E1 241 - Dynamics of Linear Systems (Aug 2021) Figure 2.

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Homework 1 Due date: Sept 08, 2021

Maximum Marks: 140

The numbered exercises mentioned in the homework are from the textbook “Linear Systems Primer” by
Antsaklis and Michael (Exercise x.y denotes exercise number y from Chapter x).

1. [16 marks] Exercise 1.1(a) - 10 Marks, and Exercise 1.1(b) - 6 Marks

You should be able to do this using only equations 1.92 and 1.96. Take p and q (each of them can be a vector)
as your state variables both in the Hamiltonian formulation and using Newton’s laws. For derivation using
Newton’s laws, clearly mention the free body diagram with all the forces, and which direction are you taking
as +ive direction.

2. [12 marks] Find the 2.19 Find aequations

state space state equation to describe
that describe the network
the below circuit. shown in Fig.
The current 2.26.isFind
source also its trans-
the input
fer function.
and the voltage y across the capacitor C2 is the output of the system.

C1 Figure 2.26

R1 R2

C2
L

2.20 Find a state equation to describe the network shown in Fig. 2.2. Compute also its transfer
3. [10 marks] Exercise 1.13 matrix.
2.21
Before linearization, write Consider
down thespace
the state mechanical system
equations of theshown in Fig.
non-linear 2.27. For
system. Let linearization,
I denote the moment
you need of inertia
of the bar
an operating point. In the exercise, and block to
its mentioned about the hinge.
“linearize It is assumed
the system about φthat the Does
= 0”. angular displacement θ is
information
very small.
about φ alone gives you an operating An external
point? Why orforce is applied
why unot? If not,tocan
theyou
bar find
as shown.
out a Let y beoperating
trivial the displacement
point around which you can linearize the system?

4. [10 marks] Consider the following non-linear system

   
ẋ1 (t) x2 (t) − 2x1 (t)x2 (t)
=
ẋ2 (t) −x1 (t) + x21 (t) + x22 (t) + u(t)

with the nominal input ψ(t) = 0.

(a) Compute the equilibrium points of the system with this zero input. Recall that at an equilibrium point,
the states do not change with time.
(b) Obtain the linearized systems around all the equilibrium points.

5. [10 marks] Exercise 1.14

You can use Matlab or any other software to find the solutions of linear and non-linear systems in this exercise.
In Matlab, you can use “ode45 ” function if you wish, but other functions can also be used.

6. [13 marks] Exercise 1.4(a) - 6 Marks and Exercise 1.4(b) - 7 Marks

“Determine the solution” means to write a recursive state equation that describes the state evolution. Clearly
mention this recursive equation in both parts. For drawing the figures, you can use Matlab or any other
software. Clearly mark the axis values.

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7. [10 marks] Convert the following nth order linear differential equation (y (j) denotes the j th derivative)

y (n) (t) + an−1 (t)y (n−1) (t) + an−2 (t)y (n−2) (t) + · · · + a1 (t)y (1) (t) + a0 (t)y(t) = b0 (t)u(t) + b1 (t)u(1) (t)
into the following type of state-space equation
ẋ(t) = A(t)x(t) + B(t)u(t)
y(t) = C(t)x(t) + D(t)u(t).
(Hint: Let xn (t) = y (n−1) (t) − b1 (t)u(t))

8. [14 marks] For the below systems, determine the following properties:
(i) Are they linear or non-linear?
(ii) Are they causal or non-causal?
(iii) Are they time-varying or time-invariant?
Marks will be given only if you provide proper mathematical justifications for your answers.
1. y(k) = u(k 2 )
2. y(k) =Round(u(k)), where Round(·) denotes rounding to the nearest integer.
3. y(k) = cos(ω0 k)u(k)

9. [10 marks] The following input-output pairs are observed for a time-invariant system:
u1 (k) = (1, 0, 2) → y1 (k) = (0, 1, 2)
↑ ↑

u2 (k) = (0, 0, 3) → y1 (k) = (0, 1, 0, 2)

↑ ↑

u3 (k) = (0, 0, 0, 1) → y1 (k) = (1, 2, 1)

↑ ↑

1. Can you conclude anything about the linearity of the system?

2. Find the impulse response of the system

10. [12 marks] Let T1 and T2 be discrete-time systems, and let T = T1 T2 denote the cascade/series connection
of T1 followed by T2 . That is, the output of T1 is applied as an input to T2 . Let u(k) denote the input of
T1 and y(k) denote the output of T2 . Note that u(k) and y(k) are also the input and output of T . Prove or
disprove the following statements (If you think the statements are correct, provide a mathematical proof. If
you think they are incorrect, provide a counter-example)
1. If T1 and T2 are linear, then T is linear.
2. If T1 and T2 are time-invariant, then T is time-invariant.
3. If T1 and T2 are causal, then T is causal.

11. [10 marks] Exercise 2.5

(Marks will be given only if you provide proper mathematical justifications for your answers.)

12. [13 marks] Let P be some mathematical operator that describes a system with input signal u and output
signal y, that is, y = P (u) and assume that the system is relaxed initially.(Remember that P need not be a
matrix). Let Tτ denote the truncation operator defined in the previous Problem 11.
(a) Is it true that Tτ (y) = P (Tτ (u))? Explain your answer.
(a) Prove that if the system is causal, then the following property holds
Tτ (y) = Tτ {P [Tτ (u)]}.
(Hint: Think how these operators are transforming the signals and what does the above equation mean
physically. Maybe drawing some signals and thinking about applying these signals to some simple physical
system like a pendulum or a circuit can give you some intuition).