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EML 5311, Section 2484

Homework #3
Due 02 March 2009

RAMIN SHAMSHIRI
UFID#: 9021-3353

Ramin Shamshiri

EML 5311, Control system theory, HW #3

Due 02/03/09

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Homework #3
Smith-McMillanForm
Due 02/03/09
For each problem, compute the Mc-Millan Form.
Solution:
Smith-McMillan Form procedure:
1234-

Determine d(s) =Least Common Multiple (LCM) of all denominators.

Determine the polynomial matrix () that will yield () when divided by d(s)
Find the set of Di that are the greatest common divisors of all the minors of (). (By definition, 0 = 1)
Determine the () polynomials. This yields smith form.
=

5- The Smith McMillan form is generated by:

The whole purpose of this is to find the poles and zeros of MIMO system, which is finding the solution to y=Pu.

Ramin Shamshiri

EML 5311, Control system theory, HW #3

Due 02/03/09

3
Problem 1:
+

= + +

+
+ +
Step1)
= + 2 , + 2 , + 2 , ( + 2) = + 2
Step2)
= =

+1
1
1
+1

Step3)
0 = 1
1 = + 1 , 1 , 1 , + 1
2 =

=1

+1
1
= ( + 2)
1
+1

Step4)

1
1
1 =
=1
0
2
2 =
= ( + 2)
1
=

Smith Form:

Step5)
Smith-McMillan Form:

1
0

0
2

1
0
0 ( + 1)

1
= +2 0
0

Poles of the system:

s+2= 0
Zeros of the system:

Ramin Shamshiri

s=0

EML 5311, Control system theory, HW #3

Due 02/03/09

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% Problem 1, Step response
h11 = tf([1 1],[1 2]);
h12 = tf([1],[1 2]);
h21 = tf([1],[1 2]);
h22 = tf([1 1],[1 2]);
H = [h11 h12; h21 h22];
step(H)

Ramin Shamshiri

EML 5311, Control system theory, HW #3

Due 02/03/09

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Problem 2:

( + )
+
=
( + )
+
( + )

( + )
+
( + )

( + )

Step1)
= ( + 5)2 , ( + 5)2 , ( + 2)2 , ( + 5)2 , ( + 2)2 , ( + 5)2 = ( + 5)2 ( + 2)2
Step2)
( + 2)2
= = ( + 5)2
( + 5)2
Step3)

( + 2)2
( + 2)2
( + 2)2

0 = 1
1 = ( + 2)2 , ( + 2)2 , ( + 5)2 , ( + 2)2 , ( + 5)2 , ( + 2)2 = 1
2 = {

+2
+5

2
2

+2
+2

2
2

+2
+5

2
2

+2
+2

2
2

+5
+5

2
2

+2
+2

2
2

= 6 3 45 2 108 84 , 6 3 45 2 108 84 , 0
= 3 + 7.5 2 + 18 + 14
Step4)

1
1
1 =
=1
0
2
2 =
= 3 + 7.5 2 + 18 + 14
1
=

Smith Form:

Step5)
Smith Mc-Millan Form:

1
0
0
1

0
0

Poles of the system:

0
2
0

0
1

0

1
0
= 0 3 + 7.5 2 + 18 + 14
0
0

(
=

+ 5)2 (
0
0

+ 2)2

3 + 7.5 2 + 18 + 14
( + 5)2 ( + 2)2
0

(s + 5)4 (s + 2)4 = 0

Zeros of the system:

Ramin Shamshiri

EML 5311, Control system theory, HW #3

Due 02/03/09

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s3 + 7.5s2 + 18s + 14 = 0
% Problem 2, Step response
g11=tf([1],conv([1 5],[1 5]));
g12=tf([1],conv([1 5],[1 5]));
g21=tf([1 3],conv([1 2],[1 2]));
g22=tf([1 3],conv([1 5],[1 5]));
g31=tf([1 1],conv([1 2],[1 2]));
g32=tf([1],conv([1 5],[1 5]));
G= [g11 g12; g21 g22;g31 g32];
step(G)

Ramin Shamshiri

EML 5311, Control system theory, HW #3

Due 02/03/09

7
Problem 3:

+
=
+
+
+
+
+
+ + +

+
+
+
+ ( + )

Step1)
= ( + 5), ( + 5), ( + 1), + 3 ( + 2) = ( + 5)( + 1)( + 3)( + 2)
Step2)
( + 1)( + 3)( + 2)
0
0
(
+
1)(
+
3)( + 2)
= =
( + 5)( + 3)( + 2)
( + 5)( + 1)
Step3)
0 = 1
1 = + 1 + 3 + 2 , 0,0, + 5 + 3 + 2 , ( + 5)( + 1) = 1
2 = {

+1 +3 +2
0

+1 +3 +2
+5 +3 +2
= + 1 2 + 3
= +1 +2 +3

0
0
,
+1 +3 +2
+5 +3 +2

+1 +3 +2
,
+5 +1

0
}
+5 +1
2

+2

, +1 +2

+3

+5 , +1

+ 2 ( + 3)( + 5)

Step4)

1
1
1 =
=1
0
2
2 =
= +1 +2 +3
1
=

Smith Form:

1
0
0

Step5)
Smith Mc-Millan Form:
1
()
0
0

0
2
0

Poles of the system:

s+5

0
+1 +2 +3
0

1
( + 5)( + 1)( + 3)( + 2)

0
2

0

1
= 0
0

0
0
2

0
1
( + 5)
0

s+1 s+3 s+2 = 0

There is no zero in the system.

Ramin Shamshiri

EML 5311, Control system theory, HW #3

Due 02/03/09

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% Problem 3, Step response
r11=tf([1],[1 5]);
r12=0;
r21=0;
r22=tf([1 3],[1 5]);
r31=tf([1 3],[1 1]);
r32=tf([1 3],[1 6 5]);
R= [r11 r12; r21 r22;r31 r32];
step(R)

Ramin Shamshiri

EML 5311, Control system theory, HW #3

Due 02/03/09

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Problem 4:
+

+
=
+

Step1)
= 2 , + 2 , + 2 , (^2) = 2 ( + 2)
Step2)
= =

( + 1)( + 2)
2
( + 1) 2
+2

Step3)
0 = 1
1 = ( + 1)( + 2), 2 , ( + 1) 2 , + 2
2 =

( + 1)( + 2)
2
= +2
2
( + 1)
+2

=1

+ 1 4 + 1 = 5 + 4 3 5 2 8 4

Step4)

1
1
1 =
=1
0
2
2 =
= +2
1
=

+ 1 4 ( + 1)

Smith Form:

Step5)
Smith-McMillan Form:

1
0

0
2

1
+ 2)

2 (

Poles of the system:

s4 s + 2

Zeros of the system:

s+2

Ramin Shamshiri

1
0
0 5 + 4 3 5 2 8 4

+2

+ 1 4 ( + 1)
2 ( + 2)

=0

s + 1 s4 (s + 1) = 0

EML 5311, Control system theory, HW #3

Due 02/03/09

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% Problem 4, Step response
q11 = tf([1 1],[2 0 0]);
q12 = tf([1],[1 2]);
q21 = tf([1 1],[1 2]);
q22 = tf([1],[1 0 0]);
Q = [q11 q12; q21 q22];
step(Q)

Ramin Shamshiri

EML 5311, Control system theory, HW #3

Due 02/03/09