0% found this document useful (0 votes)
171 views2 pages

DLS

This document contains 5 homework problems related to linear systems dynamics: 1) Analyzing the behavior of a discrete-time linear system as k approaches infinity and the existence of initial conditions that result in the state reaching zero. 2) Modeling a unicycle mobile robot as a nonlinear system and linearizing it around an equilibrium point and trajectory. 3) Analyzing the behavior of a nonlinear system with open-loop control when the computer clock is faulty. 4) Computing the state transition matrix and output of a linear time-varying system. 5) Proving that trajectories of a homogeneous linear time-invariant system do not intersect in state space.

Uploaded by

Subhajit Goswami
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
171 views2 pages

DLS

This document contains 5 homework problems related to linear systems dynamics: 1) Analyzing the behavior of a discrete-time linear system as k approaches infinity and the existence of initial conditions that result in the state reaching zero. 2) Modeling a unicycle mobile robot as a nonlinear system and linearizing it around an equilibrium point and trajectory. 3) Analyzing the behavior of a nonlinear system with open-loop control when the computer clock is faulty. 4) Computing the state transition matrix and output of a linear time-varying system. 5) Proving that trajectories of a homogeneous linear time-invariant system do not intersect in state space.

Uploaded by

Subhajit Goswami
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 2

E1 241: Dynamics of Linear Systems (2017a)

Homework #1
Due: Wednesday, 30 August 2017
1. Recall that for the discrete-time system
 
0 1  
x(k + 1) = x(k), F (k) = 1 0 x(k)
1 1
 
0
if x(0) = then the the output F is the Fibonacci sequence. For this initial condition, lim F (k) = ∞.
1 k→∞
 
0
(i) Does there exist an x(0) ∈ R2 with x(0) 6= 0, such that lim x(k) = ? Please justify.
k→∞ 0
(ii) If you answered the above question affirmatively, then please give an example of such an initial
condition and simulate on a computer the system with that initial condition. Make sure the simulation
time is sufficiently long. What do you observe and conclude?
(ii) Does there exist an x(0) ∈ R2 with x(0) 6= 0, such that x(k0 ) = 0 for some finite k0 ? Justify.

2. (From Hespanha’s book) A single-wheel cart (unicycle) moving on the plane with linear velocity v and
angular momentum ω can be modeled by the nonlinear system
ṗx = v cos θ, ṗy = v sin θ, θ̇ = ω,
where (px , py ) denotes the
 Cartesian coordinates of the wheel and θ its orientation. Regard this as a
v
system with input u := ∈ R2 .
ω
(i) Construct a state-space model for this system with state
   
x1 px cos θ + (py − 1) sin θ
x = x2  := −px sin θ + (py − 1) cos θ
x3 θ
 
x
and output y := 1 ∈ R2 .
x2
(ii) Compute a local linearization for this system around the equilibrium point xeq ≡ 0, ueq ≡ 0.
(iii) Show that w(t) = v(t) = 1, px (t) = sin t, py (t) = 1 − cos t, θ(t) = t, ∀t ≥ 0 is a solution to the
system.
(iv) Show that a local linearization of the system around this trajectory results in an LTI system.
3. Consider the system
ẋ = x2 + u, x ∈ R, u ∈ R.
Suppose at time 0, x(0) = x0 ∈ R is sensed and the following open-loop control input signal
usol (t) = −e−2t x20 − e−t x0
is applied to the system. Then, for this control, verify that xsol := e−t x0 is the state solution.
Now, suppose that the computer that computes and applies the open-loop control input has a faulty
clock. As a result at time t, the computer thinks the time is r(t). Write the resultant time-varying
nonlinear system and find the local linearization around the solution (xsol , r(t) = t).
4. (From Hespanha’s book) Consider the system
   
0 t 0
x ∈ R2 , u, y ∈ R.
 
ẋ = x+ u, y = 1 0 x,
0 2 t
(i) Compute its state transition matrix.
(ii) Compute
  system output to the constant input u(t) = 1, ∀t ≥ 0 for an arbitrary initial condition
the
x1 (0)
x(0) = .
x2 (0)

1
5. Consider the homogeneous LTI system

ẋ = Ax, x ∈ Rn .

Using the properties of the state transition matrix, show that no two unordered trajectories in the
state-space intersect.
We define an unordered trajectory through a point z0 ∈ Rn as the set of all points z ∈ Rn such that
x(t) = z for some t ∈ (−∞, ∞) with the constraint that x(t0 ) = z0 for some t0 ∈ (−∞, ∞). That is, if
we denote the unordered trajectory through z0 as T (z0 ), then

T (z0 ) := {z ∈ Rn : x(t0 ) = z0 , and x(t) = z, for some t0 , t ∈ (−∞, ∞)}.

You might also like