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    Midterm New

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    ahadmir
    The midterm exam covers five problems related to nonlinear dynamics and control systems: 1) Deriving equations of motion and analyzing stability of an inverted double pendulum system. 2) Showing properties of the flow map for an ordinary differential equation system. 3) Designing a globally asymptotically stabilizing feedback controller for a nonlinear control system. 4) Determining if arbitrary motion can be achieved for a Duffing oscillator through input selection. 5) Constructing a Lyapunov function to prove global asymptotic stability of a nonlinear system.

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    Midterm New

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    ahadmir
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    The midterm exam covers five problems related to nonlinear dynamics and control systems: 1) Deriving equations of motion and analyzing stability of an inverted double pendulum system. 2) Showing properties of the flow map for an ordinary differential equation system. 3) Designing a globally asymptotically stabilizing feedback controller for a nonlinear control system. 4) Determining if arbitrary motion can be achieved for a Duffing oscillator through input selection. 5) Constructing a Lyapunov function to prove global asymptotic stability of a nonlinear system.

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    The midterm exam covers five problems related to nonlinear dynamics and control systems: 1) Deriving equations of motion and analyzing stability of an inverted double pendulum system. 2) Showing properties of the flow map for an ordinary differential equation system. 3) Designing a globally asymptotically stabilizing feedback controller for a nonlinear control system. 4) Determining if arbitrary motion can be achieved for a Duffing oscillator through input selection. 5) Constructing a Lyapunov function to prove global asymptotic stability of a nonlinear system.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    32 views2 pages

    Midterm New

    Uploaded by

    ahadmir
    The midterm exam covers five problems related to nonlinear dynamics and control systems: 1) Deriving equations of motion and analyzing stability of an inverted double pendulum system. 2) Showing properties of the flow map for an ordinary differential equation system. 3) Designing a globally asymptotically stabilizing feedback controller for a nonlinear control system. 4) Determining if arbitrary motion can be achieved for a Duffing oscillator through input selection. 5) Constructing a Lyapunov function to prove global asymptotic stability of a nonlinear system.

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    EE/ME/AeroE/Math 578: Mid term Exam

    Assigned: March 23
    Due: March 26 (On Campus), March 29 (Off Campus)

    1. Consider the coupled inverted pendulum system given in figure (1)

    Figure 1: Coupled Inverted Pendulums

    For this system


    (a) Derive the equations of motion using Euler-Lagrange method.
    (b) Find all the equilibirum points of this system, study the stability of each equilib-
    rium point and plot the local phase portraits at each of these equilibrium points
    (Make suitable assumptions wherever necessary but clearly state the assump-
    tions).
    2. For the system ẋ = f (x) having unique solution φt (x), show that
    ∂ φt (x)
    f (x) = f (φt (x))
    ∂x
    Hint: ∂ φ∂t x(x) f (x) = limh→0 φt (x+h f (x))−φ
    h
    t (x)
    . Using the derived results show that for
    the function Z ∞
    V (x) = − e−t h(φt (x))dt
    0
    1
    that if h is continuously differentiable and the solutions φt (x) are bounded then

    hOV (x), f (x)i = V (x) + h(x)

    3. Consider the nonlinear control system

    ẋ = f (x) + g(x)u

    where f : Rn → Rn and g : Rn → Rn×m and u ∈ Rm . Suppose there exists a smooth


    positive definite, radially unbounded function V : Rn → R≥0 such that

    hOV (x), f (x)i ≤ 0

    and letting φt (x, 0) denote the solution of the system starting at x with u = 0, we have

    gT (φt (x, 0))OV (φt (x, 0)) = 0 ∀t =⇒ x = 0

    Show that the control choice u = −gT (x)OV (x) renders the system globally asymp-
    totically stable. Use the derived results to design a globally asymptotically stabilizing
    feedback controller for the system

    ẋ1 = x2
    ẋ2 = −x1 + x1 u

    Explain why all the conditions in the previous discussion holds true.

    4. Consider the Duffing oscillator with the actuation f (t).

    ẍ = x − x3 + f (t)

    Is it possible to execute any arbitrary motion x(t) between time 0 and T by choosing
    appropriate f (t) if so explain how?

    5. Consider the nonlinear dynamical system

    ẋ1 = −3x1 + x2
    ẋ2 = x1 − x2 − x23

    Show that the origin is globally asymptotically stable by constructing appropriate


    h iT
    Lyapunov function. (Hint: Use the property that ∂∂ xf (x) + ∂∂ xf (x) ≤ −I)

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