Middle East Technical University

Mechanical Engineering Department

1956

ME 511 MODERN CONTROL

Fall 2017
Course Instructor: Dr. Bülent E. Platin

TAKE HOME EXAMINATION 3

Date Assigned: November 21, 2017
Date Due: November 28, 2017 (by 14:40 hours sharp at G-203)
Please read the important hints, reminders, and warnings in italics
Problems are not equally weighted
You are allowed to use software like matlab only in problems indicated
Please use the cover page given at the end of this assignment when submitting your solution set

PROBLEM 1: Consider the following system matrix.

0 1 0 
A  0 1 0
0 0  1
a) Obtain the state transition matrix (t) in its infinite series form using its basic definition. Use
at least first six matrix terms in the series.
b) Using your answer in part (a), show that the closed form expression for (t) can be expressed
as follows. Explain the details of your reasoning.
1 e t  1 0 
 
 ( t )  0 et 0
0 0 e t 

c) Evaluate (0.1) and (1) by using the series expansion for (t) found in part (a) and its
closed form given in part (b) by using matlab. Display your numerical results with 5
significant digits in scientific notation. Explain details on how you have decided on the
number of matrix terms to take in the series expansion of Φ(t).
d) Determine the minimum number of matrix terms that are required in the direct series
expansion to evaluate (t) to be within 5% of the exact answer, in each case in part (c). The
use matlab is allowed in this part.
Hint: I is the first, At is the second, etc. matrix terms in the direct series expansion of Φ(t).

PROBLEM 2: For non-sparse matrices, the computation of the resolvent matrix (s) using its
basic definition by performing the inverse of [sI–A] symbolically becomes a rather tedious task.
The following method, called as the Leverrier’s Algorithm, can be employed to carry out this
inverse operation without any symbolic operations.
Leverrier’s Algorithm: For a square matrix A of size n, define nxn real matrices F1, F2, … ,
Fn and scalars a1, a2, … , an as follows:
F1 = I a1 = – trace (A F1) / 1

ME511/Platin/17F-TH3 Page 1 / 5
 F2 = A F1 + a1 I a2 = – trace (A F2) / 2
………. ……….
Fn = A Fn-1 + an-1 I an = – trace (A Fn) / n
Then,
s n1 F 1  s n 2 F 2  ...  s F n1  F n
s I  A1 
s n  a1s n1  ...  an1s  an
and furthermore for computational check A Fn + an I = 0

For the following system matrix,

 1  8 8 
A1 0 0
 
 0 5  6
a) Determine the corresponding resolvent matrix (s) by using Leverrier’s Algorithm.
b) Determine the corresponding state transition matrix (t) by
i) by expanding each term of (s) employing Heaviside partial fraction to obtain an addition
of three first order terms and then taking the their inverse Laplace transform one by one by
hand,
ii) by using ilaplace command of matlab for the expression of (s) found in part (a),
iii)using the modal decomposition method,
iv) using the Sylvester expansion theorem
Sylvester Expansion Theorem: If f(A) is a polynomial function of a square matrix A as

f ( A)  ck A k
k 0
then f(A) can be expressed exactly as
n
f ( A)   f ( i )F i
i 1
where i’s are the eigenvalues of A, all distinct, and
n Aj I
Fi   i   j , i  1, 2 , ... , n
j 1
j i

Hint: You may use matlab in this problem provided that it is employed only in performing basic
matrix operations (no toolbox commands other than ilaplace) and all intermediate results are
clearly displayed.

