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    HW2

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    Ravi Teja
    This homework assignment involves solving 5 problems related to linear and nonlinear dynamical systems. Students are instructed to show all work and justify their solutions. The problems cover topics like linearizing systems around equilibrium points and trajectories, discrete-time linear time-varying systems, and how linear transformations map lines to lines or points. Students must solve the problems and submit their work for grading.

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    HW2

    Uploaded by

    Ravi Teja
    53 views2 pages
    This homework assignment involves solving 5 problems related to linear and nonlinear dynamical systems. Students are instructed to show all work and justify their solutions. The problems cover topics like linearizing systems around equilibrium points and trajectories, discrete-time linear time-varying systems, and how linear transformations map lines to lines or points. Students must solve the problems and submit their work for grading.

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    Linear systems theory problems

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    This homework assignment involves solving 5 problems related to linear and nonlinear dynamical systems. Students are instructed to show all work and justify their solutions. The problems cover topics like linearizing systems around equilibrium points and trajectories, discrete-time linear time-varying systems, and how linear transformations map lines to lines or points. Students must solve the problems and submit their work for grading.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    53 views2 pages

    HW2

    Uploaded by

    Ravi Teja
    This homework assignment involves solving 5 problems related to linear and nonlinear dynamical systems. Students are instructed to show all work and justify their solutions. The problems cover topics like linearizing systems around equilibrium points and trajectories, discrete-time linear time-varying systems, and how linear transformations map lines to lines or points. Students must solve the problems and submit their work for grading.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 2

    E1 241: Dynamics of Linear Systems (2020a)

    Homework #2
    Due: 23:00, Tuesday, 10 November 2020 (on moodle)

    • Solve all problems. Two randomly chosen problems will be graded.


    • Give clear justification in all solutions.

    1. A single-wheel cart (unicycle) moving on the plane with linear velocity v and angular momentum ω
    can be modeled by the nonlinear system

    ṗx = v cos θ, ṗy = v sin θ, θ̇ = ω,

    where (px , py ) denotes the


     Cartesian coordinates of the wheel and θ its orientation. Regard this as a
    v
    system with input u := ∈ R2 .
    ω
    (i) Construct a state-space model for this system with state
       
    x1 px cos θ + (py − 1) sin θ
    x = x2  := −px sin θ + (py − 1) cos θ
    x3 θ
     
    x1
    and output y := ∈ R2 .
    x2
    (ii) Compute a local linearization for this system around the equilibrium point xeq ≡ 0, ueq ≡ 0.
    (iii) Show that w(t) = v(t) = 1, px (t) = sin t, py (t) = 1 − cos t, θ(t) = t, ∀t ≥ 0 is a solution to the
    system.
    (iv) Show that a local linearization of the system around this trajectory results in an LTI system.
    2. Consider the system
    ẋ = x2 + u, x ∈ R, u ∈ R.
    Suppose at time 0, x(0) = x0 ∈ R is sensed and the following open-loop control input signal

    usol (t) = −e−2t x20 − e−t x0

    is applied to the system. Then, for this control, verify that xsol := e−t x0 is the state solution.
    Now, suppose that the computer that computes and applies the open-loop control input has a faulty
    clock. As a result at time t, the computer thinks the time is r(t). Write the resultant time-varying
    nonlinear system and find the local linearization around the solution (xsol , r(t) = t).
    3. Show that x = (0, 0) is a solution of the system of equations

    ẋ1 = x21 + x22 + x2 cos(x1 )


    ẋ2 = (1 + x1 )x1 + (1 + x2 )x2 + x1 sin(x2 ).

    Linearize this system about the point x = (0, 0). Numerically (through computer simulations), compare
    solutions corresponding to different initial conditions in the vicinity of the origin of the above system
    and its linearization around the origin.
    4. Consider the homogeneous discrete-time LTV system

    x(k + 1) = A(k)x(k)

    1
    with  " #
     1 −1
    A0 := 0 1 , if k even,



    A(k) = " #
     0.5 1
    A1 := 0.5 1 , if k odd.


    What is the state transition matrix Φ(k, 0) for k ∈ N0 ? Please provide proper analytical justification.
    You may use computations for different k, by hand or by computer, to verify your solution but the
    computations alone won’t be considered as a complete solution.
    5. Consider the function f (x) := Ax, where A ∈ Rm×n . Show that this function maps every straight line
    (not necessarily passing through the origin) in Rn to a straight line or a point in Rm . What is the
    relationship with the matrix A of a straight line in Rn that maps to a point in Rm ?

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