CS State Variable Q

Control Systems (State Variable Analysis)
State Space Analysis

 e2t 0 
1. The state transition matrix (t)   3t 
then, 2 (t) is
 0 e  

 e4t 0   e t 0 
(a)   (b)  
 0 e6t   0 e1.5t 
 
 e t 0   e6t 0 
(c)   (d)  
 0 e2t   0 e4t 
 
2. State space representation of a system consists of
(a) only one model (b) only four models

(c) only diagonal model (d) none
.
 2 1  0 0
3. State space representation of a system is X    X(t)    U(t)
 0 2  1 0
 0 0
And Y(t)    x(t) . The system is
 3 0 
(a) Controllable and observable

(b) Controllable and not observable
(c) Not controllable but observable
(d) Neither controllable not observable
 0 4  2
4. State space representation of a system is X(t)    x(t)    u(t) , Y(t)  0 3 x(t) ,
 1 5  1 
then the transfer function of the system is
(2s  1)3 (s  2)3

(a) (b)
s2  4s  5 s2  4s  5
3(s  2) 2(s  3)
(c) (d)
s2  5s  4 s2  5s  4
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0 1  0
5. A system with given state model is X    x    u and y  6 1  x
 6 5  1 
(a) Stable, controllable and observable
(b) Stable and observable
(c) Unstable but controllable
(d) Unstable but controllable as well as observable
0 1 0 1
6. The state equation of an LTI system is given by X   x    u . The eigen
 2 3   1 0 
values are
(a)-1 and -2 (b) 0 and -3
(b)1 and -3 (d) 1 and -2
 X1   2 0  0
7. The state space description of a system is given as    x   u
 X 2   0 4  1 
x 
Y  1 0   1  . The above system is
 x2 
(a) controllable and observable
(b) controllable but not observable
(c) observable but not controllable
(d) Neither controllable nor observable
0 1 1 
8. The state model of a system is given as X    x    u , Y= [1 -1]x. The above
 2 2  2
system is
(a) A non minimum phase system
(b) A minimum phase system
(c) An all pass system.
(d) None of the above

9. Which of the following statements are true regarding state transition matrix ( (t))
S1 : (0)  I
S2 : (t1  t2 )  (t1 )  (t 2 )
S3 : 1 (t)  (  t)
(a) only S1 (b) only S2
(c) S1 and S 2 are correct (d) all of them are correct
d2 y dy
10. A control system is represented by differential equation 5  10y  u(t) where
dt 2
dt
u(t) is the input signal. The order of the state matrix and output matrices are
(a) 2  2 and 1  2 respectively (b) 2  2 and 2  1 respectively

(c) 3  3 and 2  1 respectively (d) 3  3 and 1  2 respectively
Y(s) 1
11. The state matrix of the system with the transfer function  3 is
U(s) s  6s  5s  4
2
0 1 0  0 1 0
   
(a)  0 0 1  (b)  0 0 1 
 5  6  4   6 4 5 
  
 0 1 0  0 1 0
   
(c)  0 0 1  (d)  0 0 1
 4 5 6   5 4 6 
  
 X   1 0   x1   2   x1 
12. A system model is described by equation  1   
X        U , Y=[2 1]   .The
 2   0 2   x2   1   x2 
system is
(a) Observable but not controllable (b) controllable but not observable
(c) both observable and controllable (d) not observable and controllable

13. A compensator has the following state model equations
 X 1   0 1   x1   0   x1 
          U and Y   2 0     [1]U . Determine the transfer function of
 X 2   6 5   x2   1   x2 
the compensator
S2  5S  8 S2  5S  4
(a) (b)
S2  5S  6 S2  5S  6
S2  5S  6 S2  5S  6
(c) 2 (d) 2
S  5S  4 S  5S  8
14. If X  AX  BU and Y  CX  DU , then transfer function G(S) =________________
1 1
(a) C SI  A  B  D (b) C SI  A  D  B
1 1
(c) B SI  A  C  D (d) B SI  A  D  C
15. State transition matrix (t) is __________.
(a) L1 (SI  A)1  (b) eAt

