Linear System

Homework 3
Due: Nov. 3(Fri.), 2017 by 17:00

Problem 1.
Consider the nonlinear state equations (which were studied extensively in class)

⎡ x&1 (t ) ⎤ ⎡ x2 (t ) − 2 x1 (t ) x2 (t ) ⎤
⎢ x& (t ) ⎥ = ⎢ − x (t ) + x 2 (t ) + x 2 (t ) + u (t ) ⎥
⎣ 2 ⎦ ⎣ 1 1 2 ⎦

⎡1 ⎤
and the nominal condition defined by u0(t)=0 and xeq = ⎢ ⎥
⎣0 ⎦

1. Find A and B of the linearized state equations evaluated at the above given nominal
condition, where
δ x& (t ) = Aδ x(t ) + Bδ u (t )

Is the system stable?

⎡ 0.01⎤
2. Find the perturbed state responses δx(t) when δu(t)=0 and δ x(0) = ⎢ ⎥
⎣0.05⎦

⎡0 ⎤
3. Find the perturbed state responses δx(t) when δu(t)=0.01sint and δ x(0) = ⎢ ⎥
⎣0 ⎦

4. Under the conditions of Part 2, solve the full nonlinear state equations for x(t) (using
numerical integration) for 0≤t≤ 20 sec. Compare graphically the results to those obtained
from the linearized state equations x(t)≈ xeq + δx(t). Is the linear state model
representative of the nonlinear system? (note: see supplementary reading for writing
your own function to solve the nonlinear equation)

5. Under the conditions of Part 3, solve the full nonlinear state equations for x(t) (using
numerical integration) for 0 ≤t≤ 20 sec. Compare graphically the results to those obtained
from the linearized state equations x(t) ≈ xeq + δx(t). Is the linear state model
representative of the nonlinear system? (note: see supplementary reading for writing
your own function to solve the nonlinear equation)

6. Is the linearized system controllable?

Problem 2.

Given the following linear time-invariant system,

r r
x& (t ) = Ax (t ) + Bu (t )

r ⎡1⎤ ⎡ −1 1 ⎤ ⎡0 ⎤
with initial conditions x (0) = ⎢ ⎥ and where A = ⎢ ⎥, B=⎢ ⎥
⎣1⎦ ⎣ 0 −1⎦ ⎣1 ⎦

1. Is the system controllable? Explain.

r ⎡1⎤
2. Find a control input u(t) that bring the system states to x (t f ) = ⎢ ⎥ where tf =10 sec.
⎣1⎦
r
Confirm your results with simulation of the responses x (t ) for 0 ≤ t≤ 15 sec.

3. Repeat Part 2 where tf =1 sec. Confirm your results with simulation of the responses
r
x (t ) for 0≤ t≤ 15 sec. How does this control input u(t) compare with the previous control
obtained in Part 2? (i.e., higher or smaller control input).

4. Find a totally different solution to the control input u(t) that solves Part 2. That is, the
solution u(t)in Part 2 is NOT unique. For example, in digital control let

⎧ u for 0 ≤ t ≤ t1
u (t ) = ⎨ 1
⎩u2 for t1 ≤ t ≤ 10

where u1, u2 and t1 are constant parameters (to be determined) that provide another
control input u(t) for the solution of Part 2.
Problem 3

Consider the following linear time-invariant system,

r r
x& (t ) = Ax (t ) + Bu (t )

⎡ −1 4 −4 ⎤ ⎡0⎤
where A = ⎢⎢ −3 −4 6 ⎥⎥ , B = ⎢⎢1 ⎥⎥
⎢⎣ −3 −1 3 ⎥⎦ ⎢⎣1 ⎥⎦


1. Is the system controllable? Explain.
2. Is the system stabilizable? Explain.
3. Identify the modes that are uncontrollable.
4. Find a set of orthonormal basis vectors for the controllable subspace.
5. Find a set of basis vectors for the uncontrollable subspace. Are these vectors
orthogonal to the controllable subspace?
r
6. Determine a state transformation P that separates the system into controllable xc (t )
r
and uncontrollable xc (t ) subspaces where
r
r ⎡ xc (t ) ⎤
x (t ) = P ⎢ r ⎥
⎣ xc (t ) ⎦

7. Find the state model of the system transformed by the similarity transformation P
obtained in Part 6. Use this state model to determine which modes in the system are
controllable and uncontrollable.