( s ) s  3s  2s  10
2

Solution(a)
10 1/s 1/s 1/s
r=u c=y
x3 x2 x1
-3
-2
-10
Solution(a)
• Writing the state equation

x1  x2

x2  x3

x3  10 x1  2 x2  3x3  10u
y  x1
Solution(a)
 0 1 0  0


x 0 0   
1  x   0 u
 10  2  3 10
y  1 0 0x
Solution(b)
• In parallel form
10
G ( s) 
s ( s  1)( s  2)
A B C
G ( s)   
s ( s  1) ( s  2)
5 10 5
G ( s)   
s ( s  1) ( s  2)
Solution(b)
• Signal flow graph in parallel form
1/s
5 1
x1
1 -10 1/s 1
r=u r=u
x2
-1 1
5
1/s
x3
-2
-1
Solution(b)

x1  5(u  x1  x2  x3 )  5 x1  5 x2  5 x3  5u

x 2  10(u  x1  x2  x3 )  x2  10 x1  9 x2  10 x3  10u

x 3  5(u  x1  x2  x3 )  2 x3  5 x1  5 x2  7 x3  5u
y  x1  x2  x3

Solution(b)
 5  5  5  5 


x   10   
9 10  x   10u
 5  5  7  5 
y  1 1 1x
Tutorial 2 number 8
• Given the system shown in figure below.
(a). Represent the system in state space in
phase variable form.
(b). Represent the system in state space in
parallel form
R(s) + E(s)
10( s  2)( s  3) C(s)
( s  1)( s  4)( s  5)( s  6)
-

Solution(a)
• In phase variable form
10( s  2)( s  3)
G( s) 
( s  1)( s  4)( s  5)( s  6)
C ( s) 10( s  5s  6) 2
T ( s)   4
R( s) s  16s  99s  244s  180
3 2

Solution(a)
1
5
10 1/s 1/s 1/s 1/s 6

r
x4 x3 x2 x1 y
16
99
244
180
Solution(a)
• Writing the state and output equation

x1  x2

x2  x3

x3  x4

x4  180 x1  244 x2  99 x3  16 x4  10r
y  6 x1  5 x2  x3
Solution(a)
 0 1 0 0  0
  0 0 1 0   0 
x  x    r (t )
 0 0 0 1  0
   
 180  244  99  16 10
y  6 5 1 0x
Solution(b)
• In parallel form
10( s  2)( s  3)
G ( s) 
( s  1)( s  4)( s  5)( s  6)
A B C D
G ( s)    
( s  1) ( s  4) ( s  5) ( s  6)
1/ 3 10 / 3 15 12
G ( s)    
( s  1) ( s  4) ( s  5) ( s  6)
Solution(b)
• Draw the SFG in parallel form and
including the unity feedback path
1/s x1
1
1/3 -1
1/s x2
-10/3 1
1
r=u -4
15 1/s x3 1
-12 -5 1
1/s x4
-6
-1
Solution(b)
 1
x1  (u  x1  x2  x3  x4 )  x1
3
 10
x 2   (u  x1  x2  x3  x4 )  4 x2
3

x 3  15(u  x1  x2  x3  x4 )  5 x3

x 4  12(u  x1  x2  x3  x4 )  12 x4
y  x1  x2  x3  x4
Solution(b)
 4 1 1 1  1 
 3  3  3  3   3 
  10 2 10 10   10 
x   x   u (t )
 3 3 3 3   3
 15  15  20  15  15 
 12    12 
 12 12 0   
y  1 1 1 1x
Tutorial 2 number 9
• Represent the following systems in state
space either in parallel orJordan canonical
form. Draw the signal flow graphs and ss
rep ( s  1)( s  2)
(a).G ( s ) 
( s  3) 2 ( s  4)
( s  2)
(b).G ( s ) 
( s  5) ( s  7)
2 2
( s  3)
(c).G ( s ) 
( s  2) 2 ( s  4)( s  5)
Solution(a)
• Partial fraction expansion
C ( s ) ( s  1)( s  2) A B C
   
