ANALIZA SIGNALA I SISTEMA II

Auditorne vjebe
Vjeba broj 1

DISKRETNI SISTEMI U PROSTORU STANJA

m

xi (n + 1) = aij x j (n ) +bi f (n ), i = 1,2,....n

j =1

promjenjive stanja
m

g (n ) = ci xi (n ) + d f (n )
i =1

a1 ,........a12 ....... a1m

.

,
A=
.

a m1 ........a m 2 .......a mm

C = [c1 , c 2 ,..........c m ],
x(n + 1) = AX (n ) + Bf (n )
g (n ) = CX (n ) + Df (n )

b1
b
B= 2
.

bm

D=d

J - NA STANJA
J - NA IZLAZA

Zadatak 1:
Sistem je opisan jednainama u prostoru stanja. Nai diferentnu j-nu koja
opisuje ovaj sistem. Nacrtati blok dijagram sistema.
x1 (n + 1) = x1 (n ) + x2 (n ) + f (n )

x2 (n + 1) = x1 (n ) + 2 x2 (n ) + 2 f (n )
g (n ) = x (n ) + x (n ) + f (n )
1
2

Rjeenje:
X (n + 1) = AX (n ) + Bf (n )

g (n ) = CX (n ) + Df (n )

1 1
A=
,
- 1 2

1
B = ,
2

C = [1

1],

D =1

I X (z ) = z 1 AX ( z ) + z 1 BF ( z )

[I z A]X (z ) = z BF (z )
X (z ) = [I z A] z BF ( z )
G ( z ) = CX ( z ) + DF ( z ) = C [I z A] z BF ( z ) + DF ( z )
1

[[

G ( z ) = C I z 1 A z 1 B + D F ( z )
1

[[

Funkcija sistema: H ( z ) = C I z A
1

z 1 B + D

1
Z 1 1 Z 1 - Z 1
1 0 Z
I Z 1 A =

=
=K

1
2 Z 1 Z 1
1 - 2 Z 1
0 1 Z

K 1 :

K 1 = adj K

det K

1 2Z 1 Z 1
1 2Z 1 Z 1
adjK = 1
=

1
1 Z 1
1 Z 1
Z
Z
det K = 1 Z 1 1 2Z 1 + Z 2 = 3Z 2 3Z 1 + 1

3Z

)(

1 2Z 1
1

3Z 1 + 1 Z 1

K 1 Z 1 B =

1
det K

1 2Z 1
1
Z

1 Z

Z 1

Z 1
1

1 Z 1 2Z det K

Z 1

Z 1

1
2
3Z + 2Z

Z 1

1
1
[1 1] 2
=
3Z 1 3Z 2
1
det K
det
K
3Z + 2Z
1
H ( z ) = CK 1 Z 1 B + D =
2
3Z 3Z 1 + 1

CK 1 Z 1 B =

G (z ) =

1
F (z )
3Z 3Z 1 + 1
3G ( z )Z 2 3G (z )Z 1 + G ( z ) = F ( z )
3 g (n 2 ) 3 g (n 1) + g (n ) = f (n ),
2

g (n ) 3 g (n 1) + 3 g (n 2 ) = f (n )

Zadatak 2:
Sistem je zadan jednainama u prostoru stanja. Nai diferentnu jednainu
koja opisuje ovaj sistem i nacrtati blok dijagram.
x1 (n + 1) = x 2 (n )

x 2 (n + 1) = x1 (n ) 5 x 2 (n ) + f (n )

g (n ) = x1 (n ) + x 2 (n ) + f (n )

Rjeenje:

0 1
0
A=
,
B = , C = [1 1], D = 1

1 5
1
+ Z 1 1
Z 1
1 0 0
I Z 1 A =

=

=K
1
5Z 1 Z 1 1 + 5Z 1
0 1 Z
1 + 5Z 1 Z 1
adjK =
detK = 1 + 5Z -1 Z -2
,
1
1
Z
1 + 5Z 1 Z 1 0 1
Z 2 1
Z -1 + Z -2
[
]
CK 1Z -1 B = [1 1]
1
1

1
1
-1
-2
1
1 Z det K
Z det K 1 + 5Z Z
Z
1 + 6Z -1
1 + 5Z -1 Z -2
G (z )
1 + 6 Z 1
=
g (n ) + 5 g (n 1) g (n 2 ) = f (n ) + 6 f (n 1)
F ( z ) 1 + 5Z 1 Z 2

CK 1Z -1 B + D =

Blok dijagram:

g (n ) = 5 g (n 1) + g (n 2 ) + f (n ) + 6 f (n 1)

f(n)
6
Z-1

Z-1

g(n)

