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Electrical Engineering Department- Eskiehir Osmangazi University

Nonlinear Control Systems-1st Midterm Examination, Spring 2006
Duration: 75 minutes, only one side A4 sheet is allowed

1 [15 pts.] is the phase portrait of the following system symmetric with respect to any axis?
x& = y 2
y& = x + y
Soln:
x+ y
Slope at (1,1): (1,1) = 2
y2
x+ y
Slope at (-1,1): (1,1) = 0 , not symmetric with respect to y-axis
y2
x+ y
Slope at (1,-1): (1,1) = 0 , not symmetric with respect to y-axis
y2

2 [15 pts.] Linearize the following system about its equilibrium point at the origin

x&1 = x1 + x 22 2 x 2
x& 2 = x13 + x1 x 2 + 4 x3
x& 3 = sin( x 2 ) + x32 + 2
Soln. :

f1 f1 f 1 x1

x x 2 x3 x 2
f1 ( x1 , x 2 , x3 ) = x1 + x 22 2 x 2 x1 f 1
&
f 2 f 2 x3
f 2 ( x1 , x 2 , x3 ) = x13 + x1 x 2 + 4 x3 , x& 2 = 2
f 3 ( x1 , x 2 , x3 ) = sin( x 2 ) + x32 + 2 x& x1 x 2 x3
3
f 3 f 3 f 3
( x1 = 0
x1 x 2 x3 x 2 = 0
x 3 = 0)

x&1 1 2 0 x1
x& 2 = 0 0 4 x 2 , linear system.
x& 0 1 0 x
3 3

3 [30 pts] Consider the system

x& = 2 x 2 8
i-Obtain the equilibrium point(s)
ii-Obtain the phase portrait of the system.
iii-Analyze Lyapunov stability of equilibrium points
soln:
i- 0 = 2 x 2 8
(2 , 0) & (-2 , 0) are the equilibrium points.
ii-

x>2 x& positive, x increases

-2 2 X 2 < x < 2 x& negative, x decreases
x < 2 x& positive , x increases

iii- x=-2 is Lyapunov stable, x=-2 is not Lyapunov stable,

4 [40] Consider the system

x& = 64 28 x

i-Plot the phase portrait of the system using its eigenstructure

x
ii-Is there any initial condition for this system such that 2 is constant for all subsequent times? If
x1
the answer is yes, then list all such initial conditions.
iii-Does this system have an equilibrium point? If the answer is yes, then is it Lyapunov stable?

Soln:
i-Eigenvalues of the coefficient matrix are -2 and -10 Associated eigenvectors are 1 c and
1 1
1 c respectively, where c and c are arbitrary.
3 2 1 2

x (0)
ii- Hence, for 1 = 1 c the quotient x 2 = 1 , and for x1 (0) = 1 c the quotient x 2 = 3
2
x ( 0) 1 1
x1 x 2 (0) 3 2 x1
for all subsequent times.
iii-The system has a single EP at the origin. Because the eigenvalues are in the LHCP, this EP is
stable in Lyapunov senses.