NPTEL

Control Engineering
Sept.- Dec 2020
Solution: Assignment 11
Common Data for Q1 - Q3

Consider the following nonlinear dynamical system

1
ẋ1 = 14x1 − x21 − x1 x2
2
1
ẋ2 = 16x2 − x22 − x1 x2 .
2

1. How many equilibrium points does the system have?

(a) 2
(b) 3
(c) 4 [Correct]
(d) 5
2. The number of stable equilibrium points (obtained by Jacobi linearization is) Answer = 2;
Range= 1.99 to 2.01
3. The number of unstable equilibrium points (obtained by Jacobi linearization is) Answer = 2;
Range= 1.99 to 2.01

Solution: At the equilibrium points, ẋ1 = 0 and ẋ2 = 0. This implies

1 1
14x1 − x21 − x1 x2 = x1 (14 − x1 − x2 ) = 0
2 2
1 1
16x2 − x22 − x1 x2 = x2 (16 − x2 − x1 ) = 0.
2 2
Now,

x1 = 0 =⇒ x2 = 0 or x2 = 32
x2 = 0 =⇒ x1 = 0 or x1 = 28

1    
1 x1 14
x1 6= 0 and x2 6= 0 =⇒ 2
1 = =⇒ x1 = 12 and x2 = 8.
1 2 x2 16

So, the system has four equilibrium points : (0, 0), (0, 32), (28, 0) and (12, 8).
The Jacobian of the system is
 
14 − x1 − x2 −x1
J(x1 , x2 ) =
−x2 16 − x2 − x1

1
 Evaluating the Jacobian at each of the equilibrium points :
 
14 0
J(0, 0) = . The eigenvalues are 14 and 16.
0 16
 
−18 0
J(0, 32) = . The eigenvalues are -18 and -16.
−32 −16
 
−14 −28
J(28, 0) = . The eigenvalues are -14 and -12.
0 −12

√
 
−6 −12
J(12, 8) = . The eigenvalues are − 5 ± 97 ≈ −15, 5.
−8 −4

Hence, the number of stable equilibrium points (obtained by Jacobi linearization) is 2. Also, the
number of unstable equilibrium points (obtained by Jacobi linearization) is 2.

Common Data for Q4 - Q5

4. The number of equilibrium points for the system described by,
ẋ1 = x2
ẋ2 = x1 − x31
is [Answer = 3; Range= 2.99 to 3.01]
5. The number of unstabe equilibrium points is [Answer = 1; Range= 0.99 to 1.01]
Solution: At the equilibrium points, ẋ1 = 0 and ẋ2 = 0. This implies
x2 = 0
x1 − x31 = 0.
Now,
x1 (1 − x1 )(1 + x1 ) = 0 =⇒ x1 = 0, −1, 1

So, the system has four equilibrium points : (0, 0), (−1, 0), and (−1, 0).
The Jacobian of the system is
 
0 1
J(x1 , x2 ) =
1 − 3x21 0
Evaluating the Jacobian at each of the equilibrium points :
 
0 1
J(0, 0) = . The eigenvalues are −1 and 1.
1 0

√
 
0 1
J(−1, 0) = . The eigenvalues are ±j 2.
−2 0

√
 
0 1
J(1, 0) = . The eigenvalues are ±j 2.
−2 0

Hence, (0, 0) is unstable equilibrium point.

2
 Common Data for Q6 - Q7
6. Consider the below system in state space form
      
ẋ1 0 1 x1 0
= + u
ẋ2 −0.5 −1 x2 1

where u(t) is a unit step occurring at t = 0. The system is initialized at (x1 (0), x2 (0)) = (0, 0).
Which of the following determines the evolution of x2 (t)
(a) 2e0.5t sin 0.5t
(b) e−0.5t (cos 0.5t − sin 0.5t) − 1
(c) e0.5t (3 cos 0.5t − sin 0.5t) + 1
(d) 2e−0.5t sin 0.5t [Correct Answer]
Solution : For the system ẋ = Ax + Bu, using the Laplace transforms we obtain X(s) = (sI −
A)−1 BU (s). For the given system
 −1  
s −1 0 1
X(s) =
0.5 s+1 1 s
  
1 s+1 1 0 1
= 2
s + s + 0.5 −0.5 s 1 s
1
 
 2
=  s(s + 1s + 0.5) 


s2 + s + 0.5
1 2 × 0.5
Now, X2 (s) = = and L−1 (X2 (s)) = x2 (t) = 2e−0.5t sin(0.5t).
s2 + s + 0.5 (s + 0.5)2 + 0.52
7. The steady state value of x1 (t) is [Answer = 2, Range 1.95 to 2.05]
1
Solution : In the solution of the previous question, we found that X1 (s) = . We
s(s2 + s + 0.5)
know from the final-value theorem that the steady-state value
s 1
lim x1 (t) = lim sX1 (s) = lim = = 2.
t→∞ s→0 s→0 s(s2 + s + 0.5) 0.5

Therefore, the steady-state value of x1 (t) is 2.

