Faculty of Engineering | Electrical and Computer Engineering
Engineering Office Wing Room 448 PO Box 1700 STN CSC Victoria BC V8W 2Y2 Canada
T 250-721-6036 | [email protected] |
ECE 360 – Assignment 1 Solution
Question 1
Find a vector-matrix state-space representation for the system of Fig. 1(10
points)
Figure 1
Solution
𝑥⃛ + 4𝑥̈ + 13𝑥̇ + 10𝑥 = 𝑟(𝑡)
Define the state variables.
𝑥1 = 𝑥; 𝑥2 = 𝑥̇ ; 𝑥3 = 𝑥̈
so
𝑥1̇ = 𝑥2
𝑥2̇ = 𝑥3
𝑥3̇ = −4𝑥̈ − 13𝑥̇ − 10𝑥 + 𝑟(𝑡) = −4𝑥3 − 13𝑥2 − 10𝑥1 + 𝑟(𝑡)
From the second box
𝑦 = 𝑥̈ − 3𝑥̇ = 𝑥3 − 3𝑥2
In vector-matrix form
0 1 0 0
𝒙̇ = [ 0 0 1 ] 𝒙 + [0] 𝑟(𝑡)
−10 −13 −4 1
𝑦 = [0 −3 1]𝒙
Question 2
Obtain the transfer functions X1(s)/U(s) and X2(s)/U(s) of the mechanical
system shown in Fig. 2. (10 points)
Figure 2
Solution
Question 3
Obtain the state space representation of the system shown in Fig. 3. (10
points)
Solution
Question 4
Find the transfer function G(s) = V0(s)/Vi(s) for the circuit of Fig. 4. (10
points)
Figure 4
Solution
Easier approach is transforming the circuit in frequency domain first. Solve
the parallel branch with 1H (1/s) inductor and 1F (1s) capacitor first, the
resultant circuit looks like following.
Writing the nodal equations yields,
(V1 (s) − Vi (s)) (s 2 + 1)
+ V1 (s) + (V1 (s) − Vo (s)) = 0
s s
(V (s) − Vi (s))
(Vo (s) − V1 (s)) + sVo (s) + o =0
s
Rewriting and simplifying
2 1
(s + + 1)V1 (s) − Vo (s) = Vi (s)
s s
1 1
V1 (s) + (s + + 1)Vo (s) = Vi (s)
s s
Multiplying s on both sides and solving for Vo(s)
(s 2 + 2s + 2)
Vo(s) = 4 V (s) .
s + 2s3 + 3s2 + 3s + 2 i
Hence,
Vo (s) (s2 + 2s + 2)
= 4 3 2
Vi (s) s + 2s + 3s + 3s + 2
Question
Find the state space representation of the translational mechanical system
shown in Fig. 5, where x1(t) is the output. (10 points)
Figure 5
Solution
The impedance equations are:
(2𝑠 2 + 2𝑠 + 1)𝑋1 (𝑠) − 𝑠𝑋2 (𝑠) − (𝑠 + 1)𝑋3 (𝑠) = 0
−𝑠𝑋1 (𝑠) + (𝑠 2 + 2𝑠 + 1)𝑋2 (𝑠) − (𝑠 + 1)𝑋3 (𝑠) = 0
−(𝑠 + 1)𝑋1 (𝑠) − (𝑠 + 1)𝑋2 (𝑠) + (𝑠 2 + 2𝑠 + 2)𝑋3 (𝑠) = 𝑓(𝑡)
Taking the inverse Laplace transform
2𝑥1̈ + 2𝑥̇ 1 + 𝑥1 − 𝑥̇ 2 −𝑥̇ 3 − 𝑥3 = 0
−𝑥1̇ + 𝑥2̈ + 2𝑥2̇ + 𝑥2 − 𝑥3̇ − 𝑥3 = 0
−𝑥1̇ − 𝑥1 − 𝑥2̇ − 𝑥2 + 𝑥3̈ + 2𝑥3̇ + 2𝑥3 = 𝑓(𝑡)
1 1 1 1
𝑥1̈ = −𝑥̇ 1 − 𝑥1 + 𝑥̇ 2 + 𝑥̇ 3 + 𝑥3
2 2 2 2
𝑥2̈ = 𝑥1̇ − 2𝑥̇ 2 + 𝑥2 + 𝑥3̇ + 𝑥3 = 0
𝑥3̈ = 𝑥1̇ + 𝑥1 + 𝑥2̇ + 𝑥2 − 2𝑥3̇ − 2𝑥3 + 𝑓(𝑡)
Define the state variables
𝑧1 = 𝑥1 ; 𝑧2 = 𝑥1̇ ; 𝑧3 = 𝑥2 ; 𝑧4 = 𝑥2̇ ; 𝑧5 = 𝑥3 ; 𝑧6 = 𝑥3̇
The equations are rewritten as
𝑧1̇ = 𝑥1̇ = 𝑧2
1 1 1 1
𝑧2̇ = 𝑥1̈ = −𝑧2 − 2 𝑧1 + 2 𝑧4 + 2 𝑧6 + 2 𝑧5
𝑧3̇ = 𝑥2̇ = 𝑧4
𝑧4̇ = 𝑥2̈ = 𝑧1 − 2𝑧4 − 𝑧3 + 𝑧6 + 𝑧5
𝑧5̇ = 𝑥3̇ = 𝑧6
𝑧6̇ = 𝑥3̈ = 𝑧2 + 𝑧1 + 𝑧4 + 𝑧3 − 2𝑧6 − 2𝑧5
In matrix form
0 1 0 0 0 0 0
1 1 1 1 0
− 2 − 1 0 2 2 2
0 0 0 1 0 0 0
z = z + f (t )
1 0 −1 −2 1 1 0
0 0 0 0 0 1 0
1 1 1 1 − 2 − 2 1
y = 0 0 1 0 0 0z
