ECE 515 Correspondence # 1

FALL 2013 August 27, 2013

ASSIGNMENT 1
Reading Assignment: Optional Reading: Advance Reading: (on vector spaces) Lecture Notes (BMP): Chapter 1. Hespanha: Lectures 1 - 4. Chen: Chapters 1 & 2; Brogan: Chapters 1 & 3. Lecture Notes (BMP): Chapter 2. Chen: Chapter 3. Brogan: Chapters 4 & 5. Due Date: Thursday, September 5; at the beginning of the class.

Problems (to be handed in):

1. Determine conclusively whether the following systems are linear. [In all cases, H denotes the inputoutput mapping, and u(t) is the input function dened on (, +)]. { 0 t<0 i) H(u)(t) = ii) H(u)(t) = 2u(t) iii) H(u)(t) = 2 + cos 2t 3u(t) t 0 iv ) H(u)(t) = [cos[1 + u(t)] ]t v) H(u)(t) =
t+1

t2 u(s)ds
t1

vi) H(u)(t) = 2u(2t + 1)

2. Which of the systems above are (a) causal, (b) strictly causal, (c) time invariant ? 3. Show that if H(u1 + u2 ) = H(u1 ) + H(u2 ) for any u1 and u2 , then H(u) = H(u) for any rational number and any u. (Note that a number is rational if it can be written as m/n, where m and n are two integers.) 4. The equations of motion for a unit mass subjected to an inverse law force are given by 2 k/r2 + ur r = r = 2r + u /r /r where r and denote the radius and angle, respectively, and ur and u are the input thrusts on the body in the radial (r) and tangential () directions (this would be a simplied model of a satellite of unit mass in earths orbit, whose motion is restricted to two dimensions). ) as state variables, and (r, ) as the output variables, obtain a nonlinear statei) By choosing (r, r, , space realization for this system. ii) A free (undriven) solution of these equations corresponds to the body being in a circular orbit, x (t) = [r0 , 0, 0 t, 0 ] , u r = u 0,

3 2 where the radius r0 and the angular velocity 0 are such that r0 0 = k . Obtain linearized state-space equations of the body around these nominal state and control trajectories.

The next six questions are based on the material in subsection 1.6 of BMP Lecture Notes. 5. For the second-order LTV system described by y 3y 2y = tu + (3t + 1)u i) Obtain a state-space realization with one of the state variables being the output variable. Draw the corresponding simulation (ow) diagram. (You can assume here and below that the system is relaxed at time t = 0, that is y (0) = y (0) = 0.)

ii) Obtain a second (dierent) state-space realization, and draw the corresponding simulation diagram. 6. Consider the discrete-time linear system (2 + 3 2)y (k ) = u(k ) 2u(k ) where y (k ) := y (k + 1) y (k ) and 2 y (k ) := y (k + 2) 2y (k + 1) + y (k ) are, respectively, the rst and second forward dierences of y (k ). Obtain a state-space description x(k + 1) = Ax(k ) + Bu(k ) y (k ) = Cx(k ) + Du(k ) for the system (that is, specify the matrices A, B, C and D). Is what you have obtained the unique state space representation? 7. Problem 1.7.9 from BMP Lecture Notes, page 21, but with G(s) = s2 . (s + 1)(s + 2)(s + 4)

8. Problem 1.7.10 from BMP Lecture Notes, page 21, but with G(s) = s4 2 . (s + 1)(s + 2)(s + 3)(s + 4)

9. Problem 1.7.11 from BMP Lecture Notes, page 22, but with y1 + 2y2 3y1 = u1 + u1 + 2u2 + u3 y2 2y1 + 3y2 + y1 = u2 + 2u1 u3
(n) (2) (1) (2) (1) (2) (3) (2) (1) (2) (1)

where yi denotes the n-th order derivative of yi (t) with respect to t, and the same convention applies to u. 10. For each of the following transfer functions, obtain a state-space realization of minimum order (dimension) for the corresponding LTI system, by breaking H into simple additive terms and choosing the outputs of the integrators as state variables. Draw the corresponding simulation diagrams. i) H (s) = . s2 3s + 4 , s2 s + 1 ii) H (s) = 3s2 + 1 s2 + s 1

s3

s3