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Assignment 1

This document outlines 4 problems for an assignment on dynamic systems and control. Problem 1 involves deriving state equations and finding equilibrium points for a mass-spring-pendulum system. Problem 2 linearizes the equation of motion for a simple pendulum and designs a stabilizing control law. Problem 3 determines the relative degree of a nonlinear SISO system and conclusions about its zero dynamics. Problem 4 similarly finds the relative degree, normal form, and zero dynamics of another nonlinear SISO system and modifies the output equation if needed.

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35 views

Assignment 1

This document outlines 4 problems for an assignment on dynamic systems and control. Problem 1 involves deriving state equations and finding equilibrium points for a mass-spring-pendulum system. Problem 2 linearizes the equation of motion for a simple pendulum and designs a stabilizing control law. Problem 3 determines the relative degree of a nonlinear SISO system and conclusions about its zero dynamics. Problem 4 similarly finds the relative degree, normal form, and zero dynamics of another nonlinear SISO system and modifies the output equation if needed.

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Assignment 1

(Due date: 5.pm, October 22, 2019 - Hardcopy submission only)


Problem 1: Given a mass–spring–pendulum system

Dynamic Equations

Given, l=1 (m), m = 1 kg, M = 4 kg, g = 9.82 N/s^2, k = 1.2 N/m;


a) Write out state equations
b) Find equilibrium points for the system (fsolve)
c) Plot time response of θ, x� with initial conditions θ(0) = 0.76, x� = 0.2 (m),
rad
θ̇(0) = 0 ; x�̇ (0) = 0 m/s
s
Problem 2: Equation of motion for this simple pendulum

Where I = m𝑙𝑙 2
a) Write out a linearized model about the equilibrium (θ, 𝜃𝜃̇) = (0, 0)
b) Plot time response of the linearized model of initial condition (𝜃𝜃 = 200
degree, 𝜃𝜃̇ = 0)
c) Design a stabilizing control law and plot time response of the achieved
control. (you are supposed to assign desied poles in this problem)
Problem 3: Consider a SISO model of a nonlinear dynamic system (f, g, h) as

a) Find the relative degree of the system


b) What is conclusion about zero dynamics’ if a > 0

Problem 4: Consider a SISO model of a nonlinear dynamic system as

a) What is the relative degree of the system?


b) Write out the normal form equations and zero dynamics
c) Is the system minimum phase?
d) If the relative degree of the system is less than 4, find the new output
equation such that relative degree of the system equals to 4.
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