Middle East Technical University Department of Aerospace Engineering

AE582 Fall 2009 Dr. Ali Türker Kutay

Homework #2
Given: Friday, 23/10/2009 Due: Friday, 30/10/2009 by 6 pm
ATTENTION: You can turn in your homework electronically, or turn in a paper copy. If you turn in your
homework electronically after the deadline, your grade will be scaled as follows:
𝑔 = 𝑝 Δ𝑡 𝑔0
where 𝑔0 is the raw grade for your homework and 0 < 𝑝 Δ𝑡 ≤ 1 is a late penalty function with Δ𝑡 being
the time between the instant your homework was received and the deadline, in hours. To reduce the
possibility of having problems with e-mail servers, you can send your homeworks to the following three
addresses simultaneously:
kutay@ae.metu.edu.tr
tkutay@hotmail.com
atkutay@gmail.com
In case of a late submission I will check all the accounts above to find the actual date you sent the message.
I chose the late penalty function as
1, Δ𝑡 < 0 (early submission)
𝑝 Δ𝑡 = 1
, Δ𝑡 ≥ 0 (late submission)
1+ 𝑒 𝑎 Δ𝑡−𝑡 1
with 𝑎 = 0.1 and 𝑡1 = 54 hours. With this you will get 99% of the grade if you turn in your homework 12
hours late. After 24 hours from the deadline you can still get 95% of the total grade. The penalty drops to
65% in 48 hours from the deadline, and if you are late by three days you can only get 14%.
If you want to submit a paper copy, then please bring it to my office in AE-208. If I am not there (after
Friday 6 pm) just slip it under the door and don’t forget to write the time you submit the homework on it.
If you don’t do that I will give the penalty based on the time I get it.

1. (2.5 points) Give a proof for the eigenvector test for controllability. Show that
𝐴, 𝐵 controllable ⇒ 𝑝 ≠ 0 does not exist (necessary)
𝑝 ≠ 0 does not exist ⇒ 𝐴, 𝐵 controllable (sufficient)

Hint: The above statements are equivalent to

𝑝 ≠ 0 exists ⇒ 𝐴, 𝐵 NOT controllable
𝐴, 𝐵 NOT controllable ⇒ 𝑝 ≠ 0 exists

2. (2.5 points) Consider the LTI system

1 1 0 0 |
𝐴= 0 −1 0 , 𝐵= 1 𝑏
0 0 1 1 |
Determine if the system is controllable for the following cases:
0 0 1
a) 𝑏 = 0 , b) 𝑏 = 0 , c) 𝑏 = 0
0 1 0

1
Middle East Technical University Department of Aerospace Engineering
AE582 Fall 2009 Dr. Ali Türker Kutay

In addition, for part a), select as your output 𝑦 = 𝑐 𝑇 𝑥, where 𝑐 is a unit normal to the controllability
subspace. Use Matlab and simulate the system for any initial condition lying in the controllability
subspace. Select an arbitrary input for 𝑢 𝑡 . Plot 𝑥 𝑡 and 𝑦 𝑡 . Explain the behavior of 𝑦 𝑡 .

3. (2.5 points) For the system

𝑥 = 𝐴𝑥 + 𝐵𝑢
𝑦 = 𝐶𝑥
where
1 2 −1 0
𝐴= 0 1 0 , 𝐵= 0
1 −4 3 1
𝐶 = 1 −1 1
a) Classify each mode (controllable?, stabilizable?, detectable?, observable?)
b) Find the controllable and observable subspaces (basis vectors?)

4. (2.5 points) For 𝑥 ∈ ℝ2 sketch the subspaces defined by 𝑥 𝑖 < 1 for 𝑖 = 1,2,3,4,5, ∞.