University of California, Riverside

Bourns College of Engineering

EE235: Linear Systems Theory

Homework Assignment #1
Fall 2014
Instructor: Zak M. Kassas

Due Date: October 9, 2014.

Problem 1: A system has an input u(t) and an output y(t), which are related by the information
below. Classify each system as linear or nonlinear and time-invariant or time-varying.
(a) y(t) = 0, t.
(b) y(t) = a, a 6= 0, t.
(c) y(t) = 3u(t) + 2.

y(t)

(d)

a
a

u(t)

Figure 1: Problem 1 (d)

(e)

y(t)

u(t)

Figure 2: Problem 1 (e)

(f) y(t) + 3 et y(t)
+ y(t) = u(t).


(g) y(t) + 1 y 2 (t) y(t)
+ 2 y(t) = u(t), = constant 6= 0.

(h) y(t) = u(t 3).

(i) y(t) + u(t) y(t) = 0.

Rt
(j) y(t) = 0 e u(t ) d .

(k) y(k + 2) = 0.4 y(k + 1) y(k) + 3 u(k + 2) u(k).

P
(l) y(k) = ki=0 sin(iT ) eiT u(k i), T = constant > 0.
1

University of California, Riverside

Bourns College of Engineering
EE235: Linear Systems Theory

Homework Assignment #1
Fall 2014
Instructor: Zak M. Kassas

Problem 2: For the circuit in Figure 3, choose appropriate state variables and write state equations, taking as output the voltage across the resistor.
L

C
+

v(t) +

vR (t)

Figure 3: Problem 2
Problem 3: Given the state variable description of the system in terms of {xi }2i=1




  
x 1 (t)
11
10
x1 (t)
0
=
+
u(t)
x 2 (t)
21 18
x2 (t)
1



 x1 (t)
y(t) =
2 2
+ u(t)
x2 (t)
(a) Change the state variables and write new state equations for the variables 1 (t) = 3x1 (t)+2x2 (t)
and 2 (t) = 7x1 (t) + 5x2 (t).
(b) Plot the systems step and impulse response y and the state trajectories of the original system
{xi }2i=1 and transformed system {i }2i=1 .
(c) Find the transfer function of the original system and transformed system.
Problem 4: The robot shown in Figure 4 has the differential equations of motion


m1 l12 + I1 + I2 + m2 d22 1 + 2m2 d2 1 d2 + (m1 l1 + m2 d2 )g cos 1 = 1
m2 d2 m2 d2 12 + m2 g sin 1 = 2
Symbols m1 , m2 , I1 , I2 , l1 , and g are constant parameters, representing the characteristics of the
rigid body links. Quantities 1 and d2 are the coordinate variables and are functions of time. The
inputs are 1 and 2 . Linearize the two equations about the operating point 1 = 1 = 1 = 0,
d2 = 3, and d2 = d2 = 0.

d2

m2

l1
m1

Figure 4: Problem 4

University of California, Riverside

Bourns College of Engineering
EE235: Linear Systems Theory

Homework Assignment #1
Fall 2014
Instructor: Zak M. Kassas

Problem 5: The equations of motion for the inverted pendulum illustrated in Figure 5 are
(m + M ) x
+ ml cos ml 2 sin = F


I + ml2 + ml
x cos mgl sin = 0,

where is the angle of the pendulum clockwise with respect to the vertical, x is the horizontal
position of the cart relative to some arbitrary fixed reference location, 2l is the length of the
pendulum, M nd m are the masses of the cart and pendulum, respectively, and I is the moment
of inertia of the pendulum about its center of gravity. F is a force applied to the body of the cart.
Linearize the system of nonlinear equations around = = = 0, x = x = x
= 0, and F = 0, and
combine the linearized system into state space form.
I
(t)
2l
mg
F

x(t)

Figure 5: Problem 5