8. The transfer-function representation of the following system is
   
0 1 0 0
ẋ = −1 −1 0 x + 1 u
1 0 0 0
 
y= 0 0 1 x

1
(a)
s3
+s+1
1
(b) 3 [Correct]
s + s2 + s
1
(c) 3 2
s +s +s+1

3
 s
(d)
s3 + s2 + s + 1
Solution : The transfer-function is given by
1
T (s) = C(sI − A)−1 B + D =
s3 + s2 + s

Common Data for Q9 - Q10

Consider the following transfer-function system:

Y (s) s+6
= 2
U (s) s + 5s + 6

9. The controllable canonical state-space representation of this system is

(a)
   
0 1 6  
ẋ = x+ u; y= 0 1 x
−6 −5 1

(b) Correct
   
0 1 0  
ẋ = x+ u; y= 6 1 x
−6 −5 1

(c)
   
0 −6 6  
ẋ = x+ u; y= 0 1 x
1 −5 1

(d)
   
0 −6 0  
ẋ = x+ u; y= 6 1 x
1 −5 1

Solution : Refer Module 11 Lecture 4.

10. The observable canonical state-space representation of this system is
(a)
   
0 1 6  
ẋ = x+ u; y= 0 1 x
−6 −5 1

(b)
   
0 1 0  
ẋ = x+ u; y= 6 1 x
−6 −5 1

(c) Correct
   
0 −6 6  
ẋ = x+ u; y= 0 1 x
1 −5 1

4
 (d)
   
0 −6 0  
ẋ = x+ u; y= 6 1 x
1 −5 1

Solution : Refer Module 11 Lecture 4.

11. Under what conditions on A, B does e(A+B)t = eAt eBt hold (Mutiple correct option possible)
(a) AB − BA = 0 [Correct Answer]
(b) AB + BA = 0
(c) A + B = 0 [Correct Answer]
(d) For all stable matrices A and B
Solution : Consider
(A + B)2 (A + B)3
e(A+B)t = I + (A + B)t + + + ···
2! 3!
A2 t 2 A3 t3 B 2 t2 B 3 t3
eAt eBt = (I + At + + + · · · )(I + Bt + + + ···)
2! 3! 2! 3!
A2 t 2 B 2 t2 A3 t3 A2 Bt3 AB 2 t3 B 3 t3
= I + (A + B)t + + ABt2 + + + + + + ···
2! 2! 3! 2! 2! 3!
Hence
BA − AB 2 (BA2 + ABA + B 2 A + BAB − 2A2 B − 2AB 2 ) 3
e(A+B)t − eAt eBt = t + t + ···
2! 3!
The difference vanishes if the matrices A and B commute. Therefore, Option (a) is correct.
Option (b) is also true as (A + B) = 0 implies B = −A and it is easy to see that A and −A
commute.
12. Consider the following matrix A:  
0 1
A=
−2 −3
The state transition matrix with respect to A is given by φ(t) = eAt . Let
 
At x y
φ(1) = e |t=1 =
z w

The value of x + y + z + w= . [Answer= 0.2707; Range= 0.2207 to 0.3207]

Solution : The state transition matrix is given by
(s + 3) 1
 
−t −2t
e−t − e−2t
 
2
φ(t) = L−1 (sI − A)−1 = L−1  (s +−2
 3s + 2) (s + 3s + 2)  = 2e − e
2
s  −2e + 2e−2t
−t
−e−t + 2e−2t
2 2
(s + 3s + 2) (s + 3s + 2)

x + y + w + z = 2e−2 = 0.2707
Common Data for Q13-Q15

Consider the following LC circuit consisting of two inductors and a capacitor. Take L1 = L2 = C =
1 and V = u.

5
13. The state space representation of the system is
(a)
    
Q̇ 0 −1 1 Q
φ̇1  = −1 0 0 φ1  + Bu
φ̇2 1 0 0 φ2

(b)
    
Q̇ 0 −1 1 Q
φ̇1  =  1 0 0 φ1  + Bu
φ̇2 −1 0 1 φ2

(c)
    
Q̇ 0 1 −1 Q
φ̇1  =  1 0 0  φ1  + Bu
φ̇2 −1 0 1 φ2

(d) Correct
    
Q̇ 0 1 −1 Q
φ̇1  = −1 0 0  φ1  + Bu
φ̇2 1 0 0 φ2

14. The sum of eigen values of A given is . [Answer=0, Range=-0.01 to 0.01]

15. The matrix B is

 
1
(a) 0
1
 
0
(b) 1
1

6
  
1
(c) 0
0
 
0
(d) 1 Correct
0
Solution : Using Kirchhoff’s current and voltage laws we get
dφ1 Q
−V + + = 0 =⇒ φ̇1 = −Q + u
dt C
dφ2 Q
− = 0 =⇒ φ̇2 = Q
dt C
φ1 dQ φ2
= + =⇒ Q̇ = φ1 − φ2
L1 dt L2
In state-space form, we get
      
Q̇ 0 1 −1 Q 0
φ̇1  = −1 0 0  φ1  + 1 u
φ̇2 1 0 0 φ2 0

The sum of eigen values of A is 0+0+0=0.