This document contains an assignment on linear dynamical systems. It includes 10 problems covering various concepts in linear systems such as controllability, reachability, transfer of state using inputs, and minimum energy inputs. The key topics covered are determining controllability of systems, finding inputs to transfer state between points, properties of controllability under transformations, and relationships between controllability and reachability.
This document contains an assignment on linear dynamical systems. It includes 10 problems covering various concepts in linear systems such as controllability, reachability, transfer of state using inputs, and minimum energy inputs. The key topics covered are determining controllability of systems, finding inputs to transfer state between points, properties of controllability under transformations, and relationships between controllability and reachability.
This document contains an assignment on linear dynamical systems. It includes 10 problems covering various concepts in linear systems such as controllability, reachability, transfer of state using inputs, and minimum energy inputs. The key topics covered are determining controllability of systems, finding inputs to transfer state between points, properties of controllability under transformations, and relationships between controllability and reachability.
This document contains an assignment on linear dynamical systems. It includes 10 problems covering various concepts in linear systems such as controllability, reachability, transfer of state using inputs, and minimum energy inputs. The key topics covered are determining controllability of systems, finding inputs to transfer state between points, properties of controllability under transformations, and relationships between controllability and reachability.
(a) Show that (1) is controllable at any t0 ∈ (−∞, ∞).
(b) Suppose we are interested only in x2 (t)
ẋ2 (t) = x2 (t) + e−t u(t) (2)
Is it possible to determine u(t) so that the state x2 (t) is transferred from x20 at t = t0 (x2 (t0 ) = x20 ) to the zero state at some t = t1 (x2 (t1 ) = 0) and then stay there? If the answer is yes, find such a u(t). (c) In (b), let t0 = 0 and study the effects of the size of t1 and x0 on the magnitude of u(t). (d) For the system in (b) determine if possible a u(t) so that the state is transferred from x0 at t = t0 to x1 at t = t1 and then stay there. 2. Show that for an LTI system controllability is preserved under similarity transformation.
3. Let Ck = [B AB A2 B · · · Ak−1 B] where A ∈ Rn×n and B ∈ Rn×m . Show that
Im (Ck ) = Im (Cn ) f or k ≥ n
and Im (Ck ) ⊂ Im (Cn ) f or k < n where Im(C) refers to the image space of C. 4. Consider the following LTI system, ẋ = Ax + Bu, Where 0 a1 0 A = 0 0 a2 + Bu, x ∈ R3 , u ∈ R, a1 , a2 6= 0 0 0 0
(a) Find B with minimum number of non-zero elements such that the above system is controllable. (b) Assume that A matrix has same structure as above then extend the result of part (a) to the case of x ∈ Rn , ai 6= 0, ∀i = 1, 2, ..., n − 1.
5. Consider the equations of motion of satellite linearized about steady state solution is given by ẋ = Ax + Bu, x ∈ R4 , where 0 1 0 0 0 0 3w2 0 0 2w 1 0 A= 0 ,B = 0 0 1 0 0 0 −2w 0 0 0 1
The input vector u = [u1 , u2 ]T , where u1 is the radial thrust and u2 is the tangential thrust. (a) Is this system controllable from u?
1 Figure 1: Electrical Circuit
(b) Can the system be controlled if the radial thruster fails? What if the tangential thruster fails? 6. Consider the circuit shown in Figure 1 with input u.
(a) Show that the above circuit is not controllable with input u. (b) Find the condition on values of resistances so that the above circuit is controllable for input u.
7. [Controllability/Reachability properties of canonical forms] Consider the following state-
space canonical forms. Provide conditions for the controllability of the canonical forms and interpret the conditions.
8. Consider the system ẋ(t) = A(t)x(t) + B(t)u(t).
(a) Show that there exists an input that transfers the state of the system from x0 at time t0 to x1 at time t1 if and only if x1 − φ(t1 , t0 )x0 ∈ Im[WR (t0 , t1 )]. (b) Show that the input that does the job is given by u(t) = B T (t)φT (t1 , t)η, where η is given by WR (t0 , t1 )η = x1 − φ(t, t0 )x0 . (c) Use the above result to show that if a system is (completely) reachable, then the system is (completely) controllable.
9. [True/False] (a) If an input u1 (t) takes the state from the origin at t = t0 to the state x1 at t = t1 and similarly the input u2 (t) takes the state from the origin at t = t0 to the state x2 at t = t1 , then the input u1 (t) + u2 (t) takes the state from the origin at t = t0 to the state x1 + x2 at t = t1 .
2 (b) If an input u1 (t) takes the state from x0 at t = t0 to the state x1 at t = t1 and similarly the input u2 (t) takes the state from x0 at t = t0 to the state x2 at t = t1 , then the input u1 (t) + u2 (t) takes the state from x0 at t = t0 to the state x1 + x2 at t = t1 . 10. Consider the system 0 1 0 ẋ = x+ u. 0 0 1 Let uT (t) and uT 0 (t) be the minimum-energy inputs that take the system from the origin at t = 0 to the state x1 = [1 0]> at times t = T and t = T 0 respectively. Let Eu denote the energy of the signal u(t). Show that, if T 0 < T than EuT < EuT 0 .