R( s ) ( s  3) ( s  4) ( s  3) ( s  3) ( s  4)
2 2
( s  1)( s  2)  A( s  4)  B( s  3)( s  4)  C ( s  3) 2
s  4; C  6
s  3; A  2
s  0; B  5

Solution(a)
C ( s) 2 5 6
  
R( s ) ( s  3) ( s  3) ( s  4)
2
2 5 6
C ( s)   R( s)   R( s)   R( s)
( s  3) 2
( s  3) ( s  4)

Solution(a)
1/s 1 1/s
x2 x1 1
2
r y
-3 -3
-5/2
1/s
6 1
x3
-4
Solution(a)
• State and

output equations
x1  3 x1  x2

x2  3 x2  2r

x3  4 x3  r
5
y  c  x1  x2  x3
2
 3 1 0  0 

x   0  3 0  x  2 r
 0 0  4 1 
 5 
y  1  1 x
 2 
Solution(b)
C ( s) ( s  2) A B C D
    
R ( s ) ( s  5) ( s  7)
2 2
( s  5) ( s  5) ( s  7) ( s  7)
2 2
( s  2)  A( s  7) 2  B( s  5)( s  7) 2  C ( s  5) 2  D ( s  7)( s  5) 2
5
s  7; C  
4
3
s  5; A  
4
s  0; 245B  175D  70      (1)
s  1; 324 B  288D  96      (2)
B  1; D  1
Solution(b)
3 5

C (s) 4 1 4 1
   
R( s) ( s  5) ( s  5) ( s  7) ( s  7)
2 2
3 5

4 1 4 1
C ( s)   R( s)   R( s)   R( s)   R( s)
( s  5) 2
( s  5) ( s  7) 2
( s  7)

Solution(b)
1/s 1 1/s
x2 x1 1
-3/4
-5
r -5 4/3
y
-4/5
-5/4 1/s 1/s 1
x4 1 x3
-7 -7
Solution(b)
• State and output equations

x1  5 x1  x2
 3
x 2  5 x 2  r
4

x3  7 x3  x4
 5
x 4  7 x 4  r
4
4 4
y  c  x1  x4  x3  x2
5 3
Solution(b)
• In matrix form
  5 1 0 0   0 
 0 5 0   5
 0 
 4
x   x   r
0 0 7 1   0 
  5
0 0 0  7   
 4
 4 4
y  1 1  x
 3 5
Solution(c)
C (s) ( s  3) A B C D
    
R ( s ) ( s  2) 2 ( s  4)( s  5) ( s  2) 2 ( s  2) ( s  4) ( s  5)
( s  3)  A( s  4)( s  5)  B ( s  2)( s  4)( s  5)  C ( s  2) 2 ( s  5)  D( s  4)( s  2) 2
1
s  4; C  
4
1
s  2; A 
6
2
s  5; D 
9
1
s  0; B 
36

Solution(c)
1 1 1 2
C ( s) 6  36  4  9

R( s ) ( s  2) 2 ( s  2) ( s  4) ( s  5)
1 1 1 2
C (s)  6  R( s )  36  R( s)  4  R( s )  9  R( s )
( s  2) 2 ( s  2) ( s  4) ( s  5)

Solution(c)
1/s 1 1/s
1/6 x2 x1
1
-2 1/6 -2
-1/4 1/s 1
r y
x3
-4
2/4 1
1/s
x4
-5
Solution(c)
• State and output equations
x1  2 x1  x2
 1
x 2  2 x 2  r
6
 1
x3  4 x3  r
4
 2
x 4  5 x 4  r
9
1
y  c  x1  x2  x3  x4
6
Solution(b)
• In matrix form
 0 
 2 1 0 0  1 

 0 2 0   6 
 0  
x x 1 r
0 0  4 0   
   4
0 0 0  5  2 
 9 
 1 
y  1 1 1 x
 6 
Tutorial 2 number 10
space controller canonical form and draw
s3
(a ).G ( s )  2
s  2s  7
s  2s  6
2
(b).G ( s )  3
s  5s  2 s  1
2
s  2s  7 s  1
3 2
(c).G ( s )  4
s  3s  5s  6s  4
3 2

