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    Exercise 1 2018

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    Trungtin Bui Duc
    This document contains 10 exercises related to systems and control concepts including: 1) Classifying systems as memoryless/dynamic, linear, time-invariant and/or causal based on their input-output representations. 2) Using a Lyapunov function to show asymptotic stability of the origin for the Van der Pol equations. 3) Rewriting nonlinear systems in state-space form and linearizing them. 4) Computing eigenvalues and eigenvectors of matrices by hand and with MATLAB.

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    © All Rights Reserved
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    Exercise 1 2018

    Uploaded by

    Trungtin Bui Duc
    46 views5 pages
    This document contains 10 exercises related to systems and control concepts including: 1) Classifying systems as memoryless/dynamic, linear, time-invariant and/or causal based on their input-output representations. 2) Using a Lyapunov function to show asymptotic stability of the origin for the Van der Pol equations. 3) Rewriting nonlinear systems in state-space form and linearizing them. 4) Computing eigenvalues and eigenvectors of matrices by hand and with MATLAB.

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    Execise 1 control system design 2018

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    This document contains 10 exercises related to systems and control concepts including: 1) Classifying systems as memoryless/dynamic, linear, time-invariant and/or causal based on their input-output representations. 2) Using a Lyapunov function to show asymptotic stability of the origin for the Van der Pol equations. 3) Rewriting nonlinear systems in state-space form and linearizing them. 4) Computing eigenvalues and eigenvectors of matrices by hand and with MATLAB.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    46 views5 pages

    Exercise 1 2018

    Uploaded by

    Trungtin Bui Duc
    This document contains 10 exercises related to systems and control concepts including: 1) Classifying systems as memoryless/dynamic, linear, time-invariant and/or causal based on their input-output representations. 2) Using a Lyapunov function to show asymptotic stability of the origin for the Van der Pol equations. 3) Rewriting nonlinear systems in state-space form and linearizing them. 4) Computing eigenvalues and eigenvectors of matrices by hand and with MATLAB.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 5

    SC42000/EE4C04

    Exercise Session 1
    Abhimanyu Gupta (a.gupta-3@tudelft.nl)

    Ton van den Boom (a.j.j.vandenboom@tudelft.nl)

    Delft Center for Systems and Control, TU Delft

    1 - System properties

    Given the following input-output systems:


    −t
    a. 6 ẏ(t) = 4 y(t) + 3 e u(t)
    −t
    b. 6 ẏ(t) = 4 u(t) + 3 e y(t)

    c. 6 ẏ(t) = 4 u(t) + 3 e−u(t) y(t)


    −t
    d. 6 (1 + e ) y(t) = 4 u(t) + 3 arctan(u(t + 1))

    Are systems a,b,c,d memoryless/dynamic, linear, time-invariant and/or causal?

    Exercise Session 1 – SC42000/EE4C04


    2 - Lyapunov stability

    Consider the Van der Pol equations:

    2
    ẍ − µ(1 − x )ẋ + x = 0

    Show that if µ < 0 then the origin is asymptotically stable. Hint: use the following candidate
    Lyapunov function:

    x2 ẋ2
    V (x, ẋ) = +
    2 2

    3 - Linearization

    Rewrite in state-space form (i.e. Ẋ = f (X)) and linearize the following systems at the
    origin:

    1.

    ẋ = x + x2 + x3 + x4 + ...

    2.

    ẋ + x2 cos(x2 ) − x = 0

    3.

    ẍ − µ(1 − x2 )ẋ + x = 0

    4.

    ẍ + δ ẋ + βx + αx3 = 0

    Exercise Session 1 – SC42000/EE4C04 1


    4. Review of Eigenvalues and Eigenvectors Computation

    Find eigenvalues and eigenvectors (by hand) of the following:


     
    8 2 −2
    A= 1 10 −1 
    −3 0 9

    Do similarly with the aid of MATLAB.

    5. Matrix Exponential

    Compute eAt , through its diagonalization, where:


     
    −1 0 1
    A=  0 −2 0 .
    0 1 −3

    The diagonalization should include the explicit use of the similarity matrix.

    6. Solution to state space models

    Find the output response to a step input and to an impulse, where the system is given by:

    Ẋ = AX + BU

    Y = CX + DU,

    where
       
    1 1  
    X(0) = ,B = ,C = 1 0 , D = 0,
    −1 0

    and where A is
     
    −1 2
    .
    0 −2

    Exercise Session 1 – SC42000/EE4C04 2


    7. Asymptotic Stability Analysis

    Consider the model with x ∈ R

    ẍ + dẋ + k x = u,

    y = x.

    1. Write the system equations in state space form;


    2. For what values of the parameters k and d is the system asymptotically stable?

    8. State transformation

    Consider the model with x ∈ Rn , u ∈ R, y ∈ R,

    ẋ = A x + B u,

    y =Cx .

    and let the eigenvalue decomposition of the matrix A be given by

    A = EΛE −1

    where Λ is a diagonal matrix with the eigenvalues and E is a square matrix with the
    corresponding eigenvectors.
    Introduce new coordinates z by the transformation z = T x, leading to new system equations

    ż = Ã z + B̃ z,

    y = C̃ z .

    with new system matrices

    Ã = AT B̃ = C T

    C̃ = B T

    1. Show that the impulse responses of the two systems are similar.

    Exercise Session 1 – SC42000/EE4C04 3


    9. Lyapunov Stability Check

    Consider two continuous-time scalar systems and their respective candidate Lyapunov functions

    4
    ẋ = −6x; V (x) = x

    ẏ = − arctan(y); V (y) = y − 1

    Which one of the following statements is true for each system?


    1. V (x) is a Lyapunov function for this system and therefore the system is asymptotically
    stable;
    2. V (x) is not a Lyapunov function for this system and therefore the system is not stable;
    3. V (x) is not a Lyapunov function for this system. Furthermore, given this information,
    we cannot conclude anything about the stability of the system.

    10. Lipschitz condition

    Are the following functions f (x), x ∈ R Lipschitz?


    If f (x) is Lipschitz, compute Lipschitz constant c.
    If f (x) is not Lipschitz, show that for any finite Lipschitz constant c, there is a counter-
    example.
    (p
    1 − x2 for − 1 ≤ x ≤ 1
    1. f (x) = ,.
    0 for |x| > 1
    (
    x for x ≥ 0
    2. Ramp function, f (x) = .
    0 for x < 0

    3. f (x) = sin(x) + log(1 + x2 ).

    Exercise Session 1 – SC42000/EE4C04 4

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