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Solution Final Spring 2021

The document contains solutions to 3 problems: 1) Analyzing an autonomous system and finding its equilibrium points, linearization, and stability based on eigenvalues. The system is a center if μ=0 and a stable/unstable focus if μ<0 or μ>0 respectively. 2) Finding 4 trajectories that commute to the same equilibrium point (0.5, y) by solving the system equations. 3) Showing the system is globally asymptotically stable by defining a Lyapunov function V(x) and showing V(x) is positive definite, V̇(x) is negative definite, and V(x) is not bounded.

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hung kung
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32 views4 pages

Solution Final Spring 2021

The document contains solutions to 3 problems: 1) Analyzing an autonomous system and finding its equilibrium points, linearization, and stability based on eigenvalues. The system is a center if μ=0 and a stable/unstable focus if μ<0 or μ>0 respectively. 2) Finding 4 trajectories that commute to the same equilibrium point (0.5, y) by solving the system equations. 3) Showing the system is globally asymptotically stable by defining a Lyapunov function V(x) and showing V(x) is positive definite, V̇(x) is negative definite, and V(x) is not bounded.

Uploaded by

hung kung
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Solution Sample Spring 2021:

Problem 1: (30 points)

𝑥̇ 1 = −𝑥2 + 𝜇𝑥1 (𝑥12 + 𝑥22 )


𝑥̇ 2 = 𝑥1 + 𝜇𝑥2 (𝑥12 + 𝑥22 )
a) Equilibrium points:
𝑥̇ 1 = 0 ⇒ −𝑥2 + 𝜇𝑥1 (𝑥12 + 𝑥22 ) = 0
𝑥̇ 2 = 0 ⇒ 𝑥1 + 𝜇𝑥2 (𝑥12 + 𝑥22 ) = 0
⇒ 𝑥1 = 0, 𝑥2 = 0 , the equilibrium point is (0,0). (4 points)

b) The linearized model is given by:


𝑋̇ = 𝐴𝑋 + 𝐵𝑈
𝜕𝑓1 𝜕𝑓1
| |
𝜕𝑥1 (0,0) 𝜕𝑥2 (0,0)
𝐴=
𝜕𝑓2 𝜕𝑓2
| |
[𝜕𝑥1 (0,0) 𝜕𝑥2 (0,0) ]
𝜇(𝑥12 + 𝑥22 ) + 𝜇𝑥1 (2𝑥1 )|(0,0) −1 + 𝜇𝑥1 (2𝑥2 )|(0,0)
=[ ]
1 + 𝜇𝑥2 (2𝑥1 )|(0,0) 𝜇(𝑥12 + 𝑥22 ) + 𝜇𝑥2 (2𝑥2 )|(0,0)
0 −1
=[ ]
1 0
(4 points)
𝐵=0
𝑋̇ = 𝐴𝑋 (2 points)
c) The eigenvalues are given by:
𝜆 1
𝐷𝑒𝑡(𝜆𝐼 − 𝐴) = 0 ⇒ | | = 𝜆2 + 1 = 0 ⇒ 𝜆 = ±𝑗 (2 points)
−1 𝜆
The equilibrium point is a center. (2 points)
d) We consider the change of variables below:
𝑥1 = 𝑟 cos 𝜃 (1 point)
𝑥2 = 𝑟 sin 𝜃 (1 point)

𝑥̇ 1 = −𝑥2 + 𝜇𝑥1 (𝑥12 + 𝑥22 ) → 𝑟̇ cos 𝜃 − 𝑟𝜃̇ sin 𝜃 = −𝑟 sin 𝜃 + 𝜇 𝑟 cos 𝜃 (𝑟 2 ) (1)

𝑥̇ 2 = 𝑥1 + 𝜇𝑥2 (𝑥12 + 𝑥22 ) → 𝑟̇ sin 𝜃 + 𝑟𝜃̇ cos 𝜃 = 𝑟 cos 𝜃 + 𝜇 𝑟 sin 𝜃 (𝑟 2 ) (2)


Multiplying (1) by cos 𝜃 and (2) by sin 𝜃:
(1) + (2) → 𝑟̇ = 𝜇𝑟 3 (3 points)

