Aswan University

Fourth Year
Faculty of Engineering
Automatic Control (II) Course
Electrical Engineering Department
First Semester
Computers and Systems Section
Sheet No. 10

Sheet No. 10

1- Determine whether the following quadratic form is positive definite:

𝑄 = 𝑥12 + 4𝑥22 + 𝑥32 + 2𝑥1 𝑥2 − 6𝑥2 𝑥3 − 2𝑥1 𝑥3

2- Determine whether the following quadratic form is negative definite:

𝑄 = −𝑥12 − 3𝑥22 − 11𝑥32 + 2𝑥1 𝑥2 − 4𝑥2 𝑥3 − 2𝑥1 𝑥3

3- Write a few liapunov functions for the system:

𝑥̇ −1 1 𝑥1
[ 1] = [ ][ ]
𝑥2̇ 2 −3 𝑥2
- Determine the stability of the origion of the system.

4- Determine the stability of the equilibrium state of the following system:

𝑥1̇ = −𝑥1 − 2𝑥2 + 2
𝑥2̇ = 𝑥1 − 4𝑥2 − 1

5- Consider the system described by:

𝑥̇ = 𝐴𝑥
where,
0 1
𝐴=[ ]
−1 −2

- Determine the stability of the equillibrium state 𝑥 = 0.

6- Determine the stability of the equillibrium state of the following system:

𝑥̇ −2 −1 − 𝑗 𝑥1
[ 1] = [ ] [𝑥 ]
𝑥2̇ −1 + 𝑗 −3 2

7- Consider the system defined by

𝑥̇ = 𝐴𝑥 + 𝐵𝑢
where,
0 1 0
𝐴=[ ], 𝐵 = [ ]
0 −1 1

- The performance index 𝐽 is given by:

∞ 1 0
𝐽 = ∫0 (𝑥 𝑇 𝑄𝑥 + 𝑢𝑇 𝑅𝑢)𝑑𝑡 where, 𝑄 = [ ] , 𝑅 = [1]
0 1

- Assume that the following control 𝑢 is used, 𝑢 = −𝐾𝑥

- Determine the optimal feedback gain matrix.

With my best wishes Dr. Mountasser M. Mohamed

Aswan University
Fourth Year
Faculty of Engineering
Automatic Control (II) Course
Electrical Engineering Department
First Semester
Computers and Systems Section
Sheet No. 10

8- Consider the system defined by

𝑥̇ = 𝐴𝑥 + 𝐵𝑢
where,
0 1 0
𝐴=[ ], 𝐵 = [ ]
0 0 1

- Assume that the following control 𝑢 is used, 𝑢 = −𝐾𝑥 = −𝑘1 𝑥1 − 𝑘2 𝑥2

- Determine the optimal feedback gain matrix to minimize the following performance index:
∞
𝐽 = ∫ (𝑥 𝑇 𝑥)𝑑𝑡
0
𝑐
- Consider only the case where the initial condition is: 𝑥(0) = [ ]
1
- Choose the undamped natural frequency to be 2 rad/sec.

9- Consider the system defined by

𝑥̇ = 𝐴𝑥 + 𝐵𝑢
where,
0 1 0
𝐴=[ ], 𝐵 = [ ]
0 0 1

- It is desired to find the optimal control signal (𝑢) such that the performance index is
minimizied.
∞
1 0
𝐽 = ∫ (𝑥 𝑇 𝑄𝑥 + 𝑢2 )𝑑𝑡 , 𝑄 = [ ]
0
0 𝜇

- Determine the optimal signal 𝑢(𝑡).

10- Consider the system described by:

𝑥̇ = 𝐴𝑥
where,
0 1 0
𝐴=[ 0 0 1]
−1 −2 −𝑎

- 𝑎 = adjustable parameter > 0

- Determine the value of the parameter 𝒂 so as to minimize the following performance index:
∞
𝐽 = ∫ (𝑥 𝑇 𝑥)𝑑𝑡
0
𝑐1
- Assume the initial condition is: 𝑥(0) = [ 0 ]
0

With my best wishes Dr. Mountasser M. Mohamed