University of South Florida

Department of Mechanical Engineering

EML 6930 Advanced Control Systems (Fall 2019)

Homework 1 (20 Points)

Assigned: September 9, 2019 Due: September 16, 2019

Problem 1 (4 Points)
Answer the following questions.
(a) How can you define an open-loop system? Write your definition and support it with a representative
block diagram.
(b) Look around you and list at least 3 everyday devices that work in an open-loop system fashion.
Explain why your examples have an open-loop system nature.
(c) How can you define a closed-loop system? Write your definition and support it with a representative
block diagram.
(d) Look around you and list at least 3 everyday devices that work in a closed-loop system fashion.
Explain why your examples have a closed-loop system nature.
Problem 2 (4 Points)
Consider the dynamics given by
" ( , . . (
𝑦 (𝑡) + 7𝑦 (𝑡) − 16𝑦 (𝑡) + 3𝑦 (𝑡) + 12𝑦(𝑡) = 2𝑢(𝑡) − 𝑢 (𝑡) − 4𝑢 (𝑡).
(a) Find the state-space controllable canonical form (show all your steps in detail).
(b) Find the state-space observable canonical forum (show all your steps in detail).
Problem 3 (4 Points)
A unicycle ground robot has the dynamics given by
𝑥. 𝑡 = 𝑢. 𝑡 cos 𝑥( 𝑡 ,
𝑥, 𝑡 = 𝑢. (𝑡) sin 𝑥( 𝑡 ,
𝑥( 𝑡 = 𝑢, (𝑡),
where 𝑥. 𝑡 , 𝑥, 𝑡 is the planar position of the ground robot, 𝑥( (𝑡) is the orientation or the ground
robot, 𝑢. (𝑡) is the velocity of the ground robot, and 𝑢, (t) the angular velocity of the ground robot.
(a) Linearize this system around 𝑥. , 𝑥, , 𝑥( = (0,0, 𝜋/2) and 𝑢. , 𝑢, = (0,0) for obtaining a linear
time-invariant state space model of this ground robot (show all your steps in detail).
(b) In the upcoming lectures, we will say a system is “controllable” when it is possible to drive the
system between any two states by appropriately picking a control signal. Based on this insight, can
you say that your linearized system is controllable (why/why not)? Explain.
Problem 4 (4 Points)
Consider the linear time-invariant system given by
𝑥 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝑢 𝑡 , 𝑥 0 = 0,
𝑦 𝑡 = 𝐶𝑥 𝑡 + 𝐷𝑢(𝑡).
(a) Find the transfer function 𝐺(𝑠) for this system, where 𝑌 𝑠 = 𝐺 𝑠 𝑈(𝑠) (show all your steps in
detail).
(b) When 𝐴 = −𝐼( , 𝐵 = 1 1 1 G , 𝐶 = 0 1 0 , 𝐷 = 1 , numerically calculate 𝐺(𝑠) using your
generic answer from the first part (show all your steps in detail).
Problem 5 (4 Points)
Consider the linear time-invariant system
𝑥 𝑡 = 𝐴𝑥 𝑡 + 𝐵𝑢 𝑡 , 𝑦 = 𝐶𝑥 𝑡 ,
1 1
with 𝐴 = , 𝐵 = 1, 0 G , 𝐶 = [1 0]. Consider, in addition, the linear time-invariant system
0 1
𝑧 𝑡 = 𝐴𝑧 𝑡 + 𝐵𝑢 𝑡 , 𝑦 = 𝐶𝑧 𝑡 ,
1 0
with 𝐴 = , 𝐵 = 0, 1 G , 𝐶 = [0 1]. Do the following:
1 1
(a) Find the transfer function 𝐺(𝑠) for the first system, where 𝑌 𝑠 = 𝐺 𝑠 𝑈(𝑠) (show all your steps in
detail).
(b) Find the transfer function 𝐺(𝑠) for the second system, where 𝑌 𝑠 = 𝐺 𝑠 𝑈(𝑠) (show all your steps
in detail). What do you observe?
0 1
(c) Show that 𝑉 = subject to the state transformation 𝑧(𝑡) = 𝑉 L. 𝑥(𝑡) is a similarity
1 0
transformation.