Exercises for Chapter 2

Describing function method

Problem 2.1: Calculate the complex gain of the following nonlinear element:
u

2Vm
Vm
D e
D
 Vm
 2Vm

Problem 2.2: Find the describing function of the following nonlinear element
u

Vm

K
D e
D

 Vm

Problem 2.3: Find the describing function of the nonlinear element u  f (e)  e3

Problem 2.4: Analyse the oscillation mode of a close-loop control system with a three-state relay
Calculate the amplitude and frequency of the self-excited oscilation, if existing.
 
u
 
10
r(t)=0 e(t) u(t)   y(t)
+ N(M) G(s)
  1 e
1
 
   10
 20
Problem 2.5: Given the nonlinear system, in which G ( s )  amd N(M) is a three-state
s( s  1) 2
relay. Find the condition of V and D such that the system will not have self-excited oscilation.
u
 
V
 

r(t)=0 e(t) u(t)   y(t) D e

+ N(M) G(s)
  D

  V

Problem 2.6: Consider the ON-OFF control of a thermal process below, in which the transfer
function of the thermal process is:
300e 20 s
G( s ) 
60 s  1
The ON-OFF control law is as follow:
If e(t) < 0 then u(t) = 0
If e(t) > 0 then u(t) = 1

r(t)=150 e(t) u(t) y(t)

+ ON-OFF G(s)

 
Calculate the amplitude and frequency of the self-excited oscilation. Simulate the system using
Matlab to verify the result.
60
Problem 2.7: Given the nonlinear system, in which G ( s )  and N(M) is a two state relay
( s  4)3
with 2 hysteresis. Calculate the amplitude and frequency of the self-excited oscilation, if
existing.
u
 
  12

r(t)=0 e(t) u(t)   y(t)

+ N(M) G(s) 0.5 e
 
0.5
 
 12
  

Lyapunov Method

Problem 2.8: Given a nonlinear system:

 x1  x2  sin x1

 x2  2 x1 x2  u
a. Verify that the state xe  ( , 0) is an equilibrium point.
b. Analyze the stability of the system at the above equilibrium point

Problem 2.9: Given a nonlinear system:

 x1  ( x2  1) x1

 x2  2 x1
2

a. Find equilibrium points of the system

b. Analyze the stability of the system at the equilibrium point [0, 2]T
c. Find a Lyapunov function to prove that the system is stable at the equilibrium point [0, 2]T.
Is the system asymptotically stable?

Problem 2.10: Given a nonlinear system:

 x1  x2  x13  x1 x22

 x 2   x1  x2 x1  x2
2 3

Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 2.11: Given a nonlinear system:

 x1  x1 ( x12  2)

 x 2  2 x1 x2  x2  2 x2
2 3

Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 2.12: Given a nonlinear system:

 x1  x22  x1 cos x2

 x 2  x2  ( x1  1) x1  x1 sin x2
Prove that the system is asymptotically stable at the equilibrium point x  [0;0]T

Problem 2.13: Given a nonlinear system:

 x1   x12  x1  sin x2
  
 x2  cos x2  x1  5x2
3

Verify that x  [1;0]T is an equilibrium point of the system. Analyze the stability of the system at
the equilibrium point. 
Problem 2.14: Given a nonlinear system:
 x1   x2 x3  1

 x2  x1 x3  x2
 x  x 2 (1  x )
 3 3 3
a. Find equilibrium points of the system
b. Analyze the stability of the system at the equilibrium point.

Problem 2.15: Given a nonlinear system:

 x1   x1  x12

 x2   x2  x3
2

 x  x  x 2
 3 3 1

Analyze the stability of the system at the equilibrium point x = [0, 0, 0]T

Problem 2.16: Given a nonlinear system:

 x1  2 x1  x13

 x2   x2  x1
2

 x   x
 3 3

Analyze the stability of the system at the equilibrium point x = [0, 0, 0]T

Problem 2.17: Given a nonlinear system:

 x1   x1

 x2   x1  x2  x3  x1 x3
 x  ( x  1) x
 3 1 2
Analyze the stability of the system at the equilibrium point x = [0, 0, 0]T

Problem 2.18: Given a nonlinear system:

y  4 y 5  ( y 2  1)u  0
Let x1  y; x 2  y . Find the equilibrium point when u=0 and analyze the stability of the system at
the equilibrium point.

Problem 2.19: Given a nonlinear system:

y  y 7  y 3  sin4 y
Let x1  y; x 2  y . Find the equilibrium point and analyze the stability of the system at the
equilibrium point.
Problem 2.20: Given a nonlinear system:
y  ( x  1) 4 y 7  y 5  y 3 sin3 y
Let x1  y; x 2  y . Find the equilibrium point and analyze the stability of the system at the
equilibrium point.

