Problem 2

P 2.1

clc
clear all
A=[-0.5 0;0 -1];
B=[0.5 1]';
C=[1 0;0 1];
D=[0 0]';

x0=[5 -2]';
Contr=ctrb(A,B)

Contr = 2×2
0.5000 -0.2500
1.0000 -1.0000

w= @(t) [expm(-0.5*t) 0 ; 0 expm(-t)]*[0.5 ; 1]*[0.5 1]*[expm(-0.5*t) 0; 0 expm(-t)];

wc_2 solves for the controllability grammian at t=2

wc_2=integral(w,0,2,'ArrayValued',true)

wc_2 = 2×2
0.2162 0.3167
0.3167 0.4908

%wc_inv_2=wc_2^-1

ut_2 defined as for the input control for equilibrium at t=2

syms t
t2=2;
ut_2= vpa(-B'*expm(A'*(t2-t))*wc_2^(-1)*expm(A*t2)*x0 , 7)

ut_2 =

Part 2.2
wc_5 solves for the controllability grammian at t=5

wc_5=integral(w,0,5,'ArrayValued',true)

wc_5 = 2×2
0.2483 0.3331

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 0.3331 0.5000

ut_5 defined as for the input control for equilibrium at t=5

t5=5;
ut_5=vpa(-B'*expm(A'*(t5-t))*wc_2^(-1)*expm(A*t5)*x0 , 7)

ut_5 =

Part 2.3

t_2=linspace(0,2,100);
ut_2a= @(t) -B'*expm(A'.*(t2-t))*wc_2^(-1)*expm(A.*t2)*x0;
ut_2b=zeros(length(t_2),1);
for i=1:length(t_2)
ut_2b(i)=vpa(-B'*expm(A'*(t2-t_2(i)))*wc_2^(-1)*expm(A*t2)*x0,3);

end

%[b,a]=ss2tf(A,B,C,D);

%G=[tf([b],[a])]
G=[tf(ss(A,B,C,D))]

G =

From input to output...

0.5
1: -------
s + 0.5

1
2: -----
s + 1

Continuous-time transfer function.

lsim(G,ut_2b,t_2)

2
the blue curve represents the output x that shows it converging towards 0 with input u defined in grey.

t_5=linspace(0,5,100);
ut_5a= @(t) -B'*expm(A'.*(t5-t))*wc_2^(-1)*expm(A.*t5)*x0;
ut_5b=zeros(length(t_5),1);
for i=1:length(t_5)
ut_5b(i)=vpa(-B'*expm(A'*(t5-t_5(i)))*wc_2^(-1)*expm(A*t5)*x0,3);

end

%[b,a]=ss2tf(A,B,C,D);
G=[tf(ss(A,B,C,D))]

G =

From input to output...

0.5
1: -------
s + 0.5

1
2: -----
s + 1

Continuous-time transfer function.

3
 lsim(G,ut_2b,t_5)

For both cases t=2 and t=5 we notice that with t=5 the input is a lot more drastic early on and takes a much
harder push compared to t=2. Essentially the control may not be the most robust when comparing t=5 to t=2.

Problem 3

Part 3.1

clc
clear all
x=0.5

x = 0.5000

C=[1-x -2+3*x ; x 1-3*x]

C = 2×2
0.5000 -0.5000

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 0.5000 -0.5000

a1=rref(C)

a1 = 2×2
1 -1
0 0

checking rank deficient of controllability matrix with solution found for alpha

a=rank(C)

a = 1

Part 3.2

clc
clear all
x=0

x = 0

O=[1-x x ; -2+3*x 1-3*x]

O = 2×2
1 0
-2 1

rank (O)

ans = 2

Full Rank regardless of values. Hence not possible.

Problem 4

clc
clear all

A=[1 0 2; 4 1 6; -3 0 -4];
B=[-1 1 1]';
C=[2 1 3];

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 D=[0];

Co=ctrb(A,B) %Checking controllability matrix

Co = 3×3
-1 1 -1
1 3 1
1 -1 1

r_c=rank(Co)

r_c = 2

shows rank deficient

p_inv=[Co(:,1) Co(:,2) [1 0 0]']

p_inv = 3×3
-1 1 1
1 3 0
1 -1 0

Ahat_c=(p_inv^-1)*A*p_inv

Ahat_c = 3×3
0 1.0000 -1.2500
1.0000 0 1.7500
0 0 -2.0000

Bhat_c=(p_inv^-1)*B

Bhat_c = 3×1
1
0
0

Chat_c=C*p_inv

Chat_c = 1×3
2 2 2

[Abar, Bbar, Cbar,T,k]=ctrbf(A,B,C)

Abar = 3×3
-2.0000 0.0000 -0.0000
8.6603 -0.3333 1.8856
-0.0000 0.4714 0.3333
Bbar = 3×1
0
0.0000
1.7321
Cbar = 1×3
3.5355 0.4082 1.1547
T = 3×3
0.7071 -0.0000 0.7071
0.4082 0.8165 -0.4082
-0.5774 0.5774 0.5774

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 k = 1×3
1 1 0

Ob=obsv(A,C)

Ob = 3×3
2 1 3
-3 1 -2
7 1 8

r_o=rank(Ob)% Check observability matrix

r_o = 2

p=[Ob(2:3,1:3); 1 0 0 ]

p = 3×3
-3 1 -2
7 1 8
1 0 0

rank(p) % rank check

ans = 3

Ahat_o=p*A*p^-1

Ahat_o = 3×3
0 1.0000 0
2.0000 -1.0000 0
-0.2000 0.2000 -1.0000

Bhat_o=p*B

Bhat_o = 3×1
2
2
-1

Chat_o=C*p^-1

Chat_o = 1×3
0.5000 0.5000 0

Part 4.4

G=tf(ss(A,B,C,D))

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 G =

2 s^2 + 6 s + 4
-------------------
s^3 + 2 s^2 - s - 2

Continuous-time transfer function.

Problem 5

Part 5.1

clc
clear all
A=[2 1 0; 0 3 1; 1 0 1];
B=[1 0 2]';
C=[2 2 1];
D=[0];

Co=ctrb(A,B)

Co = 3×3
1 2 6
0 2 9
2 3 5

r_c=rank(Co)

r_c = 3

since rank of controllability matrix is equal to 3 it is full rank hence controllable

Part 5.2

Ob=obsv(A,C)

Ob = 3×3
2 2 1
5 8 3
13 29 11

r_o=rank(Ob)

r_o = 3

since rank of observability matrix is equal to 3 it is full rank and is observable

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