(c) a and b (d) none of these
16. If (  ) is state transition matrix, then value of (0) =_____________.
(a) I (b) O
(c) 2I (d) can’t say
17. If state equations are X1  X1  2X2  3U, X2  3X1  X2  U and Y  X 2 , then find
matrix C.
(a) 1 0 (b)  0 1

1  0 
(c)   (d)  
0  1 

d2 y 8dy
18. Consider the following equation   7y  U . Find state matrix A
dt2 dt
 1 0  0 1
(a)   (b)  
 0 7  8 7 
0 1 0 1
(c)   (d)  
7 8 8 7
1 0 
19. Given x(t)    x(t) . State transition matrix of the system is
1 1 
 et 0  te t 0 
(a)  t  (b)   t 
 te et  e te t 
 
 et  e t 0
(c)   (d) None
 e t et 

1 0  1 
20. Given x(t)    x(t); x(0)    Response of the system is
1 1  3
 e t   e t 
(a)  t  (b)  t
 te   te  3e 
t
   
 e t 
(c)  t (d) None
 te  3et 
 
21. The state variable description of a linear system is X  AX , where ‘X’ is a state vector and
0 2
A  , the poles of the system is located at
2 0
(a) -2 & +2 (b) -j2 & +j2

(c) -2 & -2 (d) +2 & +2

22. Separation property of state-transition matrix is
(a) (t t0 )  (t).(t0 ) (b) (t t0 )  1 (t).(t0 )

(c) (t t0 )  (t).1 (t0 ) (d) (t t0 )  1 (t).1 (t0 )
23. The following equation defines a separately exited DC motor in the form of a differential
d2 w B dw k 2 k
equation   w  . The state matrix of the DC motor is
dt 2
J dt L j Lj
 B k 2   k 2 B 
   
(a)  J Lj  (b)  L j J 
 1 0   0 1 
 
 0 1   1 0 
   
(c)  k 2 B  (d)  B k 2 
 L J   J L j 
 j 
1 0
24. The state matrix is A    . The state transition matrix e will be given by
AT
 0 1 
 0 e t   et 0 
(a)   t  (b) 
e 0   0 et 
  
 e t 0  0 e  t
(c)  (d)  t
 0 e t   e 0 
   
 0 2  1 
25. Consider the system with A    ;B    ; C  0 1  . Then the system is
 1 3  1 
(a) Controllable and observable

(b) Controllable but unobservable
(c) Uncontrollable and unobservable
(d) observable but uncontrollable

26. The signal graph is shown below.
The state and output equation for this system is
 x1   0 1  

(a)     x1  0  u, y  5 4   x1 
 21   x  1     x 
 x2   5  2    2
 4 
 x1   0 1   x1  0 
 
 x1 
(b)   
 21       u, y   4 5  
 x2   5   x2  1   x2 
 4 
 x1   0 1   x1  1
 
x 
(c)    21      u, y  5 4   1 
 
 x  x 
 x2   5  2  1  2
 4 
(d) None
27. Consider the closed loop system shown below
Calculate zero input response when   0 ,   2 and the input is unit step signal with
1
x(0)   
1
1 1
(a) y(t)  cos 2t  sin 2t (b) y(t)  cos 2t  sin 2t
2 2
(c) y(t)   2 cos 2t  cos 2t (d) y(t)   2 sin 2t  cos 2t

 1 0  1 
28. The state space representation of a system is given by x    x(t)    u(t) and
 0 2  0
T
1 
y(t)    x(t) , the transfer function of the system is
1 
1 s
(a) (b)
s  3s  2
2
s  3s  2
2
1 1
(c) (d)
s2 s 1
29. In the following electrical circuit, consider the current source i(t) as input. Its transition
matrix is
 e2t cos t  e2t sint 2e2t sint 

(a)  
 e sint
2t
e cos t  e sint 
2t 2t

 e2t cos t  e2t sint 2e2t sint 

(b)  
 e sint
2t
2t 2t

 e2t sint e2t cos t  e2t sint 

(c)  2t 
 e cos t  e2t sint e2t sint
 
(d) None of these
 (1  t)e t tet 
30. (t)    where (t) is state transition matrix then time constant of
 te t (1  t)e t 

the system is ____________ sec. If tolerance band is 5%.

