ECE 415, Fall 2003 Problem Set #1
Issued: September 2nd Due: September 9th
Primary Reading: Chapter 1 of the Lecture Notes (BMP) or chapter 2 of Chen.
Related Reference: Section 5.1 or Appendix B.1 of Callier and Desoer.
Advance Reading: Chapter 2 of the Lecture Notes (BMP) or chapter 3 of Chen.
Homework is due at the beginning of class on the due day!
Problems:
1. Nonlinear system (10 points)
You are given a nonlinear input-output system which satisfies the nonlinear differential equa-
tion:
ÿ(t) = 2y − (y 2 + 1)(ẏ + 1) + u + 2u̇.
(a) Obtain a nonlinear state-space representation.
(b) Linearize this system around its equilibrium output trajectory when u(·) = 0, and write
it in state space form.
2. Satellite Problem (10 points)
Model the earth and satellite as particles. The normalized equation of motion can be simplified
to 2 dimensions:
k
r̈ = rθ̇2 − 2 + u1 ,
r
θ̇ṙ 1
θ̈ = −2 + u2 ,
r r
with u1 , u2 representing the radial and tangential forces due to thrusters. The reference orbit
with u1 = u2 = 0 is circular with r(t) ≡ p and θ(t) = ωt. From the first equation it follows
that p3 ω 2 = k (the Kepler’s law). Obtain the linearized equation about this orbit. (What is
the minimum number of state variables?)
3. System modeling: Transfer function vs. State space method (10 points)
(1)
Consider the mass-spring system shown above: Assume that a force is acting on m1 , and let
the vertical position of m2 represent the output of this system. We may further assume the
springs are massless, and y(t) = 0 at balance.
1
(a) Derive a set of differential equations which describes this input-output system. Hint:
The force exerted by a spring is proportional to its displacement and the force exerted
by a damp source is proportional to the relative speed of the source and mass.
(b) Find the transfer function for the system.
(c) Obtain a state space description of the system.
4. A Multiple Input and Multiple Output (MIMO) System (10 points)
A system is described by the pair of differential equations:
...
y1 + 2ẏ1 + 3y2 = u1 + ü1 + u̇2 ,
ÿ2 − 3ẏ2 + ẏ1 + y2 + y1 = u2 + u̇3 − u3 .
Obtain a state space realization by choosing y1 and y2 as two of the state variables.
5. Closed-loop system subjected to a disturbance (10 points)
For a block diagram shown above, first derive its transfer functions for the input signal and
the disturbance respectively. Then explain the advantage(s) of closed-loop system under
disturbance.
6. A Linear Time Varying (LTV) System (10 points)
A second order LTV system is described by the ODE:
ÿ − 2ẏ − y = tu̇ + (t + 1)u.
(a) Obtain a state-space realization with one of the state variables being the output variable.
(You can assume here and below that the system is relaxed at time t = 0, i.e. , initial
values of the derivatives of y and u being zeros.)
(b) Obtain a second (different) state-space realization. (Think about how to draw its simu-
lation diagram.)
7. State-space vs. Input-output Representation (10 points)
A Single Input Single Output (SISO) system is described by the transfer function:
s+1
G(s) = .
s3 + 4s2 + 5s + 2
(a) Obtain a three dimensional realization in the controllable canonical state representation.
(b) Obtain a three dimensional realization in the observable canonical state representation.
(c) Use partial fractions to obtain a state representation. Be careful about the repeated
root.
