Chapter 1 od Let ay = 9,22 = 9, oy aq = yO) =m Sn = ty fn = alt tiy.-- Ent) 5 yen O12 Let =y, a2 =y), A =m fn = tat faa = YOY Say galt tr 22500 tea) fn = -aalttiyyznadi— (22 rm =!) — galt, 15>, Enaa) (& 00 = Galt iy...) Tn—1,7n + g2-Ju,u) aon , 8 aon ~ (Bee Sete tt 2 ton tv) w noe 918 Let =y, 22 = 9, an Sng mbm tnt ste = YO), ng md, os Bats =m G(B1y-+-5 Tay Zmtay-+-yZa¢mst) = tage atm2 CHAPTER 1 s14 Len =an=h [fer A= om i = G = M7(a)[u-Cler,22)20 ~ Der ~ of) 91.5 Let ay = gn, 2 = Gis ts = 24 = a =m _ _ Mak k i = J sin, — F(21 ~ 23) fs = k 1 B= Gla—as) +50 © 1.6 Let 21 = a1, 22 = thy 22 = 92, 24 = de, where 2; € R™, a —M~'(2,)[h(zi22) + Kes ~ 23)] iy =u f= IK 25) 4 Au ©L.7 Let Art Buy be a state model of the linear system. u=r- (ty) =r—¥(t,Cz) Hence iz — BY(t,0z)+Br, y=Cz © 1.8 (a) Let 21 = 4, 22 = 6, 15 = Ey, and u= Epp. f= b= (b) The equilibrium points are the roots of the equations O=m 0 = 0815 —Drz ~2.0z5sinz, 0 = 2725 +170sz +122 2 =0> 23 oe sing Substituting 25 in the third equation yields (1.22 + 1.7 cosa) sin 21 ~ 1.10025 = 0 ‘The foregoing equation has two roots 2; = 0.4067 and z; = 1.6398 in the interval —x < 21 < x. Due to periodicity, 0.4067 + 2nz and 1.6398 + 2nr are also roots for n = £1,+2,.... Each root 21 = 2 gives anequilibrium point (z,0,0.4075/ sinz). (c) With B, = constant, the model reduces to PD, om Eysin2, he Mt which isa pendulum equation with an input torque. # 1.9 (a) Let 21 = $1, 22 =00. in (b) Let 25 = in, 22 = ve a ‘The model of (a) is more familiar since it is the pendulum equation. 1.20 (a) Let 21 = $2, 22 = 00. an #3 finte notte (b) 22 =0 + Ley +2} =0 + 21 =0. Thereis a unique equilibrium point at the origin. ©1111 (a) #=Ar+Buy y=Cx, u=sine €=6,-6, = -b. z=AztBsine, €=-Cz () 0=Az+Bsine > = Cz + -CA"Bsine G(0) 40 = sine (c) For G(s) = 1/(r8 +1), take A= -1/r, B= 1/7 and tne, n 1 et isine, é=—2 Let 21 =e, 22 = 11s smn psinz ham,