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Assignment - Basics of Control Systems

The document outlines an assignment for a module on control basics at the Indian Institute of Science, Bengaluru, focusing on non-linear systems, time-varying linear systems, and optimization problems. It includes questions on equilibrium points, state transition matrices, Runge-Kutta methods, eigenvalues and eigenvectors, and stability analysis using Lyapunov functions. Each question requires mathematical computations and theoretical proofs related to control systems and dynamics.

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ashish sahu
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9 views2 pages

Assignment - Basics of Control Systems

The document outlines an assignment for a module on control basics at the Indian Institute of Science, Bengaluru, focusing on non-linear systems, time-varying linear systems, and optimization problems. It includes questions on equilibrium points, state transition matrices, Runge-Kutta methods, eigenvalues and eigenvectors, and stability analysis using Lyapunov functions. Each question requires mathematical computations and theoretical proofs related to control systems and dynamics.

Uploaded by

ashish sahu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment I - Module: Basics of Control Indian Institute of Science, Bengaluru

Questions
1. Consider the following non-linear system:
   
ẋ1 (t) x2 (t) − 2x1 (t)x2 (t)
= ,
ẋ2 (t) −x1 (t) + x21 (t) + x22 (t) + u(t)

with the nominal input u(t) = 0.

(a) Compute the equilibrium points of the system. Note that at an equilibrium point, the states do
not change with time, that is, ẋ(t) = 0.
(b) Obtain the linearized systems around all the equilibrium points.

2. Let us consider a time-varying linear system


 
1 cos(t)
ẋ = A(t)x, A(t) = .
0 0

(a) Compute the state transition matrix Φ(t, 0) for A(t). [Hint: The columns of the state transition
matrix Φ(t, 0) are the solutions of the given system with initial conditions equal to the standard
basis vectors of the state space.]
(b) Determine Φ(t, t0 ) using Φ(t, 0) from part (a), and list down the properties of the state transition
matrix observed with the derived matrix. [Hint: Φ(t, t0 ) = Φ(t, s) Φ(s, t0 )]
3. Use the 4th-order Runge-Kutta method to approximate the solution of the ODE
dy
= y − t2 + 1
dt
with initial condition y(0) = 0.5 at t = 0.1 with step size h = 0.1.

Hint: Compute the four slopes:


   
h h
k1 = f (0, y(0)), k2 = f h/2, y(0) + k1 , k3 = f h/2, y(0) + k2 , k4 = f (h, 0.5 + hk3 ),
2 2

4. Consider the linear system governed by the matrix


 
2 0 0
A = 0 0 −1 .
0 1 0

(a) Find all the eigenvalues of the matrix A. Note that the eigenvalues may be real or complex.
(b) For each eigenvalue found in part (a), determine the corresponding eigenvectors.
Hint: Recall that the eigenvalues λ satisfy the characteristic equation det(A − λI) = 0, and the
eigenvectors v satisfy (A − λI)v = 0.
5. Consider the problem:

1 ⊤
min x Qx + c⊤ x
x∈R2 2
subject to

Ax = b,

where
  

2 0 −2  
Q= , c= , A= 1 1 , b = 3.
0 2 −5
(a) Write the function
1 ⊤
J(x, λ) = x Qx + c⊤ x + λ(Ax − b),
2
where λ is a scalar multiplier.
∂J ∂J
(b) Compute the partial derivatives ∂x and ∂λ , set them equal to zero, and solve the resulting equations.
Find the optimal vector x.

6. Consider the dynamics described by the state-space system

ẋ(t) = Ax(t),

where
 
0 1
A= ,
−ω 2 −2ζω

with ω > 0 (natural frequency) and ζ > 0 (damping ratio).

(a) For ω = 2 rad/s and ζ = 0.5, prove that the system is asymptotically stable.

(b) Consider the Lyapunov candidate function

V (x) = x⊤ P x,

where
 
p 0
P = 1 ,
0 p2

with positive constants p1 , p2 > 0.


Show that there exist positive values of p1 and p2 such that V̇ (x) < 0 for all x ̸= 0, proving asymptotic
stability.

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