Solutions
1. Ans: (a)
Solution: (t)  eAt  2 (t)  eA2t i.e. replace ‘t’ by 2t
 e4t 0 
2 (t)   
 0 e6t 

2. Ans: (d)
3. Ans: (a)
Solution: By applying Gilbert’s test, the system is Controllable and observable
4. Ans: (a)
Solution: State space representation of a system is in observable canonical from
3(s  2)
 TF  (or)
s  5s  4
2
s  5 4 
1  
1 s 4  2   1 s 0 
TF  C SI  A  B  0 3     = 5 6 
 s s 5  4  
 1 s  5 1    2 
3(s  2)
TF=
s  5s  4
2
5. Ans: (c)
s 1
Solution: Characteristic equation  sI - A  0 => 0
6 s  5
s(s+5)-6=0 or s  1 and -6
One pole is located at RHS, hence, unstable
Check for controllability

0 1 
Q C  B : AB   
 1 5 
QC  0
 Controllable

Check for observability

C   6 1 
Q0      
CA   6 1 
Q0  0
un-observable
6. Ans: (a)
0 1
Solution: A   
 2 3 
 s 0   0 1   s 1 
Given  sI  A      
0 s   2 3 2 s  3
sI  A  s(s  3)  2  0  s2  3s  2  0 => s  1and 2
7. Ans: (d)
Solution: Check for controllability-
0 0 
QC  B : AB     and QC  0
 1 4 
 System is uncontrollable.
Check for observably-
C   1 0 
Q0       and Qo  0
CA   2 0 
 System is unobservable.
8. Ans: (a)
-1
Solution: The transfer function T(s) = C SI - A  B +D
s+2 1 1
(SI - A)-1 =  × 2
 -2 s  s + 2s + 2

 s2 1 
 2 2 
T(s) = 1 - 1   s + 2s + 2 s + 2s + 2   1    s  4 1  s  1 

 2 s   2   s2 + 2s + 2 2  
s + 2s + 2   2 
 2  
 s + 2s + 2 2
s + 2s + 2 
s  2  2s  4 6s
T(s)  
2
s + 2s + 2 2
s + 2s + 2
A zero exists on RHS of s-plane the system is non-minimum phase system.
9. Ans: (d)
Solution: All three statements on state transition matrix are true
10. Ans: (a)

Solution: Order, n=2
Number of input, m=1
Number of output, p=1
The state model is written as
Xn1   A  X   D  U
nn n1 nn n1
Y 
 P1  C pn  X  a1  D pm Um1
       
11. Ans: (c)

Solution: Controllable canonical Form of representation
12. Ans: (c)

Solution: Test for controllability
 2 2 
Q c = [B AB]=  
 1 2 
Qc  0 , System is controllable
Test for observability
C   2 1 
Q0      
CA   2 2 
Q o  0, System is observable
13. Ans: (b)

Solution: Transfer function= C(SI A)1 B   D

1  (S  5) 1 
(SI A)1   
S  5S  6  6 S 
2
  (S  5) 1   0   1 S2  5S  4
TF  [ 2 0]      1 =
  6 S   1   S2  5S  6 S2  5S  6
14. Ans: (a)
15. Ans: (c)
16. Ans: (a)

Solution: (t)  eAt , put t=0, (0) = e0 =I
17. Ans: (a)

Solution: X  AX  BV, Y  CX  DV
1 2 3
A    ,B    ,C  0 1 
3 1 1 
18. Ans: (a)

