Problem set 2

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1. Consider at least two examples of your choice of electrical circuits involving linear R, L, C ele-
ments and current and/or voltage sources (or spring-mass-damper type mechanical systems).
Choose any values for the the R, L, C parameters. Find the state space representation for
these linear systems. Comment about stability/asymptotic stability in the absence of inputs
for these systems (for some fixed values of R, L, C).

2. Consider any electrical system with only L, C elements. Find the state space representation
and comment about stability.

3. Consider an oscillating pendulum. Linearize the pendulum equation around two equilibrium
points θ = 0 and θ = π. Conclude about local stability.

4. Consider a simple pendulum with damping i.e., θ̈ + gl sin θ + bθ̇ = 0. Linearize this system at
θ = 0 and comment about local stability.

5. Consider a single input system (A, b). Suppose A has repeated eigenvalues. Is it possible to
find b such that (A, b) is controllable? (Try some examples with 3 × 3, 4 × 4 matrices to get
an idea.)

6. Consider a single input system (A, b). Suppose A has distinct eigenvalues. Is it possible to
find b such that (A, b) is controllable? (Try some examples with 3 × 3, 4 × 4 matrices to get
an idea.)

7. Consider an LTV ẋ = A(t)x(t) + B(t)u(t). Suppose a state transition function Φ(t, 0) is

known. How to find Φ(t, τ ) from Φ(t, 0)? How to find A(t)? (Hint: Use properties of state
transition matrix)

8. Consider any electrical circuit or mass-spring-damper system of your choice. Find its state-
space realization and transfer function. From the transfer function, do a controller canonical
realization of your system.

9. Do an observer canonical realization for the previous problem.

10. Solve Problems 8.7, 8.8, 9.4 and 9.5 from Hespanha.

11. (Reading exercise) Read section 8.6 from Hespanha for internal stability of discrete systems.

12. Prove equivalent conditions for controllability of discrete time systems.

13. Suppose pA (s) = sn + α1 sn−1 + . . . + αn be the characteristic polynomial of A. Obtain an

expression for A−1 .

14. Consider two systems with diagonal system matrices A1 and A2 having the same eigenvalue
λ with algebraic multiplicity equal to 2. What will be the Jordan form of the system matrix
obtained from series/parallel interconnection of the two systems above?