Solution to Homework 1 Mathematical Systems Theory, SF2832 Spring 2013 You may use min(5,(your score)/5) as bonus credit

on the exam. 1. This problem concerns the state transition matrix (t, s). (a) Find (t, s) for x (t) = Answer: (t, s) = (b) Consider
1+s2 . 1+t2

t x(t) 1 + t2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (2p) ] A1 (t) A3 (t) x ( t) = x(t), 0 A2 (t) [

where Ai , i = 1, 2, 3 are time-varying matrices. Correspondingly let [ ] 11 (t, s) 12 (t, s) (t, s) = . 21 (t, s) 22 (t, s)
Show that 21 (t, s) = 0 for all t, s and t ii (t, s) = Ai ii (t, s) for i = 1, 2. (3p) Proof: [ ] A1 11 + A3 21 A1 12 + A3 22 = . A2 21 A2 22

Since 21 (s, s) = 0, 21 (t, s) = 0 t. Then the second conclusion follows. (c) Let ] 0 a1 (t) x = x, a2 (t) 0 [

where a1 (t), a2 (t) are continuous scalar functions of time. Show that the state transition matrix (t, t0 ) never converges to 0 as t . . . . . . . . . . . . . . . . . . (3p) d Proof: Since det(t, t0 ) = 11 22 21 12 , we have dt (det) = 0. Thus, det(t, t0 ) = det(t0 , t0 ) = 1 t t0 .

2.

Consider the inverted pendulum as we did last year The following equation describes the motion of the pendulum around the equilibrium = 0: g sin() + x L cos() = 0 . (a) We consider x as the input u and as the output y . Let x1 = and x2 = Derive the state space model for the linearized system (i.e. let sin() and cos() 1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (1p) 1

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(b) Show the model you derive in (a) is both controllable and observable. . . . (1p) Solution: See last years solution.

3.

Now consider an inverted pendulum with oscillatory base The following equation describes the motion of the pendulum around the equilibrium = 0: g sin() z L sin() = 0 . (a) We consider z as the input u and as the output y . Let x1 = and x2 = Derive the state space model for the linearized system (i.e. let sin() ).(1p) g Solution: x 1 = x2 , x 2 = L x1 . (b) Is the model you derive in (a) controllable? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (2p) Solution: Obviously not. (c) Let z = 0.1 sin(t) (be careful with the variable!). Use Matlab simulation to nd out what will happen to the motion (use the original nonlinear model!) of the pendulum near = 0 when the oscillation is slow and when the oscillation (0) = 0. . . . . . . . . . . . . . . . . . . . . . . . . . . (3p) is fast. Take L = 1, (0) = 0.02 and Solution: When is small, the pendulum will fall from the upright position; When is large (say 50), the pendulum will oscillate around = 0.

Figur 1: Inverted pendulum on a cart.

Figur 2: Pendulum with oscillatory base.

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4.

Consider x = A(t)x + B (t)u y = C (t)x and its adjoint equation z = AT (t)z + C T (t)v w = B T (t)z Let G(t, s) and Ga (t, s) be respectively their impulse responses (see Ch. 1 for denition). Show that G(t, s) = GT a (s, t). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (4p)
Solution: G(t, s) = C (t)(t, s)B (s). Since s (t, s) = (t, s)A(s), or T T T A (s) (t, s), we have a (s, t) = (t, s). The rest follows. T s (t, s)

5.

Consider a controllable single-input system x = Ax + bu, x Rn . Let and do a coordinate change = [b Ab An1 b] x = 1 x.

( expressed under the new coordinates)? . . . . . . . . . . . . . . . . . . . . . (1p) (a) What is = I. Solution: and (b) Compute A b. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . (4p) = 1 A. Let a and Solution: b = 1 b = e1 . A i denote the i th row of A n n 1 p(s) = s + cn1 s + + c1 s + c0 be the characteristic polynomial of A. Then from the fact 1 = I , we have a 1 = (0 0 c0 ), a 2 = (1 0 0 c1 ). Then we just shift the position of 1 by one to the right and change c1 to c2 to obtain a 3 . Repeat the procedure to obtain the rest of rows.