EEM $42: Fundamentals of Control Systems Homework #6 Due: April 26, 2002 1. Consider the systems described below (in each case u indicates the input (vector), y indicates the output (vector), ui, ua, ete. indicate the components of u, and ¢ is the time variable). For each caso, determine whether the system is bounded-input bounded-output stable. Explain your answer in each case. a) ft) = sin(@u(t) ») ut) = if in(r)ulr)dr o moe] Oe Beratoe] ‘) u(t) Sierun(r)de d) i(t) + y(t) + u(t) = ult) 2, Consider the real systems described below (in ench case u indicates the input, y indicates the output, = indicates the state veetor of the system, 21, 22, etc. indicate the components of 2, and tis the time variable). Por each case, (I) find the equilibrium points of the system; (I for each equilibrium point, determine whether the equilibrium point is (i) stable in the sense of Lyapunoy; (ii) asymptotically stable; (III) determine whether the system is (i) stable in the sense of Lyapunov; (ii) asymptotically stable; (ii) bounded-input bounded-output stable. Explain your answer in each case Al) = 16— (21(0)" + (a)? PUES) _ d) daft) = (ail)? + ule) WO =21(t) ult) = e0s(21(t) + 22(0) o1 2 0 ; 0 1 0 ° wo-[t a 3 |x +] 0 | we) w=] 0 0 1 |xy+]olun . Si 1 g ee 1 vo- [po t]eo*[5 | w={1 0 o]ae 3. Consider a pendulum formed by a uniform rod of mass and length pinned from one end toa fixe point, around which the rod ieee to rotate (except fora posible angles viscous ftion of coe font 2) na plane verti! tothe ert’ surface The od subject to the earths gravitational ld of avesoration g. Let 0 denote the rod's angular dxplacement fiom the vetealaxis (eth iguretotherigh), Notethathegsten'sstatecan |g he described by 2(0) = [ o(¢) dt) J". Derive the equations desribing the system dynamics. ‘Then show that the equilibrium points ofthe system ase sg = [bx 0]", whose isan integer, Also show that ve) ths sin pots [ ake 0 |” are unstable and the equiitvion points [ (241) 0] are (i stable in the sents of Lyapanoy, but not asymptotically stable if 8 = 0 (Le., if there is no friction); (ii) asymptotically stable if § > 0.EM 342: FUNDAMENTALS OF CONTROL SYJTEMS HW Heb GO2bmer| 1) Ajelared ingle) \s BEBO stable yp re prey a boudid output wm togoue +9 ayy bounded tap #) yite vial) alt) ket [ull om = Wyte) | point m Gru vit) tales dotua between (tt) fount gat ther; TUL Om ond the syste is BTZO stable . 6) ylbe fovea) oe 3 lat ultle Sint (Loudiel Wp) 3 y- Siona)tee 8 & He oyka igt BIBO stable. W bed to an unbousteel Ae wlegiaten 0 ) 2 : ctput. 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