Concept:
Since \(x = {-b \pm \sqrt{b^2-4ac} \over 2a}\)
\(\frac{1}{s}\) is an integrator, ẋ1 = x2
Where ẋ = differentiation of x1
Analysis:
The state equation and output equation as:
State equation:
ẋ1 = x2
ẋ2 = x3
ẋ3 = a1 x1 + a2x2 + a3x3 + u
Output equation:
y = c1x1 + c2x2 + c3x3
\(\left[ {\begin{array}{*{20}{c}} {{{\dot x}_1}}\ {{{\dot x}_2}}\ {{{\dot x}_3}} \end{array}} \right] = \left[ {\begin{array}{*{20}{c}} 0&1&0\ 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}} \end{array}} \right]\left[ {\begin{array}{*{20}{c}} {{x_1}}\ {{x_2}}\ {{x_3}} \end{array}} \right] + \left[ {\begin{array}{*{20}{c}} 0\ 0\ 1 \end{array}} \right]u\)
\(y = \left[ {{c_1};;{c_2};;{c_3}} \right]\left[ {\begin{array}{*{20}{c}} {{x_1}}\ {{x_2}}\ {{x_3}} \end{array}} \right]\)
Here,
\(A = \left[ {\begin{array}{*{20}{c}} 0&1&0\ 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}} \end{array}} \right]\) is state matrix
\(B = \left[ {\begin{array}{*{20}{c}} 0\ 0\ 1 \end{array}} \right]\) is input matrix
And C = [c1 c2 c3] is the output matrix.
Now,
After state modeling the system, let’s check for controllability & observability.
Kalman’s Test:
(i) For controllability:
Qc = [B AB A2B …]
If |Qc| ≠ 0 ⇒ Controllable
= 0 ⇒ Uncontrollable
(ii) \({Q_0} = \left[ {\begin{array}{*{20}{c}} C\ {CA}\ {C{A^2}} \end{array}} \right]\)
|Q0| ≠ 0 ⇒ Observable
= 0 ⇒ Unobservable
\(AB = \left[ {\begin{array}{*{20}{c}} 0&1&0\ 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}} \end{array}} \right]\left[ {\begin{array}{*{20}{c}} 0\ 0\ 1 \end{array}} \right]\)
\(AB = \left[ {\begin{array}{*{20}{c}} 0\ 1\ {{a_3}} \end{array}} \right]\)
\({A^2} = \left[ {\begin{array}{*{20}{c}} 0&1&0\ 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}} \end{array}} \right]\left[ {\begin{array}{*{20}{c}} 0&1&0\ 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}} \end{array}} \right]\)
\({A^2} = \left[ {\begin{array}{*{20}{c}} 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}}\ {{a_1}{a_3}}&{{a_1} + {a_2}{a_3}}&{{a_2} + a_3^2} \end{array}} \right]\)
\({A^2}B = \left[ {\begin{array}{*{20}{c}} 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}}\ {{a_1}{a_3}}&{{a_1} + {a_2}{a_3}}&{{a_2} + a_3^2} \end{array}} \right]\left[ {\begin{array}{*{20}{c}} 0\ 0\ 1 \end{array}} \right]\)
\({A^2}B = \left[ {\begin{array}{*{20}{c}} 1\ {{a_3}}\ {{a_2} + a_3^2} \end{array}} \right]\)
\({Q_c} = \left[ {\begin{array}{*{20}{c}} 0&0&1\ 0&1&{{a_3}}\ 1&{{a_3}}&{{a_2} + a_3^2} \end{array}} \right]\)
\(\left| {{Q_c}} \right| = 0 = 0 + 1\left( {0 - 1} \right)\)
\(\left| {{Q_c}} \right| = - 1\)
Since |Qc| ≠ 0, hence our system is always controllable.
Since it is MCQ type Question we need not check other options. Option A is correct.
But let’s check for the observability.
\({Q_0} = \left[ {\begin{array}{*{20}{c}} C\ {CA}\ {C{A^2}} \end{array}} \right]\)
\(CA = \left[ {{C_1};;{C_2};;{C_3}} \right]\left[ {\begin{array}{*{20}{c}} 0&1&0\ 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}} \end{array}} \right]\)
CA = [a1c3 c1 + a2c3 c2 + c3a3]
\(C{A^2} = \left[ {{c_1};;{c_2};;{c_3}} \right]\left[ {\begin{array}{*{20}{c}} 0&0&1\ 0&{{a_2}}&{{a_3}}\ {{a_1}{a_3}}&{{a_1} + {a_2}{a_3}}&{{a_1} + a_3^2} \end{array}} \right]\)
\(C{A^2} = \left[ {{a_1}{a_3}{c_3};;{a_2}{c_2} + {a_1}{c_3} + {a_2}{a_3}{c_3};;{c_1} + {c_2}{a_3} + {a_2}{c_3} + a_3^2{c_3}} \right]\)
\({Q_0} = \left[ {\begin{array}{*{20}{c}} {{C_1}}&{{c_2}}&{{c_3}}\ {{a_1}{c_3}}&{{c_1} + {a_2}{c_3}}&{{c_2} + {c_3}{a_3}}\ {{a_1}{a_3}{c_3}}&{{a_2}{c_2} + {a_1}{c_3} + {a_2}{a_3}{c_3}}&{{c_1} + {c_2}{a_3} + {a_2}{c_3} + a_3^2{c_3}} \end{array}} \right]\)
Since we do not know about the nature of a1, a2, a3, and c1, c2, c3 whether they are positive or
negative numbers we cannot comment on |Q0| & hence we cannot comment on observability.
Similar is the case for stability since for stable system all the roots of characteristic equation must lie
in the left half of s-plane characteristic equation: |SI - A| = 0
\(\left[ {SI - A} \right] = \left[ {\begin{array}{*{20}{c}} s&0&0\ 0&s&0\ 0&0&s \end{array}} \right] - \left[ {\begin{array}{*{20}{c}} 0&1&0\ 0&0&1\ {{a_1}}&{{a_2}}&{{a_3}} \end{array}} \right]\)
\(= \left[ {\begin{array}{*{20}{c}} s&{ - 1}&0\ 0&s&{ - 1}\ { - {a_1}}&{ - {a_2}}&{s - {a_3}} \end{array}} \right]\)
\(\left| {SI - A} \right| = S\left( {{s^2} - {a_3}s - {a_2}} \right) + \left( { - {a_1}} \right)\)
|SI - A| = s3 – a3s2 – a2 s – q1 = 0
Now, again we cannot comment on stability because we do not know the nature of a1, a2 & a3
Hence, only option A is correct.