HW No 1. February 14, 2017 Solution

ELECTRICAL ENGINEERING DEPARTMENT
EE 550-01 LINEAR CONTROL SYSTEM

Second Semester 2015/2016
February 19, 2017
Due Date: February 26, 2017
1. Indicate whether the following systems are causal, linear,

memoryless, and/or time invariant. Justify your answer.
HW
1

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2
a.

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b. y(t) = x(t2)+x(2t)
c. y t 2 x d
Solution:
a. Causal: Only depends on present value of n.

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2
Linear :

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2 2

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Memoryless: Only depends on present value of n.
Time invariant: Delaying the input will give

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2

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2

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So delaying the input will not give the same delay in the
output
Imply the system is time-varying
b. Causal: Non-Causal because y(-1)=x(-3)+x(3). So depends on

future inputs.
Linear :
y a1 x 1a2 x 2 ta1 x1 t2a1 x 1 2ta2 x 2 t2a 2 x 2 2t
a1 y 1 ta2 y 2 t
Hence linear.
Memoryless: Not memoryless as the present output at time t

depends on t2.
Time invariant: Delaying the input will give
x tt 02a1 x 1 2tt 0
But
y t t 0 x tt 02a1 x 1 2tt 0
So delaying the input will not give the same delay in the
output
Imply the system is time-varying
d. Causal: Non-causal because, y(1) depends on the value of x(t) at t = 2, as
y 1 2 x d

Linear :
y 1 t 2 t x 1 d and

y 2 t 2 t x 2 d ,

and x t x 1 t x 2 t then the output y(t) corresponding to the input x(t)

is
y t 2 t x 1 x 2 d

x2
2 t x d 2 t d
1

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y 1 t y 2 t
Memorylessness: The system is NOT memoryless because

the output at
time t depends on input values at times other than t.
a
1 x1a 2 x 2 d
y a1 x 1a2 x 2 t 2t

Time Invariance: The system is NOT time invariant. To see this,

we let
2. The first-order difference equation y[n] - ay[n - 1] = x[n], 0 < a < 1,

describes a particular discrete-time system initially at rest.
(a) Verify that the impulse response hn for this system is
n
h na n 0 .
(b) Is the system
(i) memoryless? (ii) causal? (iii) stable?
Clearly state your reasoning.

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Solution:
a. We would like to find the output for impulse input
x n n1 n0
0 n0
The system can be rewritten as

y nay n1x n
The system is at rest. Therefore,
y 01
y 1ay 0a
y 2ay 1a2
And in general
y nan h n
b. i. Memoryless: Not memoryless as the present output at

time n depends on past values of n.
ii. Causal: Only depends on present or past values of n.
iii. Stable: Suppose that the input is bounded that
xnM
So y 0M
y 1ay 0 MaM M
y 2ay 1M a aM M M
And so on which blows up, so the system is an unstable system.
3. Do problem of 2.9 of Text.

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4. The Figure below shows a simplified diagram for a balance system

consisting of an inverted pendulum on a cart. Let state variables that
represent the position and velocity of the base of the system, p and
p , and the angle and angular rate of the of the structure above
the base , and . Let F represent the force applied at the base
of the system, assumed to be in the horizontal direction (aligned

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with p). With this set of definitions, the dynamics of the system can
be represented by
where M is the mass of the base, m and J are the mass and moment
of inertia of the
system to be balanced, l is the distance from the base to the center
of mass of the
balanced body, c and are coefficients of viscous friction and g is
the acceleration
due to gravity.
a.) Derive the nonlinear state space model for the system by

considering the order of the state variables as p , p , , , and the
x
outputs as the position and the angle.
b.) Obtain the linearized model about the equilibrium point 0 and
u = 0.
Cartpendulum system
am08-modeling_19Jul11
Solution:

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Define the total mass and total inertia as
2
M t M m , J t J ml
Therefore, the state space model become:
where we have used the shorthand c = cos and s = sin .
b. The linearized model about the equilibrium point 0 and u = 0 is
5. Consider the simple mechanical system below:

a.) Derive the state space model for the system by considering the order
of the state variables as the position and the velocity.
b.) With the system initially at rest, a force of 25 Newton is applied at time t =
0. Assume that the mass M = 1 Kg, frictional coefcient B = 5 N/m/sec.,
and the spring constant K = 25 N/m. Using Matlab find the response for the
system by considering the position and the velocity as your outputs. Use
the time interval [0, 3] sec.

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Print out and hand in the Matlab commands you used to answer
question.
CompAidBook
Solution:
Applying Newtons law of motion, the force equation of the system is
With the system initially at rest, a force of 25 Newton is applied at time t = 0. Assume
that the mass M = 1 Kg, frictional coefficient B = 5 N/m/sec., and the spring
constant K = 25 N/m.
MATLAB code
A=[0 1;-25 -5]; B=[0;1];C=[1 0;0 1];
sys= ss(A,B,C,0)

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sys =
A=
x1 x2
x1 0 1
x2 -25 -5
B=
u1
x1 0
x2 1
C=
x1 x2
y1 1 0
y2 0 1
D=
u1
y1 0
y2 0
TFINAL = 3
[Y] = step(sys,TFINAL);
y1=25*Y
plot(t,y1)
xlabel('Time - Sec.')
gtext({'Displacement'})
>> gtext({'Velocity'})

February 19, 2017

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ELECTRICAL ENGINEERING DEPARTMENT

EE 550-01 LINEAR CONTROL SYSTEM

1. Indicate whether the following systems are causal, linear,

Memoryless: Only depends on present value of n.

Time invariant: Delaying the input will give

b. Causal: Non-Causal because y(-1)=x(-3)+x(3). So depends on

Memoryless: Not memoryless as the present output at time t

Time invariant: Delaying the input will give

d. Causal: Non-causal because, y(1) depends on the value of x(t) at t = 2, as

and x t x 1 t x 2 t then the output y(t) corresponding to the input x(t)

Memorylessness: The system is NOT memoryless because

Time Invariance: The system is NOT time invariant. To see this,

2. The first-order difference equation y[n] - ay[n - 1] = x[n], 0 < a < 1,

The system can be rewritten as

b. i. Memoryless: Not memoryless as the present output at

3. Do problem of 2.9 of Text.

4. The Figure below shows a simplified diagram for a balance system

Therefore, the state space model become:

where we have used the shorthand c = cos and s = sin .

b. The linearized model about the equilibrium point 0 and u = 0 is

5. Consider the simple mechanical system below:

Applying Newtons law of motion, the force equation of the system is

A=[0 1;-25 -5]; B=[0;1];C=[1 0;0 1];

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