+5

Zadatak 3:
Odrediti funkciju sistema H(z) i impulsni odziv h(n) sistema koji generira
Fibonacciev niz: {1,2,3,5,8,13,.}. Ovaj sistem moe biti predstavljen
slijedeim j-nama u prostoru stanja:

0 1
0
x(n + 1) =
x(n ) + f (n )

1 1
1
g (n ) = [1 1]x(n ) + f (n )
Rjeenje:
Z 1
1 0 0 Z 1 1
I Z A=
=K
=
1
Z 1 Z 1 Z 1
0 1 Z
1 Z 1 Z 1
1
2
adjK = 1
, det K = 1 - Z Z
1
Z
1

K 1 =

1
1 Z 1 Z 2

K 1 Z 1 B =

1 Z 1
1
Z

1
1 Z 1 Z 2

Z 1

1 Z 1
1
Z

Z 1 0
1 Z 2

=
1

1 Z det K Z 1

2
1
2
1
[1 1] Z 1 = Z 1+ Z 2
det K
Z 1 Z Z
1
CK 1 Z 1 B + D =
1
1 Z Z 2

CK 1 Z 1 B =

H (z ) =

1
1 Z

Z 2

Z2
Z2
=
H (z ) = 2
Z Z 1
1 5
1+ 5
Z
Z

2
2

1 5
Z 2 Z n 1
n 1

h(n ) = Re zH ( z )Z = lim Z
2

1 5
+
1
5
1
5

Z
Z
2

2
2

n +1

1+ 5
Z 2 Z n 1

Z
lim

2
1 5
1+ 5
1+ 5
z
Z
Z

2
2

1 1 + 5

=
5 2

n +1

1 5

n +1

n +1

1 5
1+ 5

2
2

=
+
=
1 5 1+ 5 1+ 5 1 5

2
2
2
2

, n 1.

Zadatak 4:
Sistem je zadan diferentnom jednainom:
g (n ) 6 g (n 1) + 7 g (n 2 ) + 9 g (n 3) = f (n 1) + 11 f (n 3)

a)
b)
c)
d)

Odrediti H(z)
Nacrtati blok dijagram sistema
Odrediti j-ne u prostoru stanja za ovaj sistem
Odrediti j-ne tako da on bude zadan u prateoj formi.

Rjeenje:
a) G (z ) 6Z 1G ( z ) + 7 Z 2 G ( z ) + 9Z 3 G (z ) = Z 1 F (z ) + 11Z 3 F ( z )
H (z ) =

Z 1 + 11Z 3
G (z )
=
F ( z ) 1 6 Z 1 + 7 Z 2 + 9 Z 3

b) g (n ) = 6 g (n 1) 7 g (n 2 ) 9 g (n 3) f (n 1) + 11 f (n 3)

c)
Sistem moe imati razliite opise u prostoru stanja u zavisnosti od
naina odabira promjenljivih stanja. U ovom sluaju odabraemo promjenljive
na sljedei nain:
x1 (n + 1) = 6 x1 (n ) + x 2 (n ) f (n )

x1 (n ) = g (n ) x 2 (n + 1) = 7 x1 (n ) + x3 (n )
x (n + 1) = 9 x (n ) + 11 f (n )
1
3
g (n ) = x1 (n )
6 1 0
A = - 7 0 1,
- 9 0 0

1
B = 0 ,
11

C = [1 0 0],

D=0

d)
Za izvoenje pratee forme prostora stanja polazi se od uoptenog
oblika prikaza diferentne j-ne.
g (n ) + a1 g (n 1) + ...... + a m g (n m ) = b1 f (n 1) + b2 f (n 2 ) + .....b m f (n m )
a 0 = 1 i b0 = 0

PRATEA FORMA:
0
0

.
A=
.
0

- a m

1
0

0
1

. .
. .

. .

. .

0
- a m 1

0
- a m2

. .
. .

