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Homework 1 Solutions - ECE6550, Fall 2011

1. This document provides the solutions to Homework 1. It contains solutions to 5 problems involving linear control systems and state space models. 2. The second problem involves modeling two RC circuits as state space models and combining the terms. 3. The third problem analyzes two specific state space models - finding the A, B, C, D matrices and describing the systems. 4. The fourth problem linearizes a non-linear system around an operating point and finds the A and B matrices for the linearized system. It also discusses controllability. 5. The final problem asks for examples of linear control systems in everyday life and lists 10 examples as possible answers.

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48 views2 pages

Homework 1 Solutions - ECE6550, Fall 2011

1. This document provides the solutions to Homework 1. It contains solutions to 5 problems involving linear control systems and state space models. 2. The second problem involves modeling two RC circuits as state space models and combining the terms. 3. The third problem analyzes two specific state space models - finding the A, B, C, D matrices and describing the systems. 4. The fourth problem linearizes a non-linear system around an operating point and finds the A and B matrices for the linearized system. It also discusses controllability. 5. The final problem asks for examples of linear control systems in everyday life and lists 10 examples as possible answers.

Uploaded by

nida haq
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Homework 1 Solutions

Homework – ECE6550, Fall 2011


#1 Solutions

1
We have
1
ẋ = Ax + Bu !L (sI A)X(s) = BU (s) ) X(s) = (sI A) BU (s).
Moreover
1
y = Cx + Du !L Y (s) = CX(s) + DU (s) ) Y (s) = C(sI A) BU (s) + DU (s),

and hence
1
G(s) = C(sI A) B + D.

2
From loop 1 we see that
R 1
ẋ1 = x1 + u
L L
while loop 2 gives
1 1
ẋ2 = x2 + u.
RC RC
Moreover
1 1
y = x1 + C ẋ2 = x1 x2 + u.
R R
Collecting the terms gives
 
R
0 1 ⇥ 1
⇤ 1
ẋ = L x+ L u, y= 1 x+ u.
1 1 R
0 RC RC R

3
a
2 3 2 3
0 1 0 0 0
6 0 0 1 0 7 6 0 7 ⇥ ⇤
ẋ = 6
4
7x + 6
5 4
7 u, y= 2 1 0 4 x.
0 0 0 1 0 5
12 3 16 7 1

b
2 3 2 3
7 1 0 0 4
6 16 0 1 0 7 6 7 ⇥ ⇤
ẋ = 6 7 x + 6 0 7 u, y= 1 0 0 0 x.
4 3 0 0 1 5 4 1 5
12 0 0 0 2

1
4
a
˙ x = A x + B u,
where
@f @f
A= ((0, 0, ⇡/2), (0, 0)), B= ((0, 0, ⇡/2), (0, 0)).
@x @u
We get 2 3
0 0 u1 sin(x3 )
@f
=4 0 0 u1 cos(x3 ) 5 ,
@x
0 0 0
but since u = 0 we get that 2 3
0 0 0
A=4 0 0 0 5.
0 0 0
Similarly, 2 3
cos(x3 ) 0
@f
= 4 sin(x3 ) 0 5,
@u
0 1
but since x3 = ⇡/2 we get 2 3
0 0
B=4 1 0 5.
0 1

b
The equation for x1 is
˙ x1 = 0
and hence we have no way of controlling this variable. As such, the linearized system is not controllable.
(Interestingly enough, the nonlinear system is in fact still controllable through the type of highly nonlinear
maneuvers one would find when parallel parking...)

5
There are a number of possible answers to this question. The ten I saw on my way to work were
1. Washing machine
2. Traffic lights
3. Cruise controller
4. Air conditioner
5. Drive-by-wire cars
6. Autopilot for airplanes
7. Robot vacuum cleaner
8. Power management in cell phone
9. Elevator
10. Parking garage entrance

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