ELECTRICAL ENGINEERING DEPARTMENT

EE 550-01 LINEAR CONTROL SYSTEM

Second Semester 2015/2016
February 19, 2017
Due Date: February 26, 2017

1. Indicate whether the following systems are causal, linear,

memoryless, and/or time invariant. Justify your answer.

n+ 0.5 2 HW
a. y [n ]= ( )
x [n ]
1
n0.5
b. y(t) = x(t2)+x(2t)
2
c. y (t )= x ( ) d

2. The first-order difference equation

y[n] - ay[n - 1] = x[n], 0 < a < 1,

describes a particular discrete-time system initially at rest.

(a) Verify that the impulse response h [ n] for this system is
n
h [ n ] =a n 0 .
(b) Is the system
(i) memoryless? (ii) causal? (iii) stable?
Clearly state your reasoning.

3. Do problem of 2.9 of Text.

4. The Figure below shows a simplified diagram for a balance system

consisting of an inverted pendulum on a cart. Let state variables that
represent the position and velocity of the base of the system, p and
p , and the angle and angular rate of the of the structure above
the base , and . Let F represent the force applied at the base
of the system, assumed to be in the horizontal direction (aligned
with p). With this set of definitions, the dynamics of the system can
be represented by

where M is the mass of the base, m and J are the mass and moment
of inertia of the
system to be balanced, l is the distance from the base to the center
of mass of the
balanced body, c and are coefficients of viscous friction and g is
the acceleration
due to gravity.

ELECTRICAL ENGINEERING DEPARTMENT
EE 550-01 LINEAR CONTROL SYSTEM
Second Semester 2015/2016
February 19, 2017
Due Date: February 26, 2017
a.) Derive the nonlinear state space model for the system by

considering the order of the state variables as p , p , , , and the
x=
outputs as the position and the angle.
b.) Obtain the linearized model about the equilibrium point =0
and u = 0.

Cartpendulum system

5. Consider the Mechanical translational system below:

a.) Derive the state space model for the system by considering the order
of the state variables as the position and the velocity.
b.) With the system initially at rest, a force of 25 Newton is applied at time t =
0. Assume that the mass M = 1 Kg, frictional coefcient B = 5 N/m/sec.,
and the spring constant K = 25 N/m. Using Matlab find the response for the
system by considering the position and the velocity as your outputs. Use
the time interval [0, 3] sec.

Print out and hand in the Matlab commands you used to answer
question.

ELECTRICAL ENGINEERING DEPARTMENT
EE 550-01 LINEAR CONTROL SYSTEM
Second Semester 2015/2016
February 19, 2017
Due Date: February 26, 2017