ECE 515 Correspondence # 19 ASSIGNMENT 7

FALL 2013 October 16, 2013

Reading Assignment: Optional Reading:

Lecture Notes (BMP): Chapter 5. Text (Hespanha): Lectures 9, 12, 13. Brogan: Chapter 10 and Chapter 11 (sections on controllability). Chen: Chapter 6 (sections 6.1-6.4). Lecture Notes (BMP): Chapter 6. Text (Hespanha): Lecture 15. Chen: Chapter 6 (parts on observability) quad (optional) Brogan: Chapter 11(parts on observability) quad (optional) This homework set deals with the stability of LTV systems, and BIBS and BIBO stability. It also deals with controllability of LTI and LTV systems. Due Date: Thursday, October 24; at the beginning of the class.

Advance Reading:

Announcement:

Problems (to be handed in):

50. Show that the origin is an exponentially stable equilibrium state of the LTV system x (t) = A(t)x(t) if there exist constants c 0 and a > 0 such that for all positive to and t > to we have
t

m ( )d (t to )a + c
to

where m ( ) denotes the largest eigenvalue of the TV matrix A( ) + AT ( ) for each . Hint: Show that d T x (t)x(t) m (t) xT (t)x(t) dt 51. You are given the LTI system ( x = 1 0 10 1 ) x+ ( 2 0 ) u, y = (2 3)x 2u ,

where u is the input (control) and y is the output. i) Is the system BIBS (bounded-input bounded-state) stable? ii) Is it BIBO (bounded-input bounded-output) stable? 52. Consider the LTV system x = 3t x + u , y = e2t x .
2

i) Is the system BIBS (bounded-input bounded-state) stable? ii) Is it BIBO (bounded-input bounded-output) stable? iii) Let u 0. Is the resulting system stable in the sense of Lyapunov? 53. Investigate the controllability properties of the LTI system x = Ax + Bu, for the three pairs of (A, B ) matrices given below. For the case(s) when the system is not completely controllable, determine the controllable subspace(s) and bring the system(s) to a controllable canonical form. ( i) A= 5 1 0 4 ) , ( ) 1 B= ; 1 1 3 3 A = 1 1 2 2 6 2 , 4 0 B = 0 ; 1

ii)

0 1 iii) A = 0 0 0 0

0 1 , 0

0 B = 0 . 1

54. For the system corresponding to the (A, B ) pair given in (53(i) above, obtain a control that drives the system from x = (1 0)T at t = 0 to x = (0 1)T at t = 1. 55. You are given the LTI system 0 a1 0 A= 0 0 0 x = Ax + Bu , where 1 0 0 a3 0 0 0 0 0 a2 0 1 0 0 0 0 0 0 0 0 0 0 0 a4 0 0 0 , 0 1 0 0 b1 0 B= 0 0 0 0 0 0 b2 0 0 0 0 0 , 0 0 b2

and the parameters a1 , a2 , a3 , a4 , b1 , b2 are all nonzero. Determine whether the system is completely controllable. If not, nd the controllable subspace of the state space. 56. Given the LTI system 7 x = 2 2 2 6 1 1 3 2 x + 1 1 u 2 1 1 0

=: Ax + Bu

i) Check complete controllability using a) the controllability matrix = M 1 B , where M is chosen such that M 1 AM is diagonal b) rows of B c) the Hautus-Rosenbrock test ii) Identify the controllable and uncontrollable modes of the system, and convert the system to a controllable canonical form. 57. Consider the 2-dimensional LTI system x = Ax + Bu , where A and B are given as follows, parametrized by a scalar parameter : ) ( ) ( 1 1 , B= A= 0 2 i) For what values of (if any) is the system completely controllable? ii) For what values of (if any) is the controllable subspace of dimension 1? In these cases, which eigenvalues of A are controllable? 58. Let A be an n n matrix and B be an n r matrix, both with real entries. Assume that the pair (A, B ) is controllable. Prove or disprove the following statements. (If the statement is false, then producing a counterexample will suce.) i) The pair (A2 , B ) is controllable. ii) Let k () be an n-dimensional (known) function, piecewise continuous in t. Then, the linear system described by x = Ax + Bu + k (t) is completely controllable. iii) Given that the system x = Ax + Bu has the initial condition x(0) = x0 = 0, it is possible to nd a piecewise continuous control, dened on the interval [0, ), so that the system is brought to rest at t = 1 (that is, x(t) = 0 for all t 1). 2

iv) Assume now that the system above is initially (at t = 0) at rest, and we wish to nd a piecewise continuous control which will bring the state to x I Rn by time t = 1 and maintain that value for all t 1. Such a control can always be found. 59. Check controllability of the LTV system ( x = 0 0 0 1 ) x+ ( e2t 1 ) u

60. You are given the following scalar system where x is the state and u the control: x (t) = x(t) + e2t u(t)

i) Show that there exists a control u(t) under which the state x(t) is transferred from a given non-zero initial state x0 at time t = t0 to zero state at time t = t1 > t0 , and stays there. Obtain such a u(t). ii) Determine, if possible, a control that drives the system state from a given initial state x0 at time t = t0 to another given nal state x1 at time t = t1 > t0 , and makes it stay there. In both cases above, x0 and x1 are picked arbitrarily. 61. Determine whether the following discrete-time system is completely controllable or not. If not completely controllable, determine the controllable subspace. ( x(k + 1) = 2 0 1 1 ) x(k ) + ( 1 1 ) u

[For controllability of discrete-time systems, see BMP, page 96, and Hespanha, pp. 105-109.]