E1 241 - Dynamics of Linear Systems (Aug 2021)

Midterm Exam Date: Oct. 15, 2021

Maximum Marks: 55

Problem 1. [10 marks] Consider the system shown in Figure 1. Let I denote the moment of inertia of the
bar around the hinge. The center of mass of the bar is located at its midpoint. The springs are assumed to be
ideal. The gravitational constant is g. The system is at an equilibrium (rest) at the initial time t0 , with the
bar being in the horizontal position. An external force u is applied to the bar as shown in the figure at t > t0 .
(a) [3 marks] Determine the expansions in the springs when the system is at equilibrium (rest). Assume u = 0
at rest.
(b) [4 marks] The system is now displaced from its equilibrium and an external force u is applied. Let θ denote
the angular displacement of the bar and assume that θ is very small. Further, let y denote the displacement
of mass m2 . Draw the free body diagram(s), clearly mentioning all the variables, and write the equations of
motions.
(c)[3 marks] Determine the states and obtain a state-space representation for this physical system, assuming
that u is the input and y is the output.
Problems 43
(Hint: Net Torque = Moment of Inertia x Angular Acceleration, and Torque = Force x Distance. All these
quantities are defined
of the block, about
with mass the same
m2 , from reference
equilibrium. point.
Find The gravitational
a state-space equation toforce on the bar acts at it’s center of
describe
mass.)
the system. Find also the transfer function from u to y.

Figure 2.27

Figure 1: Figure for Problem 1

Problem 2 [10 marks]

(a) [5 marks] The impulse response of a system is given as:
(
e−3|t−τ | if t ≥ τ − 1
h(t, τ ) =
0 if t < τ − 1

1. Is the system time-varying or time-invariant? Is the system causal or non-causal? Is the system memo-
ryless of with memory? Provide proper justifications for your answers.
2. Determine the output of the system when the input is u(t) = 1, t ∈ R.

(b) [5 marks] Determine necessary and sufficient conditions for the below system to be memoryless:

ẋ = Ax + Bu
y = Cx + Du

1
Problem 3. [10 marks] Consider the LTI system

ẋ(t) = Ax(t) + Bu(t), x0 = v, t ≥ t0 = 0

where v is an eigenvector of A with corresponding eigenvalue λ. Also, assume that A and B commute.

(a) [4 marks] Let u(t) = 0 for t ≥ 0. Find the solution to the above system and show that it can be written as

φ(t, 0, x0 ) = α(t)v,

where α(t) is a scalar function. Determine α(t).

(b) [6 marks] Let u(t) = et v for t ≥ 0. Find the solution to the above system and show that it can be written
as
φ(t, 0, x0 ) = [α1 (t)I + α2 (t)B]v,
where α1 (t) and α2 (t) are scalar functions. Determine α1 (t) and α2 (t).

Problem 4. [10 marks] Let A and F be two n × n matrices. Prove that

Z t
e(A+F )t − eAt = eA(t−σ) F e(A+F )σ dσ.
0

Problem 5. [15 marks] Consider a system that obeys the difference equation

y(k + 1) = 3y(k) − 3y(k − 1) + y(k − 2), with initial conditions y(0) = 0, y(1) = 0, y(2) = 1

(a) [3 marks] Convert the above difference equation into the state-space form with the following structure
 
0 1 0
x(k + 1) = 0 0 1 x(k), k ≥ k0 = 2, x(k0 ) = x0
∗ ∗ ∗
| {z }
A
y(k) = Cx(k)

Define x(k). Find the appropriate entries at the ∗ locations of A, find C, and determine x0 .
(Hint: Think about how this is done in the continuous-time case.)

(b) [3 marks] Compute the eigenvalues of A. What are their algebraic and geometric multiplicities (show
computations)? What can you say about the stability of the system?

(c) [2 marks] Using only the information in part (b), determine the Jordan normal form J of A.
 
1 0 0
(d) [5 marks] Let A = P JP −1 , where J is the Jordan normal form computed in (c), P = 1 1 0 , and
1 2 1
 
1 0 0
P −1 = −1 1 0 . Using the Jordan normal form in time-domain, determine the expression of y(k) for
1 −2 1
k ≥ k0 .
(Hint: The final expression of y(k) is of the combinatorial form β(k) Cm , where m is a constant).

(e) [2 marks] Using the result in (d), determine an alternate scalar, time-varying state-space realization of
the difference equation in the following form:

y(k + 1) = A(k)y(k), k ≥ k0 , y(k0 ) = y0

where A(k) is a scalar. Find A(k), k0 , and y0 .