Winter 2014 - EECS 562 / AEROSP 551 Nonlinear Systems and Control HW #2

Shai Revzen (shrevzen@eecs.umich.edu) Jan. 24, 2014

Due Friday, Jan. 31, 2014

PROBLEM: Norm equivalence of l2 , l and l1 on real tuple spaces

Recall that norms A and B for a space X are equivalent if kL , kU : v X : kL v A v B kU v A . Show that the three most commonly used norms are equivalent over any Rn space. HINT: You may want to start with R2 ; solving that case will give you 2 out of 3 points. HINT: There are easier and harder choices of kL , kU . Pick an easier one. HINT: There are three equivalences to prove. If you generalize the theorem to norm equivalence of all lp norms, you need to write only one theorem.

PROBLEM: f C [Rk , Rm ] : limn f (xn ) = f (limn xn )

x = lim xn > 0 : N N : n > N : xn x < .
n

Recall that the usual denition of a limit is:

Taking this denition of the limit, show the statement to be true whenever limn xn exists. HINT: The topological denitions make this very easy top prove for arbitrary topological spaces and not only normed spaces over R.

PROBLEM: use contraction mapping to solve Ax = b

1. This one should be easy (worth 2 points) 0.28688 0.14016 0.1152 A = 0.14016 0.20512 0.0864 0.1152 0.0864 0.308 2. This one is harder can you x it? (worth the 6. A = 8. 0. 3rd point) 31.36 23.52 14.4 11.52 8.64 30.8

Solve the equation Ax = b for x R3 and b = [1, 1, 1] for the following choices of A:

Taking x to be the correct solution, for each choice of A, provide a plot of log xn x against the iteration number. Start your iterations from x0 = 0 1

Inverted Pendulum Project

Starting from the linearization done in the previous homework, substitute values: M = 25Kg , m = 20Kg , 1 L = 9.81m, g = 9.81m/s2 , J = 3 mL2 , s in meters and in radians. Linearizing around x = 0 should give x = Ax + Bu such that 0 1 0 0 0 1 0 0 0 1 A= 0 0 0 1 , B = 0 1 0 0 0 b

4.1

PROBLEM: control the linearized system

1. Verify that the system x = Ax + Bu is completely controllable 2. Determine the state feedback law u = F x+v which places the closed loop eigenvalues at {3, 2, 0.7 0.2j }. You may use the place command in MatLab, or the polePlacement.place function in the code provided by the instructor on CTools1 . 3. Recall that the linearization we use came from a non-linear system x = f (x, u), for which we may now choose u := F x for the feedback law you found. Verify that the controlled linearization A + BF equals (f (x, F x)|x=0 . the linearization of controlled nonlinear system x What can you conclude regarding the stability of the nonlinear closed-loop system? See Theorem 4.7 page 139 of Khalil. NOTE: Most of you will use a computer to solve this problem, although a paper and pen solution is acceptable. If you use code be sure to submit it!

4.2

PROBLEM: simulate the system

Write code for simulating the dynamics of the nonlinear system using your favorite ODE integration tool, e.g. MatLabs ode45 or the instructors odeDP5. Make sure this code is nice that it is easy to change the parameters of the system, and that it can be called to simulate the dynamics for a given time interval starting from any initial conditions. The state is four-dimensional: x1 , x2 , x3 , x4 . Simulate starting with x1 = 0.1, x2 = 0, x3 = 0, x4 = 0 for 10 seconds, and plot all four state variables. Similarly plot all variables starting with each of the other state variables set to 0.1 and the remainder at 0 (total of 4 simulations, 4 variables in each).

1 The

polePlacement code requires the python-sympy package