ME 561/EECS 561 Fall 2023
Homework 4
Prof. Vasudevan
Assigned: 09/26/2023
Due: 10:00 pm on 10/02/2023
Submission Details
This homework problem set consists of 5 problems. Use this PDF only as a reference for the
questions. All answers should be submitted via Gradescope before the deadline.
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Problem 1: [20 point(s)]
Suppose the sampling period is T s = 1, find the starred transform of the following functions by
hand:
1.1 [6 point(s)] E(s) = 10
(s+3)(s+4)
1.2 [7 point(s)] E(s) = 6
s2 +2s+10
1.3 [7 point(s)] e(t) = te−2t
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Problem 2: [20 point(s)]
Consider a signal e(t) = 1 − e−t . For the sketches in this problem, please sketch by hand, do not use
MATLAB or other plotting software.
2.1 [2 point(s)] Sketch e(t) from t = 0 to t = 2.
2.2 [6 point(s)] Suppose the signal e(t) is sent to an ideal sampler with sampling period T s =
0.5s. Sketch e∗ (t) (the sampling result) from t = 0 to t = 2, and find E ∗ (s) by hand.
2.3 [6 point(s)] Now suppose T s = 0.5s and e(t) is delayed by 0.1s. By definition, the delayed
signal is e1 (t) = e(t − 0.1)S (t − 0.1). Sketch e∗1 (t) from t = 0 to t = 2.5, and find E1∗ (s) by hand.
2.4 [6 point(s)] In another case, lets assume T s = 0.5s, but the sampler (instead of signal e(t)) is
delayed by 0.4s, meaning the sampling instants are t = 0.4, (0.4 + T s ), (0.4 + 2T s ), · · · . Denote the
sampling result as e∗2 (t). Sketch e∗2 (t) from t = 0 to t = 2.4, and find E2∗ (s) by hand.
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Problem 3: [20 point(s)]
3.1 [16 point(s)] Find E ∗ (s) by hand, for T s = 0.1s, for the two functions below. Explain why
the two transforms are equal, first by describing their relationship in the time-domain, and then by
applying a pole-zero approach.
(i) e1 (t) = cos(4πt)
(ii) e2 (t) = cos(16πt)
3.2 [4 point(s)] Give a third time function that has the same E ∗ (s).
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Problem 4: [20 point(s)]
Consider the two signals e1 (t) = 4 sin(5t) + 7 sin(11t) and e2 (t) = 8 cos(21t).
4.1 [3 point(s)] List all frequencies in e1 (t) and e2 (t).
4.2 [12 point(s)] Suppose e1 (t) and e2 (t) are ideally sampled with a frequency ω s = 21 rad/s.
List all frequencies present in e∗1 (t) and e∗2 (t) that are less than ω = 50 rad/s.
4.3 [5 point(s)] If the signals are applied to a zero-order hold, list all frequencies present in the
hold output that are less than ω = 50 rad/s.
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Problem 5: [20 point(s)]
Consider a two-dimensional inverted pendulum mounted on a cart shown in Fig (1).
Figure 1: Cart pendulum
The inverted pendulum is unstable in that it may fall over any time in any direction unless
suitable control force u is applied. Assume that the center of gravity of the pendulum rod is at its
geometric center, and the system dynamics can be described as following:
(M + m) ẍ + ml θ̈ cos θ − θ̇2 sin θ = u (1)
I + ml2 θ̈ + m ẍl cos θ − mgl sin θ = 0
When linearized around the vertically upright position, the equations are the following:
(M + m) ẍ + mlθ̈ = u (2)
I + ml2 θ̈ + ml ẍ − mglθ = 0
5.1 [5 point(s)] Find a state-space representation of the linearized system. Define state variables
x1 , x2 , x3 , x4 by
x1 = θ
x2 = θ̇
x3 = x
x4 = ẋ
with θ as the output of the system.
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5.2 [5 point(s)] Suppose we use the following system parameters:
h i h i
M = 0.75[kg], m = 0.20[kg], l = 0.40[m], I = 0.0085 kg · m2 , g = 9.81 m/s2
Evaluate the matrices you found in 5.1, and write down the transfer function of the system.
5.3 [5 point(s)] Find the starred form of your transfer function from 5.2.
5.4 [5 point(s)] Discretize the system and plot the step response both using MATLAB (hint: use
the c2d() and ssdata() functions in MATLAB). What are your Ad , Bd , and Cd matrices if the system
is sampled at T s = 0.1 seconds. Submit the MATLAB code.