PROBLEM 3:
For a third order system which is described by the following plant equation:
0 1 0  0 0 
x  0 1 0  x  1 0 u
 
0 0  1 0 1
a) Using Cayley-Hamilton theorem, show that the state transition matrix is given by

ME511/Platin/17F-TH3 Page 2 / 5
 1 e t  1 0 
 
 ( t )  0 et 0
0 0 e t 

b) If the output expression is given as
1 0 1
y( t )    x (t )
2 0 1
i) Determine the necessary and sufficient conditions on the components of initial state x(0) such
that the output vector y(t)  0 as t   when u  0.
ii) Determine the expression of the output response of the system; i.e., y(t), which is valid for all
times t  0, to a set of inputs specified as
u1(t) = h(t–5) & u2(t) = 0
with initial conditions
xT(0) = [ 0 0 1 ]
where h(t) represents the unit step function applied at t=0. Hint:In this part, the use of function
h(t-5) might help to arrive a single expression for y(t), which is valid for all t  0.

PROBLEM 4: Consider the following matrix.

 2 1
A 
2 3
a) Using Cayley-Hamilton technique, determine the real matrix B defined as B = ln(A).
b) Using Cayley-Hamilton technique, compute C = exp(B). Any comments?

PROBLEM 5: Using the adjoint matrix procedure given in the class, determine the minimal
polynomials of the following matrices.
0 1 0 
i) A  0 0 0 
 
1 0  1

 1  8 8 
ii) A   1 0 0 
 0 5  6
0 0 0 0 1 0
 0 0 1 1 0  1
 
0 0 0 0 0 0
iii) A   
0 0 0 0 0 0
 0 0 1 0 0  1
 
 0 0 0 0 0 0 
Hint: You may use matlab in finding adjoint matrices.

ME511/Platin/17F-TH3 Page 3 / 5
SOME IMPORTANT REMINDERS & GENERAL WARNINGS ABOUT TAKE HOME SOLUTIONS:
 Your take home solutions must be concise but self-explanatory, containing all the details of your
computations/derivations at each step without needing any interpretation of the reader, otherwise will be
considered as "incomplete".
 If you use sources other than the course notes, they should be properly referenced.
 If you need to use readily available software package(s) and/or your own computer codes and want to get credit
for them;
o you must supply all input/output evidences in printed form as well as the source listings of your codes, and
the name (with version number) of the program used;
o printed results of computer codes must be used only as evidence to support your findings;
o your answers based on these results should be presented in a conventional format especially when symbolic
expressions are involved.
 Solutions must be submitted in a written form, prepared professionally,
o by hand writing using pen (not pencil) or
o by using a word processor
on only one side of clean, white papers of A4 size, each numbered showing the current page number and total
number of pages, personalized by your name and student number; properly bound or stapled; no disks or e-mail
or cloud attachments are acceptable as a full or partial content of your take home solutions. Do not forget to
sign and use the special cover page.
 Definitely, no extensions will be given for the date/time of take-home submissions, in full or partial.
 Even though team-work type efforts are encouraged, they must not go beyond discussions on the solution
methods used and/or cross-checking the results of your number-crunching.
 Therefore, every take home paper that you will be handing in should be personalized by fully and correctly
reflecting your own approaches and efforts in it.
 Hence, all duplicate solutions will be disregarded with some serious consequences. In such a case, I will stop
grading your solutions right away, you will be considered absent in the course for the rest of the semester, and
your thesis supervisor (or your department chair in case if you do not have an official supervisor yet) will be
notified all about this.

ME511/Platin/17F-TH3 Page 4 / 5
 Middle East Technical University
Mechanical Engineering Department
1956

ME 511 MODERN CONTROL

Fall 2017
Course Instructor: Dr. Bülent E. Platin

TAKE HOME EXAMINATION 3

Date Assigned: November 21, 2017
Date Due: November 28, 2017 (by 14:40 hours sharp at G-203)

Student's Number: ___________________________

Student's Name and SURNAME: ___________________________

I hereby declare that the solutions submitted under this cover are products of my own personal
efforts, wholly. Hence, they truly reflect my personal approaches and knowledge in the subject
areas of questions. If I used sources other than the textbook of this course, they have been properly
referenced. Neither my peer consultations nor any help which I got from others in any form went
beyond discussions on the solution methods used and/or cross-checking my findings. I am fully
aware of serious consequences of any deviations from the statements above as evidenced by my
solutions submitted.

Student's Signature: _____________________