Problem 2.21: Given a nonlinear system:

 x1
x1    x23
 1  x1
2

x   x
 2 2

Find the equilibrium point and prove that the system is asymptotically stable stability at the
equilibrium point.

Problem 2.22: Given an autonomous nonlinear system:

y(t )  dy 3  ky  0
(d>0, k>0)
1. Write the state equation with x1  y, x2  y
2. Analyze the stability of the system at the equilibrium point.,

Problem 2.23: Given a nonlinear system:

 x  2x x2  x2  x

1 1 1 2 2

x2  2x2 x1  x2  x1
2 2

Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 2.24: Given a nonlinear system:

 x1  x2  x1 ( x12  x22 )

 x2   x1  x2 ( x1  x2 )
2 2

Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 2.25: Given a nonlinear system:

 x1  x1 ( x12  x22  1)  x2

 x 2  x1  x2 ( x1  x2  1)
2 2

Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 2.26: Given a nonlinear system:

 x1  x1 ( x12  x22  2)  4 x1 x22

 x2  4 x1 x2  x2 ( x1  x2  2)
2 2 2

Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 2.27: Given a nonlinear system:
 x1   x1  g (t ) x2

 x2  0.5 x1  x2  x2
3

0  g (t )  0.5
Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 2.28: Given a nonlinear system:

 x1  4 x2  x1 ( x12  2 x22  4)

 x2  2 x1  x2 ( x1  2 x2  4)
2 2

Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 2.29: Given a nonlinear system:

 x1  x2

 x2  x1  sat(2 x1  x2 )
Analyze the stability of the system at the equilibrium point x  [0;0]T
 x (1  x  1)
Note: sat( x)  1 ( x  1)
 1 ( x  1)

Problem 2.30: Given a nonlinear system:

 x1   x1  e 2t x2

 x 2  x1  x2
Prove that the system is asymptotically stable at the equilibrium point x  [0;0]T by using the
following Lyapunov function
V ( x, t )  x12  (1  e2t ) x22

Problem 2.31: Given a nonlinear system:

x1   x2 x3  x13

x2  x1x3  2 x2
3

x  (1/ 3) x x  x3
 3 1 2 3

Analyze the stability of the system at the equilibrium point x  [0;0;0]T

Problem 2.32: Given a nonlinear system:

 x1   x1  g ( x2 )

 x 2   x2  h( x1 )
Knowing that the functions g(.) and h(.) satisfy g( )   and h( )   .
Prove that the system is globally asymptotically stable at xe  [0,0]T
Feedback linearization control
Problem 2.33: Given a nonlinear system described by the state equation:
x1  x2 (1  x12 )

x2   x2 x1  u
y  x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the feedback linearization controller such that the characteristic equation of the error
dynamics has double roots at –5.
Draw the block diagram of the designed control system.

Problem 2.34: Given a nonlinear system described by the state equation:

 x1  3 sin x2

 x2   x1  u
2

y  x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the feedback linearization controller such that the characteristic equation of the error
dynamics has double roots at –3. Draw the block diagram of the designed control system.

Problem 2.35: Given a nonlinear system described by the state equation:

 x1  x2  x12

 x2   x2 x1  u
2

y  x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the feedback linearization controller such that the characteristic equation of the error
dynamics has pair of complex roots with   0.6 and n  2 . Draw the block diagram of the
designed control system.

Problem 2.36: Given a nonlinear system described by the state equation:

 x1  x2

 x2   x1  2(1  x1 ) x2  u
2

y  x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the feedback linearization controller such that the characteristic equation of the error
dynamics has the roots p1  2 and p2  5 . Draw the block diagram of the designed control
system.

Problem 2.37: Given a nonlinear system described by the state equation:

 x1  x12 x2

 x2  2 x2  u 1  x1
2

y  2x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the feedback linearization controller such that the characteristic equation of the error
dynamics has pair of complex roots at  4  j3 . Draw the block diagram of the designed control
system.

Problem 2.38: Given a nonlinear system described by the state equation:

 x1   x12  x2

 1
 x2   x3
 1  x12
 x 3   x2 x1  u
y  x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the feedback linearization controller such that the characteristic equation of the error
dynamics has three roots at 50 .

Problem 2.39: Given a nonlinear system described by the state equation:

 x1  x2
 x   x 2  x
 2 2 3
 x   sin x  u 1  x 2
 3 1 2

y  x1
Design a feedback lineariztion controller such that the output signal y(t) can track the square-
form reference signal yd(t) without steady-state error, settling time less than 3.0 sec, and
percentage of overshoot is less than 10%.

