Student’s name: Roll No.

: 1 of 3

Mid-Semester Exam, EE 650A (Basics of

Modern Control Systems), 2018⇤

D EPARTMENT OF E LECTRICAL E NGINEERING , IIT K ANPUR

This is a closed-book exam.

1. [2 points] Given x = [ x1 x2 · · · xn ] T 2 R n , we define the p-norm of x as k x k p :=

p 1/p
Âin=1 | xi | . Prove or disprove that the definition of the infinity norm

k x k• := max {| x1 |, | x2 |, · · · , | xn |}

can be obtained from this definition as p ! •.

2. [1 points] What is k x k• , where x = [1, 1, 2, 2]| ?
3. Consider the mapping A : R2 ! R2 , with A = 21
22 .
3.1. [1 points] What is the nullity (also known as dimension of null space) of A?
3.2. [1 points] Write down any one basis of the null space of A.
3.3. [1 points] Write down the range space of A.
3.4. [1 points] What is the image of [1 1]| under the linear transformation A?
3.5. [1 points] What is the pre-image of [1 1]| under the linear transformation A?
3.6. [1 points] Is this mapping into or onto? Explain briefly.
4. [3 points] Determine the eigenvalue-eigenvector decomposition of the matrix A =
1 2 , and identify the numerical values of P and J in A = PJP 1 .
2 3

5. Consider the equation

0 1
l1 1 0 0 0
B C
B 0 l2 0 1 0 C
B C
A p1 p2 p3 p4 p5 = p1 p2 p3 p4 p5 B 0 0 l3 0 1 C .
B C
B C
@ 0 0 0 l4 0 A
o 0 0 0 l5

5.1. [1 points] Rewrite the equation such that the appropriate matrix is converted into
Jordan form.
5.2. [1 points] In the above Jordan form matrix, which eigenvalues are equal to which?
5.3. [1 points] What is the algebraic multiplicity mi of each of the eigenvalues?
5.4. [1 points] What is the geometric multiplicity qi of each of the eigenvalues? qi is the
dimension of the nulll space of A li I.
⇤ Instructor:
Ramprasad Potluri, Office: WL217A, Lab: WL217B, Phones: (0512) 259-8837, 259-7735, E-mail:
[email protected]

EE 650A, IIT Kanpur Mid Semester Exam, 17-IX-2018, L10 & L11 (OROS) 1800 – 2000 hours
Student’s name: Roll No.: 2 of 3

6. [3 points] What are the geometric multiplicity (G.M.) and algebraic multiplicity (A.M.) of
each of the eigenvalues of the following matrix? Fill the table with your answers.
2 3
2 0 0 0 0 0 0 0
6 7
6 0 2 0 0 0 0 0 0 7
6 7
6 0 0 2 0 0 0 0 0 7 l A.M. G.M
6 7
6 7
6 0 0 0 3 1 0 0 0 7
6 7
6 0 0 0 0 3 0 0 0 7
6 7
6 7
6 0 0 0 0 0 4 1 0 7
6 7
6 0 0 0 0 0 0 4 1 7
4 5
0 0 0 0 0 0 0 4

7. We have studied sliding model control theory as applied to SI models of the form
)
xn = f (x) + b(x)u
| (1)
where x = x, ẋ, · · · , x (n 1)

We want to build a sliding-mode controller for the LTI model

2 3 2 32 3 2 3 2 3
z˙1 0 1 ··· 0 z1 0 z1
6 7 6 76 7 6 7 6 7
6 z˙2 7 6 0 0 ··· 0 7 6 z2 7 6 0 7 6 z2 7
6 7 6 76 7 6 7 6 7
6 .. 7 6 .. .. .. .. 7 6 .. 7 6 .. 7 6 . 7
6 . 7=6 . . . . 7 6 . 7 + 6 . 7 w, z , 6 .. 7
6 7 6 76 7 6 7 6 7
6 ˙ 7 6 76 7 6 7 6 7
4 zn 1 5 4 0 0 ··· 1 5 4 zn 1 5 4 0 5 4 zn 1 5
z˙n a0 a1 · · · an 1 zn 1 zn

so that z tracks a desired state zd .

7.1. [2 points] Use the substitution

x = z1
to convert the LTI model into Equation (1).
7.2. [2 points] If xd is the desired state that Equation (1) will track, then what is xd in
terms of zd ?

8. For the equation q̈ + q̇ 2 + 0.5q = 0, perform the following:

8.1. [5 points] The direction field for the equation is shown on this page. On this
field, show the phase trajectories corresponding to the following initial conditions:
( 1, +1), ( 0.8, 0), (0, 0.6), (+0.8, 0), (0, +1). Mark & label the initial conditions. Show
the direction in which the trajectories evolve.
8.2. [2 points] On your phase portrait (consisting of 5 trajectories) mark the equilibrium
point(s). Based on the phase portrait, are the equlibrium points uniformly asymptoti-
cally stable? Provide your reasoning.
9. [5 points] In evaluating the global asymptotic stability of the origin as the equilibrium
point of a certain system, a candidate Lyapunov function is V ( x1 , x2 ) = ( 3x1 + x2 )2 +
( x1 x2 )2 .
! !
x1 p x1
Given that , x1 2 + x2 2 , determine if V ! • as ! •.
x2 x2

EE 650A, IIT Kanpur Mid Semester Exam, 17-IX-2018, L10 & L11 (OROS) 1800 – 2000 hours
Student’s name: Roll No.: 3 of 3

x´ = y
y´ = -0.5x-y²
1

0.8

0.6

0.4

0.2

y 0

-0.2

-0.4

-0.6

-0.8

-1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

x
Each time start
I
from C- o . s
,
o ) I

trace I
slightly different taagectory ,

that leads to me to a
different conclusion
about the behavior
of the system in
this Thus
region .
,

i ) we need to use
analytical methods
such as
.mg
linearly the
system about
the equilibrium point Co ,
o
) ,
and deciding
the nature of the
stability of this equilibrium
point based this
on
linearized version .

Cii ) we can
perform an analysis of the sensitivity ss this an

of the hand -
based
threading of the trajectories opportunity
research
direction for
to the nature
of
the field ( DF ) or has this
,

conclusions
specifically ,
some Df s allow
drawing already been

that less sensitive

are to small variations in done ?

induced
hand -
errors in
threading .

EE 650A, IIT Kanpur Mid Semester Exam, 17-IX-2018, L10 & L11 (OROS) 1800 – 2000 hours
Another way

d-
do

⇒
tano =
-

2.424 t

:?¥
IF
so
I

arctan
(2-414)×1*0=67.50
O

360° - 67.50
292.50

) -18 sinocosotscososino
ddfp-z-e8foso-coso-sino-sr.no
= 8 cost -0 -
8sin20-16sinocos.to

-0 22.50 112.50 292.5 From this table me

,

that has
d¥
see a
p
16.97 -16.97 -16.97

.
value
dot
minimum of 0.172
at -0=22.50
p 0.172 5.828 5.828 This value of 0.172
is not small
negligibly .

V=zr2xp
.

• . → a with r -2 a .

V with Ilse 'll

.

. .
-

so -20 .