EE 5323 Homeworks Fall 2009 Updated: Sunday, April 21, 2013 Some homework assignments refer to the textbooks:

ks: Slotine and Li, etc. For full credit, show all work. Some problems require hand calculations. In those cases, do not use MATLAB except to check your answers.

EE 5323 Homework 1 Fall 2009 Nonlinear Systems and Equilibrium 1. Obtain the linear model of the system described by & & & y + ( y 2 1) y +y=0 around the equilibrium point. 2. The system of equations 2 & x 1 = ax1 bx1 x2 cx1
2 & x 2 = dx2 ex1 x2 fx2 describes the growth of two competing species that prey on each other. The constants are positive parameters and it is assumed that the two states are positive. Determine the linear model of the system around the equilibrium point.

Simulate the system using MATLAB for various initial conditions. Make phase plane plot. 3. Determine the equilibrium points and their nature for the predator-prey system & x 1 = x1 + x1 x2 . & x 2 = x2 x1 x2 Simulate the system using MATLAB for various initial conditions. Make phase plane plot. 4. Determine the equilibrium points and their nature for the system &= y (1 + x y 2 ) x . &= x(1 + y x 2 ) y

EE 5323 Homework 2 Fall 2009 State Variable Systems, Computer Simulation, Linearization 1. Simulate the van der Pol oscillator

y"+ (y2 1) y '+ y =0

using

MATLAB for various ICs. Plot y(t) vs. t and also the phase plane plot y'(t) vs. y(t). Use y(0)=0.2, y'(0)= 0. a. For = 0.05. b. For = 0.9. 2. Do MATLAB simulation of the Lorenz Attractor chaotic system. Run for 150 sec. with all initial states equal to 0.3. Plot states versus time, and also make 3-D plot of x 1, x2, x3 using PLOT3(x1,x2,x3). 1 = ( x1 x 2 ) x
2 = rx1 x 2 x1 x3 x 3 = bx3 + x1 x 2 x

use = 10, r= 28, b= 8/3. 3. A system has transfer function H ( s) =

s+4 s + 4s + 13
2

a. Use MATLAB to make a 3-D plot of the magnitude of H(s) b. Use MATLAB to make a 3-D plot of the phase of H(s) c. Use MATLAB to draw magnitude and phase Bode plots 4. Use separation of variables to verify the formula for x(t) in Slotine & Li ex. 1.2 on p. 7. 5. Duffings equation is interesting in that it exhibits bifurcation, or dependence of stability properties and number of equilibrium points on a parameter. The undamped Duffing equation is & & x + x + x3 = 0 a. Find the equilibrium points. Show that for > 0 there is only one e.p. b. For < 0 there are 3 e.p.s Linearize the system and study the nature of these 3 e.p.s c. Simulate the Duffing oscillator for = 1 . Make time plot and phase plane plot.

EE 5323 Homework 3 Fall 2009 Chaos, Phase Plane 1. A system that exhibits chaos is the logistic function x k +1 = (1 + k ) x k (1 x k ) However, chaos only occurs for certain values of k . Rather than try all values of k , we can sweep through the k values using
k +1 = k for fixed less than but close to 1. These two

equations form a dynamical system. Perform a MATLAB simulation to reproduce this plot of xk vs k, which was taken for = 0.9995 . Interpret the plot with some discussion in terms of bifurcation theory. Plot also k . Show your MATLAB code. It is indeed interesting that the logistic function appears in economic systems and military supply systems. 2. For Slotine & Li Example 2.2 on P. 20a. Find equilibrium points b. Linearize the system about each equilibrium point. Find poles in each case. c. Simulate the system to find the Region of Attraction. 3. Slotine and Li p. 39 problem 2.2. Simulate and plot phase plane trajectories for various ICs. Do not do the problem requested in the book. 4. Slotine and Li p. 39 problem 2.3 Simulate using MATLAB using various initial conditions. Do not do the problem requested in the book.