Problem 2.40: Given a nonlinear system described by the state equation:

 x1  x2
 x  x sin x  x
 2 2 1 3
 x  x  (1  x )u
 3 1 3

y  x1
Design a feedback lineariztion controller such that the output signal y(t) can track the square-
form reference signal yd(t) without steady-state error, settling time less than 2.0 sec, and
percentage of overshoot is less than 5%.

Problem 2.41: Given a nonlinear system described by the state equation:

 x1  x2  sin x1

 x2  2 x1 x2  u
y  x
 1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the feedback linearization controller such that the characteristic equation of the error
dynamics has the root(s) at 2 .
Problem 2.42: The nonlinear model of a DC motor control system is as follow:

 x1  2 x1  u Legend
 x  0.5 x  0.1  x x x1: excited current
 2 1 1 3
 x2: armature current
 x3  3 x1 x2 x3: motor speed
 y  x3 u: control voltage

The objective is to control the output signal y(t) tracking the reference signal yd(t). Design the
feedback linearization controller such that the characteristic equation of the error dynamics has
double roots at 10 .

Problem 2.43: Feedback linearization control of a tank:

qin
u(t)
h(t)
qout

h(t ) 
1
A( h )
ku (t )  C D b 2 gh (t ) 
Amax  Amin
A(h)  h  Amin
hmax
in which: u(t ) : pump control voltage ( 0  u (t )  12V )
h (t ) : level of liquid in the tank (cm)
A(h): cross-area of the tank (cm2)
hmax: maximum level of liquid in the tank
Amax, Amin: maximum and minimum cross area of the tank
k : pump power constant
b: cross area of the output valve (cm2)
g: gravitational constant (981cm/sec2)
CD: discharge constant
The parameters of the tanks are as follow hmax = 50cm, Amax = 200 cm2, Amin = 100 cm2,
b = 1 cm2, k = 300 cm3/sec, CD=0.6.
Design a feedback linearization controller to control the level of liquid in the tank following a
square-waveform reference signal.
Sliding mode control
Problem 2.44: Given a nonlinear system described by the state equation:
 x1  x2  x12

 x2   x2 x1  u
2

y  x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the sliding mode controller such that the characteristic
equation of the sliding surface has a root at –5.
Draw the block diagram of the designed control system.

Problem 2.45: Given a nonlinear system described by the state equation:

 x1  3 sin x2

 x2   x1  u
2

y  x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the sliding mode controller such that the characteristic equation of the sliding surface has
a root at –2. Chose the value of K via simulation. Draw the block diagram of the designed control
system.

Problem 2.46: Given a nonlinear system described by the state equation:

 x1  x1  x2

 x2  x1 x2  x1  x3
2


 x3  u
 y   x2  x
 1 2
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the sliding mode controller such that the characteristic equation of the sliding surface has
all the roots at –8.

Problem 2.47: Given a nonlinear system described by the state equation:

 x1  x2

 x2  x1 x2  x1  x3
2

 1
 x3  x2  1  x 2 u
 3

 y  x1
The objective is to control the output signal y(t) tracking the reference signal yd(t).
Design the sliding mode controller such that the characteristic equation of the sliding surface has
all the roots at –10.

Problem 2.48: Given a nonlinear system described by the state equation:

  x1   x13  sin x2

 x2  2 x2 x1  u 1  x1
y  x1
Design a sliding mode controller such that the output signal y(t) can track the square-form
reference signal yd(t) without steady-state error, no overshoot and settling time less than 0.5sec.

Problem 2.49: Given a nonlinear system described by the state equation:

 x1  x2
 x   x 2  x
 2 2 3
 x   sin x  u 1  x 2
 3 1 2

y  x1
Design a sliding mode controller such that the output signal y(t) can track the square-form
reference signal yd(t) without steady-state error, settling time is less than 3.0 sec; and percentage
of overshoot is less than 10%.

Problem 2.50: Given a nonlinear system described by the state equation:

 x1  x2
 x   sin(x )  x
 2 1 3
 x   x  (1  cos2 x )u
 3 3 2

y  x1
Design a sliding mode controller such that the output signal y(t) can track the square-form
reference signal yd(t) without steady-state error, no overshoot and settling time less than 0.5sec.

Problem 2.51: The nonlinear model of a DC motor control system is as follow:

 x1  2 x1  u Legend
 x  0.5 x  0.1  x x x1: excited current
 2 1 1 3
 x2: armature current
 x3  3 x1 x2 x3: motor speed
 y  x3 u: control voltage

The objective is to control the output signal y(t) tracking the reference signal yd(t). Design a
sliding mode controller such that the response has no overshoot, zero steady-state error, and the
chattering phenomenon is as less as possible.