EE C128 / ME C134 Spring 2014 HW3 - Solutions

UC Berkeley

Homework 3 - Solutions
Note: Each part of each problem is worth 3 points and the homework is worth a total of 42 points.
1. State Space Representation to Transfer Function
Find the transfer function G(s) = Y (s)/R(s) for the following system represented in state space.

0
1
0
0

x = 0
x
+
0
1
0 r
3 2 5
10
h
i
y= 1 0 0 x
Solution: Using the formula G(s) = C(sIA)1 B, we can solve for the transfer function as follows:

(sI A)1

s2 + 5s + 2
s+5
1
1

= 3
3
s2 + 5s s

2
s + 5s + 2s + 3
3s
2s 3 s2

s2 + 5s + 2
s+5
1
0
i
1

1
2
C(sI A) B = 3
1 0 0
3
s + 5s s 0
s + 5s2 + 2s + 3
3s
2s 3 s2
10
h

G(s) =

s3

10
+ 2s + 3

5s2

2. State Space Representation to Transfer Function using MATLAB

Use MATLAB to find the transfer function G(s) = Y (s)/R(s), for the following system represented
in state space.

3 1 0
4 2
2

3 5 5 2 1
7

x = 0 1 1 2
8 x +
8 r

7 6 3 4 0
5
6 0 4 3 1
4
h
i
y = 1 2 9 7 6 x
Solution: Input matrices A, B, C (as given) and D = 0 in MATLAB. Use the following commands
to convert the given state space into transfer function:
[num, den] = ss2tf(A, B, C, D);
G = tf(num, den)
which yields,
25s4 292s3 + 1680s2 + 16280s + 31880
G(s) = 5
s 4s4 32s3 + 148s2 1153s 4480

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EE C128 / ME C134 Spring 2014 HW3 - Solutions

UC Berkeley

3. State Space Representation to Transfer Function

State space representations are, in general, not unique. One system can be represented in several
possible ways. For example, consider the following systems:
(a) x = 5x + 3u
y = 7x
" # "
#" # " #
x1
5 0
x1
3
(b)
=
+
u
x2
0 1 x2
1
" #
h
i x
1
y= 7 0
x2
" # "
#" # " #
x1
5 0
x1
3
(c)
=
+
u
x2
0 1 x2
0
" #
h
i x
1
y= 7 3
x2
Show that these systems will result in the same transfer function. Show all the steps clearly.
Solution:
(a)
G(s) = C(sI A)1 B = 7(s + 5)1 3 =

21
s+5

(b)
1

G(s) = C(sI A)

"
"
#1 " #
h
i s+5
h
i 1
0
3
B= 7 0
= 7 0 s+5
0
s+1
1
0
G(s) =

#" #
3
1
1
s+1
0

21
s+5

(c)
"
#1 " #
"
h
i s+5
h
i 1
0
3
G(s) = C(sI A)1 B = 7 3
= 7 3 s+5
0
0
s+1
0
G(s) =

#" #
3
1
0
s+1
0

21
s+5

4. State Space Representation to Transfer Function of the output

Given the following state space representation of a system, find Y (s).
"

#
" #
1
2
1
x =
x+
sin(3t)
3 1
1
h

y = 1 2 x;

Rev. 1.0, 02/15/2014

" #
3
x(0) =
1

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EE C128 / ME C134 Spring 2014 HW3 - Solutions

UC Berkeley

Solution:
X = (sI A)1 (X0 + Bu)
#
" "
# "
##1 "" # " #
1 0
1
2
3
1
3
X= s

+
0 1
3 1
1
1 s2 + 9
3

3s + 5s2 + 30s + 54
(s2 + 5)(s2 + 9)

X=
s3 10s2 + 12s 102
(s2 + 5)(s2 + 9)
h
i
Y(s) = 1 2 X(s)
Y(s) =

5s3 15s2 + 54s 150

s4 + 14s2 + 45

5. Poles and Zeros

For each of the transfer functions shown below, find the locations of poles and zeros, plot them on
the s-plane, and then write an expression for the general form of the step response without solving
for the inverse Laplace transform. State the nature of each response (overdamped, underdamped,
and so on).
(a)
T (s) =

5
(s + 3)(s + 6)

Solution: Poles: 3, 6
General Step Response: c(t) = A + Be3t + Ce6t , overdamped.

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EE C128 / ME C134 Spring 2014 HW3 - Solutions

UC Berkeley

(b)
T (s) =

s2

20
+ 6s + 144

Solution: Poles: (3 + j3 15), (3 j3 15)

General Step Response: c(t) = A + Be3t cos(3 15t + ), underdamped.

6. Finding poles using MATLAB

Use MATLAB to find the poles of the following transfer function.
T (s) =

s4

s2 + 2s + 2
+ 6s3 + 4s2 + 7s + 2

Solution: Using the following command in MATLAB, we can get the roots of the given transfer
function.
p = roots([1 6 4 7 2])
Which yields,

5.4917
0.0955 + 1.0671j

p=

0.0955 1.0671j
0.3173

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EE C128 / ME C134 Spring 2014 HW3 - Solutions

UC Berkeley

7. Response of Second Order Systems

A system has a damping ratio of 0.5, a natural frequency of 100 rad/s, and a DC gain of 1. Find
the response of the system to a unit step input.
Solution: Using the given information, we can write the transfer function as follows.

X(s) =

1002

s + 100
1
1
1
=
=
s (s2 + 100s + 1002 )
s (s + 50)2 + 7500
s

Therefore,

50
7500
7500
(s + 50)2 + 7500

(s + 50) +

50
7500t +
sin 7500t)
7500

x(t) = 1 e50t cos(50 3t )

6
3

x(t) = 1 e50t (cos

8. Response of Second Order Systems

For the system given below, find , n , Ts , Tp , Tr and % OS.
T (s) =

s2

16
+ 3s + 16

Solution: We know n2 = 16 and 2n = 3. Therefore n = 4 and = 0.375.

4
= 2.667s.
n

p
Tp =
= 0.8472s.
n 1 2
Ts =

Tr =

1
(1.76 3 0.417 2 + 1.039 + 1) = 0.356s.
n

/ 1 2
100 = 28.06%.
%OS = e

9. Poles of Second Order Systems

For each pair of second order system specifications that follow, find the location of the second order
pair fo poles.
(a) % OS = 12%; Ts = 0.6 seconds
Solution:

%OS
4
100
=r
= 0.56 and n =
= 11.92
Ts
%OS
2
2 + ln
100
p
Therefore, poles = n jn 1 2 = 6.67 j9.88
ln

(b) % OS = 10%; Tp = 5 seconds

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EE C128 / ME C134 Spring 2014 HW3 - Solutions

UC Berkeley

Solution:

%OS

100
= 0.779
= 0.591 and n = p
=r
Tp 1 2
2 %OS
2
+ ln
100
p
Therefore, poles = n jn 1 2 = 0.4605 j0.6283.
ln

(c) Ts = 7 seconds; Tp = 3 seconds

Solution:
p
4

n =
= 0.571 and n 1 2 =
= 1.047
Ts
Tp
Therefore, poles = 0.571 j1.047

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