Solution(a)
• In PVF
C s3
 2
R s  2s  7
   0

1   x   0 
x
x  
1
.     r
1
 x   7  2  x2  1
 2
 x1 
y  3 1. 
 x2 
Solution(a)
• Reverse the order of the state variables
and obtain
 0 1   x   0 
x
 2    .     r
2
 x   7  2  x1  1
 1
 x2 
y  3 1. 
 x1 
Solution(a)
and obtain

x2  x1

x1  7 x2  2 x1  r
y  3 x2  x1
Solution(a)
• Putting the equation in order

x1  2 x1  7 x2  r

x2  x1
y  x1  3 x2
Solution(a)
    2  7  x  1

x
x  
1
.     r
1
x   1 0   x 2  0 
 2
 x1 
y  1 3. 
 x2 
Solution(a)
• Signal flow graph in controller canonical
form
1
1 1/s 1 1/s 3
r y
 
x1 x1 x2 x2
-2
-7
Solution(b)
• In PVF
C s 2  2s  6
 3
R s  5s 2  2 s  1

 x1   0 1 0   x1  0
 
 
x  x2  0  0     
1 . x2   0 r

 x3   1  2  5  x3  1
 
 x1 

y  6 2 1. x2  
 x3 
Solution(b)
and obtain

 x3   0 1 0   x3  0
 
  
x  x2   0 0     
1 . x2   0 r

 x1   1  2  5  x1  1
 
 x3 

y  6 2 1. x2  
 x1 
Solution(b)
and obtain

x3  x2

x2  x1

x1   x3  2 x2  5 x1  r
y  6 x3  2 x2  x1
Solution(b)

x1  5 x1  2 x2  x3  r

x2  x1

x3  x2
y  x1  2 x2  6 x3
Solution(b)
• CCF in vector matrix form
 5  2  1 1


x 1 0   
0  x  0  r
 0 1 0  0
y  1 2 6x
Solution(b)
• Signal flow graph in controller canonical
form
1
2
  
x1 1/s x 2 1/s x 3 1/s
r 1 1 1 6 y
x1 x2 x3
-5
-2
-1

Solution(c)
C s 3  2s 2  7 s  1
 4
• In PVF R s  3s 3  5 s 2  6 s  4

 x1   0 1 0 0   x1  0
 x   0
 0 1 0   x2  0
x  2
.  r
 x3   0 0 0 1   x3  0
    4  6  5    
 3  x4  1
 x4  
 x1 
x 
y  1 7 2 1. 2 
 x3 
 
 x4 
Solution(c)
and obtain

 x4   0 1 0 0   x4  0 
x   0 0 1 0   x  0 
 3    . 3     r
 x2   0 0 0 1   x2  0 
    4  6  5  3  x  1
 x1     1  
 x4 
x 
y  1 7 2 1. 3 
 x2 
 
 x1 
Solution(c)
and obtain

x4  x3

x3  x2

x2  x1

x1  4 x4  6 x3  5 x2  3 x1  r
y  x4  7 x3  2 x2  x1
Solution(c)

x1  3 x1  5 x2  6 x3  4 x4  r

x2  x1

x3  x2

x4  x3
y  x1  2 x2  7 x3  x4
Solution(c)
• CCF in vector matrix form
 3  5  6  4 1
 1 0 0  
0  0  
x x r
0 1 0 0  0 
   
0 0 1 0  0 
y  1 2 7 1x
Solution(c)
• Signal flow graph in CCF
1
2
 
7
 
x1 1/s x x3
1 1 1/s 1 1/s
2 1 x4 1/s 1 y
r
x1 x2 x3 x4
-3
-5
-6
-4

Tutorial 2 number 11
space observer canonical form and draw
s3
(a ).G ( s )  2
s  2s  7
s  2s  6
2
(b).G ( s )  3
s  5s 2  2 s  1
s 3  2s 2  7 s  1
(c).G ( s )  4
s  3s 3  5s 2  6s  4
Solution(a)
• In OCF
• Divide each term by 1/s2
s3
G (s)  2
s  2s  7
1 3
 2
s s C ( s)
G (s)  
2 7 R ( s )
1  2
s s
Solution(a)
• Cross multiplying
1 3   2 7
  2  R ( s )  1   2 C ( s )
s s   s s 
1
R( s)  2C ( s)   2 3R( s)  7C ( s)   C ( s)
1
s s