EE 5323 Homework 4 Fall 2009 Slotine and Li Lyapunovs Method 1. Slotine and Li p. 97 problem 3.1. 2. Use Lyapunov Equation on p. 81 to prove asymptotic stability of the system
0 = x 6 1 x 5

3. Use Lyapunov to show that the system 1 = x1 x 2 2 + x1 ( x1 2 + x 2 2 3) x

2 = x1 2 x 2 + x 2 ( x1 2 + x 2 2 3) x is locally asymptotically stable. Find the Region of Asymptotic Stability

4. UUB Use Lyapunov to show that the system

1 = x1 x 2 2 x1 ( x1 2 + x 2 2 3) x 2 = x1 2 x 2 x 2 ( x1 2 + x 2 2 3) x is uniformly ultimately bounded UUB. That is, show that the Lyapunov derivative is NEGATIVE OUTSIDE A BOUNDED REGION. Find the radius of the bounded region outside <0. Any states outside this region are attracted towards the origin. which V
5. Lyapunov Theorem for Control Design. A system is given by
1 = x1 + x1u x 2 = x23 + x2u x

a. Use Lyapunov Linearization Method to show that the open-loop system with u(t)= 0 is unstable about the origin. b. Select the nonlinear feedback control input u = x 2 . Find the closed-loop system. Use a Lyapunov extension to show that the closed-loop system is UUB. along the closed-loop That is, select the quadratic Lyapunov function and find V is negative outside a region (i.e. if x is large system trajectories. Then show that V enough). c. Discuss the stability. When is the Lyapunov derivative negative? Can you use a LaSalle Extension to show AS?
2

EE 5323 Homework 5 Fall 2009, Slotine and Li Lyapunov 1. S&L p. 103, Example 4.2. a. For the 3 systems given, prove the stability claimed by verifying the 3 conditions given. b. Integrate the state equations to find the solutions x(t) of the three systems. 2. S&L p. 105, Example 4.3. Integrate the state equation to verify the solution given. 3. S&L p. 155 problem 4.9, parts a and b. 4. Consider the nonlinear dynamics for an m-link robot manipulator,
& & accounts for centrifugal and )q where q, R m . M ( q ) accounts for the robot inertia. C ( q, q & accounts for viscous damping. g ( q ) accounts for gravity forces. In addition, Coriolis forces. Dq we have the following properties: & & & & & M ( q) q + C ( q, q + Dq + g ( q) = , )q

i. ii. iii.

M ( q ) is a symmetric positive definite matrix & 2C is a skew symmetric matrix of q , q &. M g ( q ) = W ( q ) q ,

of q .

where W ( q ) is a positive definite function of q .

& is passive lossless. And when D is positive definite, Show that for D = 0 , the map from to q & is passive dissipative. the map from to q
T & & M ( q) q + P ( q ) as a storage function. Select an appropriate Hint: Use the total energy V = q

P ( q)

1 2

, a positive definite function of q .

EE 5323 Homework 6 Fall 2009, Slotine and Li Feedback Linearization, backstepping 1. I/O feedback linearization. Slotine and Li Problem 6.3 2. Backstepping. The system is & x 1 = sin x2 + u
4 & x 2 = x1 cos x2 + x1

Do backstepping to stabilize this system. Select the desired value x10 to yield the first step & dynamics of x 2 + x2 = 0 . Compare this to Problem 6.3, which uses i/o FB linearization. 3. Backstepping. Slotine and Li Problem 6.11. Globally stabilize means backstepping. 4. I/O linearization. It is desired to stabilize a system given by
1 = x 2 sin x1 x1 + u x 2 = x1 + x 2 2 x

a. Select the out as y = x1 and use FB lin. design to select the control. Is the system minimum phase? b. Select the new output y = x 2 . Does this work. c. Design a backstepping controller. 5. Input-State Linearization. Slotine and Li Problem 6.7. a. Write f ( x) , g ( x) , ad f g . b. Is the system input-state linearizable. c. Check the given z1 ( x) . Does it work?

EE 5323 Homework 7 Fall 2009, Strogatz book Bifurcations 1. Plot with MATLABthe following vector fields as 3-D surfaces in the (x,r) plane. Also plot the bifurcation diagrams in the plane. &= f ( x, r ) = r + x 2 a. x &= f ( x, r ) = r x 2 b. x &= f ( x, r ) = rx x 2 c. x &= f ( x, r ) = rx x 3 d. x &= f ( x, r ) = rx + x 3 e. x f. &= f ( x, r ) = rx + x 3 x 5 x x