EE 650A - Assignment 6 (2017-18-I)

Q.1
For each of the following systems, find all the equilibrium points. Linearize the systems about the equilibrium
point(s). Linearize the system about the equilibrium point(s). For each isolated equilibrium point determine its
type (stable(unstable) node(focus), saddle point) for the nonlinear system.

x31
A. ẋ1 = x2 , ẋ2 = −x1 + − x2 .
6
B. ẋ1 = −x1 + x2 , ẋ2 = 0.1x1 − 2x2 − x21 − 0.1x31 .
 
2x1 x2 x2
C. ẋ1 = (1 − x1 ) x1 − , ẋ2 = 2 − x2 .
1 + x1 1 + x1
D. ẋ1 = x2 , ẋ2 = −x1 + x2 (1 − 3x21 − 2x22 ).

E. ẋ1 = (x1 − x2 )(x21 + x22 − 1), ẋ2 = (x1 + x2 )(x21 + x22 − 1)

F. ẋ1 = x31 + x2 , ẋ2 = x1 x32 .

Remember for nonlinear system given by ẋ = f (x) , with equilibrium at x = x∗ we have f (x∗ ) = 0. So
equilibrium points are the real roots of the equation f (x) = 0. Note that x = [x1 , x2 ]T ∈ R2 , f : D → R2 and
f (x) = [f1 (x), f2 (x)]T . The nonlinear system is linearized about its origin where

∂f1 ∂f1
 
 ∂x1 ∂x2 
A =  ∂f ∂f2  .
2
∂x1 ∂x2 x=x∗