Solutions of Homework 1

Problem 1
Normalize the equation by dividing by m
dv d b
+ v = u + gθ
dt m m
Repeating the calculations in the lecture we find that the controller gains are
 
m d
k = 2ζω0 −
b m
m 2
ki = ω
b 0
With the numerical values given on page 2 in Lecture 2 we find that d/m is an order of magnitude smaller
than 2ζω0 . Hence, d/m is not important. The ratio b/m, however, is important. This is the only parameter
needed to design the controller.
Scale the variable u to be in the range 0 to 1. The parameter b/m is then equal to the acceleration
at full throttle. You can determine b/m by driving at nominal speed and determine the time it takes to
increase the velocity a given amount with full throttle.

Problem 2
With zero control the ball will simply fall down. To keep it at a constant height the controller needs to
insert a term proportional to y and another term proportional to dy/dt to add damping. Hence a PD
controller. Introduce
dy
I = −ky − kd
dt
The closed loop is then described by
d2 y dy
m + bkd + bky = −mg
dt2 dt
The equilibrium position is
mg
y0 = −
bk
Normalize the equation by dividing by m
d2 y bkd dy bk
+ + y = −g
dt2 m dt m
Match the coefficients with a well-behaved second order system
d2 y dy
2
+ 2ζω0 + ω02 y = −g = ω02 y0
dt dt
This gives the controller gains
bkd 2ζω0 m
= 2ζω0 kd =
m b
=⇒
bk mω02
= ω02 k =
m b

1
Problem 3

Z t
−t
y(t) = e y(0) + e−(t−τ ) u(τ )dτ
0

Differentiate
Z t
dy
= −e−t y(0) − e−(t−τ ) u(τ )dτ + u(t)
dt 0
= −y(t) + u(t)

Hence
dy
+y =u
dt

Problem 4

y(t) = Ae−t + Be−2t (1)

Differentiate twice
dy
= −Ae−t − 2Be−2t (2)
dt

d2 y
= Ae−t + 4Be−2t (3)
dt2
Multiply equation (1) by 2, equation (2) by 3, and sum with equation (3).
d2 y dy
2
+3 + 2y = (2A − 3A + A) e−t + (2B − 6B + 4B) e−2t
dt dt
= 0

The characteristic equation

s2 + 3s + 2 = (s + 1)(s + 2) = 0

has roots s = −1 and s = −2. Compare with equation (1)!

Problem 5

g(t) = e−t − e−2t

We have g(0) = 0 and g 0 (0) = 1. It follows from Problem 4 that g satisfies the differential equation.

Problem 6

Z t
y(t) = g(t − τ )u(τ )dτ
0

2
Differentiate
Z t
dy
= g 0 (t − τ )u(τ )dτ + g(0) u(t)
dt 0 |{z}
=0
2 Z t
d y
= g 00 (t − τ )u(τ )dτ + g 0 (0) u(t)
dt2 0 | {z }
=1

Hence
t
d2 y
Z
dy
+3 + 2y = (g 00 (t − τ ) + 3g 0 (t − τ ) + 2g(t − τ )) u(τ )dτ + u(t)
dt2 dt 0 | {z }
=0
= u(t)

Problem 7
The function g satisfies the differential equation

d2 g dg
+ 3 + 2g = 0
dt2 dt
Differentiation shows that g 0 also satisfies the equation.

d3 g d2 g dg d2 g 0 dg 0
+ 3 + 2 = + 3 + 2g 0 = 0
dt3 dt2 dt dt2 dt
Furthermore

f (0) = b1
f 0 (0) = b2 g 0 (0) + b1 g 00 (0)
= b2 − b1 (−3g 0 (0) + 2g(0))
= b2 − 3b1

Now consider
Z t
y(t) = f (t − τ )u(τ )dτ
0

Differentiate
Z t
dy
= f 0 (t − τ )u(τ )dτ + f (0)u(t)
dt 0
2 Z t
d y
= f 00 (t − τ )u(τ )dτ + f 0 (0)u(t) + f (0)u0 (t)
dt2 0

Hence
d2 y dy du
+3 + 2y = b1 + (b2 − 3b1 )u(t) + 3b1 u(t)
dt2 dt dt
du
= b1 + b2 u
dt