Solution(a)
• Signal flow graph in OCF
1
r 3 1/s 1 1/s 1
c
x2 x1
-2
-7
Solution(a)

x1  2 x1  x2  r

x2  7 x1  3r
y  x1
  2 1 1
x  x   r
 7 0 3
y  1 0x
Solution(b)
• In OCF
s 2  2s  6
G ( s)  3
s  5s 2  2 s  1
1 2 6
 2 3
s s s C ( s)
G ( s)  
5 2 1 R( s)
1  2  3
s s s
Solution(b)
1 2 6   5 2 1
  2  3  R ( s )  1   2  3 C ( s )
s s s   s s s 
1
R( s)  5C ( s)   2 2 R( s)  2C ( s)   3 6 R( s)  C ( s)   C ( s)
1 1
s s s

Solution(b)
1
6 1/s 1 1/s 1 1/s 1 c

r
x3 x2 x1
-5
-2
-1
Solution(b)

x1  5 x1  x2  r

x2  2 x1  x3  2r

x3   x1  6r
y  x1
 5 1 0  1 

x   2 0 1 x  2 r
  1 0 0 6
y  1 0 0x
PVF
s  2s  6
2
(b).G ( s )  3
s  5s  2 s  1
2
0 1 0  0 

x0 0   
1  x  0  r
 1  2  5 1
y  6 2 1x
CCF
s  2s  6
2
(b).G ( s )  3
s  5s  2 s  1
2
 5  2  1 1


x 1 0   
0  x  0  r
 0 1 0  0
y  1 2 6x
OCF
s  2s  6
2
(b).G ( s )  3
s  5s  2 s  1
2
  5 1 0  1 

   
x    2 0 1  x   2 r
  1 0 0 6
y  1 0 0x
Solution(c)
• In OCF
s  2s  7 s  1
3 2
G ( s)  4
s  3s  5s  6s  4
3 2
1 2 7 1
 2 3 4
s s s s C (s)
G ( s)  
3 5 6 4 R( s)
1  2  3  4
s s s s
Solution(c)
1 2 7 1   3 5 6 4
    4 
R ( s )  1   2  3  4 C ( s )
s s s   s s s 
2 3
s s
1
R( s)  3C ( s)   12 2 R( s)  5C ( s)   13 7 R( s)  6C ( s)   14 R( s)  4C ( s)   C ( s)
s s s s

Solution(c)
1
2
7
1/s 1 1/s 1 1/s 1 1/s 1 c

r
1 x4 x3 x2 x1
-3
-5
-6
-4

Solution(c)

x1  3 x1  x2  r

x2  5 x1  x3  2r

x3  6 x1  x4  7 r

x4  4 x1  r
y  x1
Solution(c)
• In matrix form
 3 1 0 0  1 
  5 
0 1 0  2  
x x r
 6 0 0 1  7 
   
 4 0 0 0  1 
y  1 0 0 0x
Tutorial 2 Number 12
• Consider the following feedback control
system and represent the system in state
space.
• Model the forward transfer function in
cascade form

SS REPRESENTATION OF
FEEDBACK SYSTEMS
• Block diagram
+
R(s) E(s) 100(s + 5) C(s)
- (s + 2)(s + 3)

FEEDBACK SYSTEMS
• First, we model the forward transfer
function in cascade form.
+
R(s) E(s) (s + 5) C(s)
100
(s + 2) (s + 3)
-

FEEDBACK SYSTEMS
• Now the signal flow graph of the forward
transfer function can easily be constructed
using the procedures discussed in the
previous modules
1
1 1 5
E(s) 100 s 1 s
C(s)
X2(s) X1(s)
-2 -3
FEEDBACK SYSTEMS
• Next, add the feedback and input paths.
1
1 1 5
R(s) E(s) 100 s 1 s
C(s)
X2(s) X1(s)
-2 -3
-1

