Chapter 1.

Introduction to con-
trol systems

1.1 State space equations

Exercise 1.1.1 A robot-arm drive system for one joint can be represented
by the differential equation
dv(t)
= −k1 v(t) − k2 y(t) + k3 i(t)
dt
where v(t) = velocity, y(t) = position, and i(t) is the control-motor cur-
rent. Put the equations in state variable form and set up the matrix form
for k1 = k2 = 1.
Exercise 1.1.2 Consider the system
 
0 1
ẋ(t) = x(t)
0 0
a. Find the state transition matrix Φ(t).
b. For the initial conditions x1 (0) = x2 (0) = 1, find x(t).
Exercise 1.1.3 A hovering vehicle control system is represented by two
state variables, and
   
0 6 0
ẋ(t) = x(t) + u(t)
−1 −5 1
2 Chapter 1. Introduction to control systems

a. Find the roots of the characteristic equation.

b. Find the state transition matrix Φ(t).

1.2 Transfer functions to state space models

Exercise 1.2.1 The transfer function of a system is

Y (s) s2 + 2xs + 10
T (s) = = 3
R(s) s + 4s2 + 6s + 10

Sketch the block diagram and obtain a state variable model.

Exercise 1.2.2 Determine a state variable representation for the system
described by the transfer function

Y (s) 4(s + 3)
T (s) = =
R(s) (s + 2)(2 + 6)

1.3 State space equations to transfer functions

Exercise 1.3.1 A single-input, single-output system has the matrix equa-

tions    
0 1 0
ẋ(t) = x(t) + u(t)
−3 −5 1
and  
y(t) = 3 0 x(t)
Y (s)
Determine the transfer function G(s) = U (s) .

Exercise 1.3.2 A single-input, single-output system is described by

   
0 1 1
ẋ(t) = x(t) + u(t)
−1 −2 0
 
y(t) = 0 1 x(t) (1.1)
Y (s)
Obtain the transfer function G(s) = U (s) and determine the response of
the system to a unit step input.