Quiz 3 1/5 points (20%)

Quiz, 5 questions

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1. 
This question investigates how to obtain linearized models of non-linear dynamical systems.

A controlled pendulum with friction can be described by

¨ ˙
mℓϕ = −mg sin ϕ − kℓϕ + τ ,

where ϕ is the angle of the pendulum and τ is the input torque applied at the base of the pendulum. m is
the mass of the pendulum, ℓ its length, g is the gravitational constant, and k is a friction coe cient.

Linearize this model around the two equilibrium points, i.e., when the pendulum is hanging straight down (
ϕ = 0 ) and balancing straight up (ϕ = π ). Let x1 ˙
= ϕ, x2 = ϕ , and u = τ , giving the linearized system
ẋ = Ax + Bu , where

0
B = [ 1 ].
mℓ

But what is A? Which of the following A-matrices give the correct linearizations around the two
equilibrium points?

0 1
ϕ = 0 :  A = [ g k ]
− −
ℓ m

0 1
ϕ = π :  A = [ g k ]
−
ℓ m
  
Quiz 3 1/5 points (20%)
Quiz, 5 questions
1 0
ϕ = 0 :  A = [ g k
]
− −
ℓ m

1 0
ϕ = π :  A = [ k
]
0 −
m

0 1
ϕ = 0 :  A = [ k g ]
− −
m ℓ

0 1
ϕ = π :  A = [ k ]
− 0
m

1 0
ϕ = 0 :  A = [ k g ]
− −
m ℓ

1 0
ϕ = π :  A = [ k ]
− 0
m

0 1
ϕ = 0 :   A = [ k
]
0 −
m

0 1
ϕ = π : A = [ g k ]
− −
ℓ m

This should not be selected 

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2. 
Which of the following statements is correct?

Most systems are already linear so linearizations are not really needed.

Output-feedback is more general than state-feedback.

The unicycle model has a useful linearization.

 This should not be selected 
Quiz 3 1/5 points (20%)
Quiz, 5 questions

Stability is not a control objective when designing controllers.

The stability properties of ẋ = Ax are determined by A's eigenvalues.

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3. 
This question involves the computation of eigenvalues and how these eigenvalues relate to the stability
properties of the system.

Given a linear system

α β
ẋ = [ ]x.
0 α

Which of the options below captures all the values of α and β for which the system is asymptotically
stable?

Hint: The following fact might come in handy: The determinant of a 2 × 2 matrix is given by
∣a b∣
∣ ∣ = ad − bc.
∣c d∣

α < 0,  β whatever

α < 0,  β < 0

This should not be selected 

α whatever, β < 0

Impossible to say -- not enough information provided.

α < 0,  β > 0

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4. 
 Let the output of a third order system (ẋ = Ax,  y = Cx ) be given in the gure below:
Quiz 3 1/5 points (20%)
Quiz, 5  questions

The options below show the possible placements of the eigenvalues to the A matrix, with the axis being
the real parts and the imaginary parts of the eigenvalues. Which option corresponds to the system used to
generate the gure?
Quiz 3 1/5 points (20%)
Quiz, 5 questions
Quiz 3 1/5 points (20%)
Quiz, 5 questions

Correct 
Notice whether the system behavior plotted in the question exhibits stability and/or oscillations.
Then, remember the relationship between the location (or value) of poles of a linear system in the
complex plane to stability and oscillations in the resulting system behavior. Then, process of
elimination yields one correct option.

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5. 
Recall the quadrotor model from Module 1

¨
h = cv − g,

where h is the altitude of the quadrotor and v is the input. The purpose of this question is to revisit PID
design but in the context of state-feedback to see that there really isn't anything magical/special about PID.
So, please keep reading and follow along in the math...

First, if we directly compensate for gravity by introducing a new control input v = u + g/c we get the
much simpler system ¨
h = cu .

Now, let x1 ˙
= h,  x2 = h and the resulting linear system is

[ ] [ ]
 0 1 0

Quiz 3ẋ = [
0 0
]x + [
c
]u.

1/5 points (20%)

Quiz, 5 questions

As seen, a PD regulator is u = KP e + KD ė ˙
= KP (r − h) + KD ( ṙ − h) where r is the reference signal.
In other words

r
u = KP D [ ] − KP D x,
ṙ

where KP D = [KP , KD ],

i.e., it is just a state-feedback controller, and the closed-loop system becomes

r
ẋ = (A − BKP D )x + BKP D [ ].
ṙ

So doing state-feedback is exactly the same as PD control for this system.

But what about the I-part? This requires some more work. For this we actually need to introduce another,
extra state. Let the new state be

t
x3 (t) = ∫0 x1 (τ )dτ .

The resulting system has three states instead of two and if we let

x1
⎡ ⎤
~
x = x2 ,
⎣ ⎦
x3

we get the closed-loop PID dynamics

r
~ ~ ~ ⎡ ⎤
~
˙ ~
x = (A − BKP I D )x + BKP I D ṙ ,
⎣ ⎦
 ⎣ ⎦
∫ r

Quiz 3 1/5 points (20%)

Quiz, 5  questions

where KP ID = [KP , KD , KI ] and where

0
~ ⎡ ⎤
B = c .
⎣ ⎦
0

~
But, which of the options below give the correct A ? (Write out the dynamics of the new, third order system
in order to gure out the new A-matrix.)

0 0 1
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
1 0 0

0 1 0
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
1 0 0

0 0 1
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
0 1 0

0 1 0
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
0 0 1

0 1 0
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
0 0 0

This should not be selected