Creating a signal-flow graph for the system:
a. forward transfer function; b. complete system

FEEDBACK SYSTEMS
• By inspection, write the state equations:

x1  3x1  x 2 ------------------(1a)

x 2  2x 2  100(r  c) -----------------(1b)
• The output equation is
c  5x1  (x 2  3x1 )  2x1  x 2 -------(2)

FEEDBACK SYSTEMS
• Substituting (2) into (1b),

x1  3x1  x 2

x 2  200x1 102x 2  100r ----------------(3)
• The output equation is the same as

Equation (2), or
c  2 x1  x2 ----------------(4)

FEEDBACK SYSTEMS
• In vector matrix form, Equations (3) and
(4) can be written as
 3 1   0 
x  x   r
 200  102 100
y  2 1x

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Tutorial 2 number 1

• Find the state-space representation in

Sunday, March 4, 2018 PMDRMFRCIED 1

Sunday, March 4, 2018 PMDRMFRCIED 8

R(s) 1 X(s) 5s  10 Y(s)

Sunday, March 4, 2018 PMDRMFRCIED 9

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Sunday, March 4, 2018 PMDRMFRCIED 20

Sunday, March 4, 2018 PMDRMFRCIED 33

5 1/s 1 1/s 1/s

Sunday, March 4, 2018 PMDRMFRCIED 38

Sunday, March 4, 2018 PMDRMFRCIED 39

5 1/s 1/(s+6) 1/(s+8)

X3(s) X2(s) X1(s)

Sunday, March 4, 2018 PMDRMFRCIED 46

10 1/s 1 1/s 1 1/s 1 1/s 1

Sunday, March 4, 2018 PMDRMFRCIED 47

Sunday, March 4, 2018 PMDRMFRCIED 50

1 100 1/s 1 1/s 1 1/s

Sunday, March 4, 2018 PMDRMFRCIED 53

Sunday, March 4, 2018 PMDRMFRCIED 56

Sunday, March 4, 2018 PMDRMFRCIED 59

Sunday, March 4, 2018 PMDRMFRCIED 62

Sunday, March 4, 2018 PMDRMFRCIED 63

Sunday, March 4, 2018 PMDRMFRCIED 69

Sunday, March 4, 2018 PMDRMFRCIED 71

Sunday, March 4, 2018 PMDRMFRCIED 72

10 1/s 1/s 1/s 1/s 6

Sunday, March 4, 2018 PMDRMFRCIED 81

Sunday, March 4, 2018 PMDRMFRCIED 82

Sunday, March 4, 2018 PMDRMFRCIED 86

Sunday, March 4, 2018 PMDRMFRCIED 90

Sunday, March 4, 2018 PMDRMFRCIED 91

Sunday, March 4, 2018 PMDRMFRCIED 95

Sunday, March 4, 2018 PMDRMFRCIED 107

Sunday, March 4, 2018 PMDRMFRCIED 113

Sunday, March 4, 2018 PMDRMFRCIED 116

Sunday, March 4, 2018 PMDRMFRCIED 120

6 1/s 1 1/s 1 1/s 1 c

Sunday, March 4, 2018 PMDRMFRCIED 127

1/s 1 1/s 1 1/s 1 1/s 1 c

Sunday, March 4, 2018 PMDRMFRCIED 128

Sunday, March 4, 2018 PMDRMFRCIED 131

Sunday, March 4, 2018 PMDRMFRCIED 132

Sunday, March 4, 2018 PMDRMFRCIED 133

Sunday, March 4, 2018 PMDRMFRCIED 135

Sunday, March 4, 2018 PMDRMFRCIED 136

• The output equation is

c  5x1  (x 2  3x1 )  2x1  x 2 -------(2)

Sunday, March 4, 2018 PMDRMFRCIED 137

• The output equation is the same as

Sunday, March 4, 2018 PMDRMFRCIED 138

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