Solution: It is equivalent to
Y(s) 1 1 1
  
U(s) (s 1)(s 7) 6(s 1) 6(s 7)
State model from simulation diagram is
 1 0  1 
X(t)    x(t)    u(t)
 0 7 1 

1 1
y(t)     x(t)
 6 6
19. Ans: (a)

Solution: State transition matrix= (t)  L1 SI  A  
1
 
s  1 0  1 s  1 0 
SI  A       SI  A  
1
2  
 1 s  1 (s 1)  1 s  1
 et 0
(t)   t 
 te et 
20. Ans: (c)

Solution: State transition matrix= (t)  L1 SI  A  
1
 
s  1 0  s  1 0 
SI  A    1 s  1   SI  A   (s11)2  1 s  1 
1
   
 et 0
(t)   t 
 te et 
 et 0   1   et 
x(t)  (t) x(0) =  t t     
 te  
e   3   te  3e 
t t

21. Ans: (a)

 S 2 
Solution: CE  SI  A  0,    0,
 2 S 
S2  4  0, S  2
22. Ans: (c)
23. Ans: (c)

Solution: w  x1 , w  x1  x 2
B k 2 k
w  x1  x 2   x 2  x1 
J Lj Lj
 0 1  0 
 w   x1   2   x1   
       k B      k 
 w   x2   L x
J   2   L j 
 j

24. Ans: (b)

 1 
S  1 0  S 1 0 
1 1
Solution: SI  A   2     
 0 S 1 1 
 
S  1     0
 
 S 1
1  et
0
eAt  L1 SI  A    t

0 e 
25. Ans: (d)

Solution: Test for controllability
 1 2 
Q c = [B AB]=  
 1 2 
Q c  0 , System is uncontrollable
C   0 1 
Q0      
CA   1 3 
Q o  0, System is observable
26. Ans: (a)

21
Solution: x2  5x1  x 1
4 2
x1  x2 ; y  5x1  4x2
 x1   0 1  

 x1 0 
   21       u
 x2   5   x 2  1 
 4 
x 
y  5 4   1 
x 
 2

27. Ans: (a)

Solution x2  x1  x2  1
x1  x2 ; y  x1
 x1   0 1   x1  0 
          u
 x2       x2  1 
x 
y  1 0   1 
x 
 2
1   0 1   0 1
Given x(0)    ,   0;   2 => A    
1       2 0 
 s 1 
 1   s 1  1  s2  2 
s  2 
2
(t)  L1 (SI A)1   2   = L  
 s  2   2 s   2 s 
 2 
 s  2 s2  2  
 cos 2t 1 sin 2t 
(t)   2 
 
  2 sin 2t cos 2t 
Zero input response

 sin 2t 
 cos 2t  1
y(t)  (t)  x(0)   2  
  1
  2 sin 2t cos 2t 
1
y(t)  cos 2t  sin 2t
2
28. Ans: (d)

 1 0  1 
Solution: A    , B    ,C  1 1
 0 2  0 
1
1 s  1 0  1   1  s  2 0  1  1
T(S)  C SI  A  B  1 1        1 1     
 0 s  2   0    s  1  s  2    0 s  1  0 s  1

29. Ans: (a)

Solution: The circuit equation can be expressed as
1 diL (t) 1 dv c (t)
 i(t)  iL (t)  v c (t) and  i(t)  iL (t)  3v c (t)
2 dt 2 dt
The state is defined as iL (t)  x1 (t), v c (t)  x2 (t)
The circuit equation in terms of defined state can be written as

x1 (t)   x1 (t)  2x2 (t)  i(t) & x2 (t)   x1 (t)  3x2 (t)  i(t)
State variable model is,
 x1 (t)   1 2   x1 (t)   1 
       
    i(t)
 x2 (t)   1 3   x2 (t)   1 
The state transition matrix can be determined from the relationship
1  1 2 
(t)  L1 sI  A  and A   
 1 3 
 (s 2)  1 2 
   
