CDS 240, Spring 2016: HW 1: Difference between revisions

From Murray Wiki
Jump to navigationJump to search
No edit summary
(One intermediate revision by the same user not shown)
Line 9: Line 9:

<li>'''Khalil, Problem 9.2'''
* Hint: Section 8.2 of Khalil gives information on how to find the upper bound for the region of attraction
<li>'''Khalil, Problem 9.6'''</li>
<li>'''Khalil, Problem 9.6'''</li>
<li>'''Khalil, Problem 9.17'''</li>
<li>'''Khalil, Problem 9.17'''</li>

Latest revision as of 00:38, 18 April 2016

R. Murray, J. Doyle Issued: 31 Mar 2016 (Thu)
CDS 240, Spring 2016 Due: 11 Apr 2016 (Mon)


  1. Khalil, Problem 9.6
  2. Khalil, Problem 9.17
  3. Khalil, Problem 9.29
    • For part b, let $\|\dot r(t)\| \leq \epsilon$, for all $t \geq 0$. Reason why there exists a Lyapanov function satisfying equations (9.41)-(9.44). Then explain why for some sufficiently small epsilon, solutions are uniformly ultimately bounded to a ball bound the equilibrium point $(\bar x, \bar z)$, with a radius of the ball in proportion to $\epsilon$, and that therefore the norm of the tracking error is smaller than $k \epsilon$ for some $k>0$. Also, what happens to the tracking error when $\dot r(t) \to 0$ as $t \to \infty$?
  4. Khalil, Problem 10.11
    • Hint: first analyze the portion of the system without forcing
  5. Khalil, Problem 10.12
  6. Khalil, Problem 11.22
    • Hint: Use $V(x) = \int_0^x (s + \eta(s)) ds$ as a Lyapunov function candidate for the reduced model.
  7. Khalil, Problem 11.25, part (a)