EML 6350 Fall 2022

Test 2 Takehome

This is an open book open notes takehome exam due Monday October 31 by 8:00AM (EST).
You can not discuss this exam using any form of communication, written or verbal, with
any other person before it is turned in. NOTE: If you need to make any assumptions,
list them (e.g., if you need to restrict the domain, assume some trignometric
property, etc.).

1. (40 pts) Consider the following dynamic system

a
  ...   a
+ a2 cos x2 − a2 (sin x2 ) (ẋ2 + ẋ1 )
  
2a + a cos x2 x − (sin x2 ) ẋ2 ẍ1
a a
2
a ...1 + a2
2
+ 2 cos x2 2
x2 2
(sin x2 ) ẋ1 0 ẍ2
   
ẋ1 sgn(ẋ1 )
+c +b =u
ẋ2 sgn(ẋ2 )
where a, b, c are unknown positive constants with known upper and lower bounds, and
x(t), ẋ(t), ẍ(t) are measurable. Let e = x(t) − xd (t) where xd (t) and its derivatives are
known time varying signals that can be upper bounded by constants as ∥xd ∥ ≤ c1 ,
∥ẋd ∥ ≤ c2 , .... Design a continuous u(t) to obtain the best result possible. Show the
complete stability result and prove the controller is bounded and implementable.