1 1  1  s3
 2   1  (s 2)  1
2
(s 2)  1 
2
L sI  A   L  2
1
       L
 s  4s  5   1 s  1  
 
 1 (s 2)  1 
 
 (s 2)  1 (s 2)  1 
2 2
 e2t cos t  e2t sint 2e2t sint 

(t)   
 e sint
2t
2t 2t

30. Ans: 1
 (1  t)e t tet 
Solution: (t)   
 te t (1  t)e t 

(t)  eAt , A  (0) ,
 e t  e t  te t et  tet 
' (t)   t 
 et  tet e  te  e 
t t
 1  1  0 10   0 1 
A  ' (0)    
 1  0 1  0  1   1 2 
s 1
CE  sI  A  0 => =0 => s2  2s  1  0
1 s2
Comparing with standard equation
We get, 2n  2
1
Time constant=  1 sec
n

We recommend you to take the Chapter Test first and then

check the Solutions.

Chapter Test Solutions

1. Ans: 3.5-4.5
Solution: TF the SSR is in CCF
8(2) C(s) 1
TF =  , R(s) 
s  5s  4 R(s)
2
s
82
C()  Lt sC(s)  4
s0 4
C()  4
2. Ans: (d)
Solution: The SSR is in CCF
2(6s  5)
TF  or
s2  4s  3
s  4 1 
1  
1 s 1  0   3 s   0 
TF  C sI  A  B  5 6      = 5 6 
 s s  4  3 2 
3 s  4  2    
2(6s  5)
TF=
s2  4s  3
3. Ans: (a)
deAt
Solution: A
dt t 0
d  e3t e2t  e3t   3e3t 2e2t  3e3t 

  
dt  0 e2t   0 2e2t t0
deAt  3 1
A 
dt t 0 0 2 

4. Ans: (b)
Solution: State space representation is in Jordan canonical form, by applying Gilbert’s test
system is controllable but not observable.
5. Ans: (c)
Solution: The state transition matrix
(s)  (sI  A)1 or (sI  A)  [(s)]1
 s 0  s 1   s 0   s 1 
  [A]  [(s)]    => [A]  
1
  
0 s  5 s  6   0 s  5 s  6 
0 1
[A]=  
 5 6 
6. Ans: (b)
Solution: X3  10u  2x1
X2  3u  x3  4x1
X1  5u  8x1  x2
Y  7u  x1
 8 1 0  5 
   
 X   4 0 1  x   3  u and y  1 0 0  x   7  u
 2 0 0   10 
   
7. Ans: (b)
Solution: Jordan canonical form of representation
8. Ans: 0
Solution: Zero state response= L1 {(S)BU(S)}
 1  (S 5) 0 
(S)  {(SI A)1 }    
 (S 5)(S 10) (S 10)  
  0

Zero State Response = L-1 {(sI-A)-1BU}
 1  
 0  1   1   1  10t 
 (S 10)
Zero state response= L1       L1     0.1  0.1e
   S(S  10)   0 
 0 1   0   S  0   
 (S 5)    
 
T
 0.1  0.1e10t   1 
y(t)       0.1  0.1e
10t
0  0
y(0)  0
9. Ans: (a)
Solution: (t)  L1 SI  A 
1
 s 1 
   s 1 

1 1 s    s2  1 s 1
2
SI  A   2
s  1  1 s 
 2 
s 1 s 1
2
 cos t sint 
(t)   
  sint cos t 
10. Ans: (d)

Solution: Eigen values are given by SI  A  0
 S 1 
   0  S(S 1)  2  0
2 S  1
S2  S  2  0
1  1  8
Eigen values=  -0.5  j1.323
2
11. Ans: (a)

Solution: x1 (t)  x1  3x2
x2 (t)  8x1  k1 x1  k 2 x2
 x1   1 3   x1 
        0  u
 x2   8  k1 k 2   x2   

