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a)
num=[10 10];
den=[1 6 5 10];
[A,B,C,D]=tf2ss(num,den)
[][
][ ] [ ]
x1 6 5 10 x1
x2 = 1
0
0 x2
0
1
0 x3
x3
[ y 1 ] =[ 0
1
0 u
0
10 10 ]+ [ 0 ] u
b)
num=[1 4];
den=[1 2 6];
[A,B,C,D]=tf2ss(num,den)
[][
][ ]
x 1 2 6 x 1
=
1
0 x2
x 2
[ y 1 ]=[ 1
c)
1) num=[2 3];
den=[1 0.1 1];
[A,B,C,D]=tf2ss(num,den)
2) num=[ 1 2 1];
4 ]+[ 0 ] u
[]
1 u
0
1)
[][
][ ]
x 1 0.1 1.0 x 1
=
1.0
0
x 2
x2
[ y 1 ] =[ 2
2)
[][
][ ]
0 ]+ [ 1 ] u
a)
A=[-3 -2;1 0];
B=[1;0];
C=[1 3];
D=[0];
[num,den]=ss2tf(A,B,C,D)
Num = [ 0
Den = [ 1
1
3
[ 10] u
[ 10] u
3 ]+ [0 ] u
x 1 0.1 1.0 x 1
=
1.0
0
x 2
x2
[ y 1 ]=[ 1.9
3]
2]
Y (s)
s+3
= 2
U (s) s +3 s +2
b)
A=[0 3;-10 15];
B=[1 1;0 1];
C=[1 0;0 1];
D=[0 0;0 0];
[num,den]=ss2tf(A,B,C,D,1)
Num = [ 0
1 -15 ]
Y 1 (s)
s15
= 2
U ( s) s 15 s +30
Y 1 (s)
s12
=
U ( s) s 215 s +30
[num,den]=ss2tf(A,B,C,D,2)
Num = [ 0
0 -10 ]
Y 2(s)
10
= 2
U ( s) s 15 s +30
Y 2(s)
s10
= 2
U ( s) s 15 s +30
c)
A=[-1 -1;1 0];
B=[1;0];
C=[1 2];
D=[0];
[num,den]=ss2tf(A,B,C,D)
Num = [ 0
2 ] Den = [ 1
1]
Y (s)
s+ 2
= 2
U (s) s + s+1
a). Controlable
Y (s)
s+3
=
U (s) s2 +3 s +2
Observable
A=[-3 -2;1 0];
B=[1;0];
C=[1 3];
D=[0];
[A,B,C,D]=canon(A,B,C,D,'companion')
[ ] [ ][ ] [ ]
x 1
x
= 0 2 1
1 3 x2
x 2
[ y 1 ] =[ 1
1 u
0
0 ]+ [0 ] u
Diagonal
A=[-3 -2;1 0];
B=[1;0];
C=[1 3];
D=[0];
[A,B,C,D]=canon(A,B,C,D,'modal')
[][
][ ]
x 1 1 0 x1
=
0 2 x 2
x 2
[ y 1 ]=[ 0.7071
b).
0.4472 ] + [ 0 ] u
2.8284 u
[2.2361
]
Controlable
Y 1 (s)
s15
= 2
U ( s) s 15 s +30
Y 1 (s)
s12
= 2
U ( s) s 15 s +30
Y 2(s)
10
= 2
U ( s) s 15 s +30
Y 2(s)
s10
= 2
U ( s) s 15 s +30
Observable
A=[0 3;-10 15];
B=[1 1;0 1];
C=[1 0;0 1];
D=[0 0;0 0];
[num,den]=ss2tf(A,B,C,D,1)
[A,B,C,D]=canon(A,B,C,D,'companion')
[num,den]=ss2tf(A,B,C,D,2)
[A,B,C,D]=canon(A,B,C,D,'companion')
[][
][ ]
x 1
x
= 0 30 1
1 15 x2
x 2
[ ][ ]
1 0 +
[ y 1 ]= 010
00 u
00
Diagonal
A=[0 3;-10 15];
B=[1 1;0 1];
C=[1 0;0 1];
D=[0 0;0 0];
[num,den]=ss2tf(A,B,C,D,1)
[A,B,C,D]=canon(A,B,C,D,'modal')
[num,den]=ss2tf(A,B,C,D,2)
[A,B,C,D]=canon(A,B,C,D,'companion')
11 u
[ 00.1
]
[][
][ ]
x 1
x
= 2.4 30 1
0
12.6
x 2
x2
0.43
[ y 1 ]= 0.93
0.741.8
1.31 u
[ 0.50.15
]
][ ]
+ 00 u
00
c).
Controlable
Y (s)
s+ 2
= 2
U (s) s + s+1
Observable
A=[-1 -1;1 0];
B=[1;0];
C=[1 2];
D=[0];
[A,B,C,D]=canon(A,B,C,D,'companion')
[][
][ ]
x 1
x
= 0 1 1
1 1 x 2
x 2
[ y 1 ]=[ 1
[ 10] u
1 ] +[ 0 ] u
Diagonal
A=[-1 -1;1 0];
B=[1;0];
C=[1 2];
D=[0];
[A,B,C,D]=canon(A,B,C,D,'modal')
[][
][ ]
x 1
x
= 0.5 0.866 1
x 2 0.866 0.5 x 2
[ y 1 ]=[ 0
1.2247 ] + [ 0 ] u
1.4142 u
[0.8165
]