Jordanova matrica

0
0
.
,
.
1

- a1 mxm

0
0

0
B = ,
.
.

1

C = [bm bm 1 . . . . b1 ]1xm , D = 0

 0 1 0
A = 0 0 1,
- 9 - 7 6

0
B = 0,
1

C = [11 0 - 1],

D=0

Zadatak 5:
Dat je sistem u prostoru stanja. Odrediti diferentnu j-na koja opisuje ovaj
sistem, funkciju sistema H(z) i impulsni odziv h(n), te nacrtati blok
dijagram sistema.
x1 (n + 1) = 6 x1 (n ) + x 2 (n ) + f (n )
x (n + 1) = 3 x (n ) + x (n ) + 2 f (n )
2
1
3

x3 (n + 1) = 10 x1 (n ) + 7 f (n )
g (n ) = x1 (n )

Rjeenje:
- 6 1 0
A = - 3 0 1,
10 0 0

H (z ) =

1
B = 2,
7

C = [1 0 0],

G(z )
= C I Z 1 A
F (z )

1
1 0 0 6 Z

I Z 1 H = 0 1 0 3Z 1
0 0 1 10Z 1

Z 1
0
0

D=0

Z 1 B + D

0 1 + 6 Z 1

Z 1 = 3Z 1
0 10Z 1

Z 1
1
0
T

1 3Z 1 + 10Z 2

10Z 1

adjK = Z 1
1 + 6Z 1
10 Z 2
=

2
1
2
1
2
Z
Z + 6Z
1 + 6Z + 3Z

1
Z 1
Z 2

1
2
1
1
2
= 3Z + 10 Z
1 + 6Z
Z + 6Z

1
2
1
2

+
+
10
Z
10
Z
1
6
Z
3
Z

1
3
2
1
2
det K = 1 + 6Z 10Z + 3Z = 1 + 6Z + 3Z 10Z 3

Z 1 = K
1


Z 1
Z 1
Z 2
1
[1 0 0] 3Z 1 + 10Z 2 1 + 6Z 1 Z 1 + 6Z 2 2Z 1
CK 1 Z 1 B =

det K
1
1
2
1
2

Z
Z
Z
Z
+
+
10
10
1
6
3

7 Z

= 1 Z 1

Z 2

Z 1
Z 1 + 2 Z 2 + 7 Z 3

1
2Z 1
=
det K 1 + 6Z 1 + 3Z 2 10Z 3
7 Z 1

Z 1 + 2 Z 2 + 7 Z 3
Z 2 + 2Z + 7
H (z ) =
=
1 + 6 Z 1 + 3Z 2 10Z 3 Z 3 + 6 Z 2 + 3Z 10
Diferentna j-na:
g (n ) + 6 g (n 1) + 3 g (n 2 ) 10 g (n 3) = f (n 1) + 2 f (n 2 ) + 7 f (n 3)
Blok dijagram:
g (n ) = 6 g (n 1) 3 g (n 2 ) + 10 g (n 3) + f (n 1) + 2 f (n 2 ) + 7 f (n 3)

h(n):

H (z ) =

Z 2 + 2Z + 7
,
Z 3 + 6Z 2 + 3Z 10

pojas konvergencije:
Z1 = 1, Z 2 = 2, Z 3 = 5

Z f5

Poto je sistem kanzalan, polovi s nalaze unutar prstena konvergencije, pa se

h(n) rauna preko izraza:

h(n ) =

Re zH ( z )Z

Z1 , Z 2 , Z 3

n 1

Z 2 + 2Z + 7
(Z 1)Z n1 +
= lim
Z 1 (Z 1)(Z + 2 )(Z + 5)

Z 2 + 2Z + 7
Z 2 + 2Z + 7
(
(Z + 5)Z n1 =
Z + 2 )Z n 1 + lim
Z 2 (Z 1)(Z + 2 )(Z + 5)
Z 5 (Z 1)(Z + 2 )(Z + 5)
10
7
( 2)n1 + 22 ( 5)n1 h(n ) = 5 7 ( 2)n1 11 ( 5)n1 n 1
= 1n1 +
18
9
18
9 9
9

+ lim

Zadatak 6:
Sistem je zadan diferentnom j-nom:
g (n ) + 2 g (n 1) + g (n 2 ) + 2 g (n 3) = f (n 1) + f (n 2 )

a) Nacrtati blok dijagram sistema

b) Nai j-ne u prostoru stanja
c) Nai j-ne u prostoru stanja u prateoj formi.
Rjeenje:
a) g (n ) = 2 g (n 1) g (n 2 ) 2 g (n 3) + f (n 1) + f (n 2 )

b)

x1 (n ) = g (n )
x1 (n + 1) = 2 x1 (n ) + f (n )

x 2 (n + 1) = x1 (n ) + x3 (n ) + f (n )
x3 (n + 1) = 2 x1 (n )

 2 1 0
1

A = 1 0 1, B = 1, C = [1 0 0], D = 0
2 0 0
0

c) Pratea forma:
1
0
0
0

A= 0
0
1 , B = 0, C = [0 1 1], D = 0
2 1 2
1