 1 3 
A 
 8  k1 k 2 
S 1 3
CE  0  SI  A  0
k1  8 s  k 2
S2  (k2  1)S k2  3k1  24  0

1
Given data   ; n2  2
2
1 19
2  2  k 2  1  k 2  3 and 24  3k1  k 2  2  k1 
2 3
12. Ans: (b)

21
Solution: x2  5x1  x 1
4 2
x1  x2 ; y  5x1  4x2
 x1   0 1  

 x1 0 
    21       u
 x2   5   x 2  1 
 4 
x 
y  5 4   1 
x 
 2
Test for controllability

 0 1 
Q c = [B AB]=  
 1  21 
 4 
Qc  0 , System is controllable

C   5 4 
Q0      
CA   20 16 
Q o  0, System is not observable

13. Ans: (c)

Solution: x2  x1  x2  1
x1  x2 ; y  x1
 x1   0 1   x1  0 
          u
 x2       x2  1 
x 
y  1 0   1 
x 
 2
14. Ans: (b)

Solution: x1  5x1  x2  a1u and x2  x1  3x2  u
 x1   5 1   x1  a1 
       u
 x2   1  3 x 2  1 
for uncontrollable system,
Qc  0
 a 5a1  1 
Q c = [B AB]=  1 
 1 a1  3 
a1 5a1  1
  0 =>  a12  3a1  5a1  1  0 => a1  1
1 a1  3
15. Ans: (b)

dv c di
Solution:  ic , 4 L  VL
dt dt
Vc and IL are state variable;
vc
IL  IC  IR => IC  IL  IR  IL 
2
dv c V
 IL  C  0.5Vc  IL
dt 2
And VL  VS  Vc
diL
 0.25(Vs  Vc )  0.25 Vc  0.25 Vs
dt

 v c   0.5 1   v c  0 
     vs
iL   0.25 0  iL  0.25 
Vc
iR   0.5Vc
2
v 
iR  0.5 0   c 
iL 

CS State Variable Q

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CS State Variable Q

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Control Systems (State Variable Analysis)

State Space Analysis

2. State space representation of a system consists of

(a) only one model (b) only four models

(a) Controllable and observable

(2s  1)3 (s  2)3

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(a) 2  2 and 1  2 respectively (b) 2  2 and 2  1 respectively

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13. A compensator has the following state model equations

14. If X  AX  BU and Y  CX  DU , then transfer function G(S) =________________

15. State transition matrix (t) is __________.

(a) L1 (SI  A)1  (b) eAt

16. If (  ) is state transition matrix, then value of (0) =_____________.

(a) 1 0 (b)  0 1

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(a) -2 & +2 (b) -j2 & +j2

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22. Separation property of state-transition matrix is

(a) (t t0 )  (t).(t0 ) (b) (t t0 )  1 (t).(t0 )

(a) Controllable and observable

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26. The signal graph is shown below.

The state and output equation for this system is

27. Consider the closed loop system shown below

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 e2t cos t  e2t sint 2e2t sint 

 e2t cos t  e2t sint 2e2t sint 

 e2t sint e2t cos t  e2t sint 

(d) None of these

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One pole is located at RHS, hence, unstable

Check for controllability

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Check for observability

sI  A  s(s  3)  2  0  s2  3s  2  0 => s  1and 2

Check for observably-

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A zero exists on RHS of s-plane the system is non-minimum phase system.

10. Ans: (a)

11. Ans: (c)

12. Ans: (c)

13. Ans: (b)

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14. Ans: (a)

15. Ans: (c)

16. Ans: (a)

17. Ans: (a)

18. Ans: (a)

State model from simulation diagram is

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19. Ans: (a)

20. Ans: (c)

21. Ans: (a)

22. Ans: (c)

23. Ans: (c)

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24. Ans: (b)

25. Ans: (d)

26. Ans: (a)

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27. Ans: (a)