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Hw3 2024 CTA

This document outlines Homework #3 for the ECE 6552 Nonlinear Systems and Control course, due on April 5, 2024. It includes several problems related to control law design, adaptive control, system linearization, and dynamics of specific systems. Students are required to provide solutions and justifications using Lyapunov functions, simulation results, and analysis of system properties.

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14 views3 pages

Hw3 2024 CTA

This document outlines Homework #3 for the ECE 6552 Nonlinear Systems and Control course, due on April 5, 2024. It includes several problems related to control law design, adaptive control, system linearization, and dynamics of specific systems. Students are required to provide solutions and justifications using Lyapunov functions, simulation results, and analysis of system properties.

Uploaded by

gunningpwner
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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C.T.

Abdallah ECE 6552 Nonlinear Systems and Control Spring 2024

Homework #3
Due: Friday April 5 2024, 11:59pm on Gradescope

Please Note:

1. Write legibly or type your solutions. You may submit using Gradescope or
upload directly into Canvas
1. Design a control law that globally asymptotically stabilizes x = 0 for the system

ẋ1 = x1 x2
ẋ2 = u,

and justify your answer with an appropriate Lyapunov function. Discuss whether your con-
trol law also achieves exponential stability.
Hint: Check the order of the Lyapunov function and its derivative to determine exponential
stability

2. Consider the reference model:

ẏm = −aym + r(t), a > 0,

and the plant:


ẏ = a∗ y + b∗ u, b∗ , 0.

(a) Show that a controller of the form:

u = θ1 y + θ2 r(t)

with an appropriate choice of gains θ1∗ and θ2∗ , drives the tracking error e := y − ym to
zero asymptotically.
(b) Now suppose a∗ and b∗ are unknown parameters, but the sign of b∗ is known. Show
that the adaptive implementation of the controller above achieves tracking when the
gains are updated according to the rule:

θ̇1 = −sgn(b∗ )γ1 ye, θ̇2 = −sgn(b∗ )γ2 re, (1)

where γ1 > 0 and γ2 > 0.


(c) Simulate this controller for the following two choices of r(t) = 1 and r(t) = sin(t). Verify
whether or not θ1 (t) → θ1∗ and θ2 (t) → θ2∗ as t → ∞ for each choice.

3. (Khalil, Problem 13.2.) Consider the system

ẋ1 = −x1 + x2 − x3
ẋ2 = −x1 x3 − x2 + u
ẋ3 = −x1 + u
y = x3 .

a) Is the system input-output linearizable?


b) If yes, transform it into the normal form and specify the region over which the transfor-
mation is valid.
c) Is the system minimum phase?

2
4. The dynamics of the translational oscillator with rotating actuator (TORA) depicted below
are described by:

ẋ1 = x2
−x1 + ϵ x42 sin x3 −ϵ cos x3
ẋ2 = + u
1 − ϵ cos x3
2 2 1 − ϵ 2 cos2 x3
ẋ3 = x4
1
ẋ4 = [ϵ cos x3 (x1 − ϵ x42 sin x3 ) + u],
1 − ϵ cos2 x3
2

where x1 and x2 are the displacement and the velocity of the platform, x3 and x4 are the angle
and angular velocity of the rotor carrying the mass m, and u is the control torque applied to
the rotor. The parameter ϵ < 1 depends on the eccentricity e and the masses m and M.

With y = x3 as the output, determine the relative degree and the zero dynamics. Give a
physical interpretation of the zero dynamics.

5. Consider the system

ẋ1 = u1
ẋ2 = x4 + x3 u1
ẋ3 = −x3 + x4
ẋ4 = u2

a) Let the two outputs be y1 = x1 and y2 = x2 , and show that the system is not input/output
linearizable; that is, there is no well-defined vector relative degree.
b) In this example it is possible to overcome the obstacle to input/output linearization by
setting u1 equal to the output of an integrator, to be implemented as part of a dynamic con-
troller:

u1 = x5
ẋ5 = ũ1 .

Show that the augmented system has a well-defined vector relative degree with respect to the
inputs ũ1 and u2 .

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