Solution

Tutorial 2

EE-313

1. (a) Let x1 = δ, x2 = δ̇, x3 = Eq , and u = EF D

ẋ1 = x2
P D η1
ẋ2 = − x2 − x3 sin x1
M M M
η2 η3 1
ẋ3 = − x3 + cos x1 + u
τ τ τ
(b) The equilibrium points are the roots of the equations

0 =x2
0 =0.815 − Dx2 − 2.0x3 sin x1
0 = − 2.7x3 + 1.7 cos x1 + 1.22
0.4075
x2 = 0 ⇒ x3 =
sin x1
Substituting x3 in the third equation yields
(1.22 + 1.7 cos x1 ) sin x1 − 1.10025 = 0
The foregoing equation has two roots x1 = 0.4067 and x1 = 1.6398 in the interval −π ≤ x1 ≤ π.
Due to periodicity, 0.4067 + 2nπ and 1.6398 + 2nπ are also roots for n = ±1, ±2, . . . Each root
x1 = x gives an equilibrium point (x, 0, 0.4075/ sin x).
(c) With Eq = constant, the model reduces to

ẋ1 = x2
P D η1
ẋ2 = − x2 − Eq sin x1
M M M
which is a pendulum equation with an input torque.
2. (a) Let x1 = ϕL , x2 = vC
ẋ1 = ϕ̇L = vL = vC = x2
1 1′ h vC i
ẋ2 = v̇C = iC = is − − iL
 C C R
1 1
= is − I0 sin kx1 − x2
C R
(b) Let x1 = iL , x2 = vC . q
ẋ1 = I0 k cos kϕL ϕ̇L = k I02 − i2L vC .
q
= x2 k I02 − x21
 
1 1
ẋ2 = i s − x1 − x2
C R
The model of (a) is more familiar since it is the pendulum equation.

1
3. (a)
ż = Az + Bu, y = Cx, u = sin e
ė = θ̇i − θ̇o = −θ̇o = −y = −Cz
ż = Az + B sin e, ė = −Cz
(b)
0 = Az + B sin e ⇒ z = −A−1 B sin e
0 = Cz ⇒ −CA−1 B sin e = G(0) sin e = 0
G(0) ̸= 0 ⇒ sin e = 0 ⇒ e = ±nπ, n = 0, 1, 2, · · · and z = 0

(c) For G(s) = 1/(τ s + 1), take A = −1/τ, B = 1/τ and C = 1. Then
1 1
ż = − z + sin e, ė = −z
τ τ
Let x1 = e, x2 = −z.
1 1
ẋ1 = x2 , ẋ2 = − x2 − sin x1
τ τ