Multiplying (1) by sin 𝜃 and (2) by cos 𝜃:

(1) − (2) → 𝑟𝜃̇ = −𝑟 → 𝜃̇ = −1 (3 points)


The system in polar coordinates is given by:
𝑟̇ = 𝜇𝑟 3
{
𝜃̇ = 1
e) If 𝜇 > 0 → unstable focus (2 points)
If 𝜇 < 0 → stable focus (2 points)
If 𝜇 = 0 → center (2 points)

Problem 2: (50 points)


The commutation occurs at 1 − 2𝑥1𝑐 = 0 → 𝑥1𝑐 = 0.5.
First trajectory:
𝑥10 = 0, 𝑥20 = 0
𝑟 − 𝑘𝑀𝑇𝑥1 = 1 − 2𝑥10 = 1 > 0 → 𝜆 = +1
(2 points) (2 points)
𝑥 −𝜆 −1
𝑥1 (𝑡) + 𝑥2 (𝑡) = 𝑥10 + 𝑥20 + 𝜆 ln [𝑥 20
(𝑡)−𝜆
] = 0 + 1 ln [𝑥 ] (2 points)
2 2 −1

𝑥1𝑐 = 0.5 (2 points) , 𝑥2𝑐 =?


−1 −1
0.5 + 𝑥2𝑐 = ln 𝑥 → 𝑥2𝑐 − ln 𝑥 + 0.5 = 0 (2 points)
2𝑐 −1 2𝑐 −1

→ 𝑥2𝑐 = 0.7 (2 points)


→ (𝑥1𝑐 , 𝑥2𝑐 ) = (0.5, 0.7)

Second trajectory:
𝜆 = −1 (2 points)
𝑥 −𝜆 0.7+1 0.7+1
𝑥1 (𝑡) + 𝑥2 (𝑡) = 𝑥10 + 𝑥20 + 𝜆 ln [𝑥 20
(𝑡)−𝜆
] = 0.5 + 0.7 − ln [ 𝑥 ] = 1.2 − ln [ 𝑥 ] (2 points)
2 2 +1 2 +1

𝑥′1𝑐 = 0.5 (2 points) , 𝑥′2𝑐 =?


1.7 1.7
0.5 + 𝑥′2𝑐 = 1.2 − ln 𝑥 ′ → 𝑥 ′ 2𝑐 + ln 𝑥′ − 0.7 = 0 (2 points)
2𝑐 +1 2𝑐 +1

→ 𝑥′2𝑐 = −0.47 (2 points)


→ (𝑥′1𝑐 , 𝑥′2𝑐 ) = (0.5, −0.47)
Third trajectory:
𝜆 = 1 (2 points)
𝑥 −𝜆 −0.47−1 −1.47
𝑥1 (𝑡) + 𝑥2 (𝑡) = 𝑥10 + 𝑥20 + 𝜆 ln [𝑥 20
(𝑡)−𝜆
] = 0.5 − 0.47 + ln [ ] = 0.03 + ln [ 𝑥 ] (2
2 𝑥2 −1 2 −1
points)
𝑥′′1𝑐 = 0.5 (2 points) , 𝑥′′2𝑐 =?
−1.47 −1.47
0.5 + 𝑥′′2𝑐 = 0.03 + ln 𝑥 ′′ → 𝑥 ′′ 2𝑐 − ln 𝑥′′ + 0.47 = 0 (2 points)
2𝑐 −1 2𝑐 −1

→ 𝑥′′2𝑐 = 0.36 (2 points)


→ (𝑥′′1𝑐 , 𝑥′′2𝑐 ) = (0.5, 0.36)

Fourth trajectory:
𝜆 = −1 (2 points)
𝑥 −𝜆 0.36+1 1.36
𝑥1 (𝑡) + 𝑥2 (𝑡) = 𝑥10 + 𝑥20 + 𝜆 ln [𝑥 20
(𝑡)−𝜆
] = 0.5 + 0.36 − ln [ 𝑥 ] = 0.86 − ln [𝑥 ] (2
2 2 +1 2 +1
points)
𝑥′′′1𝑐 = 0.5 (2 points) , 𝑥′′2𝑐 =?
1.36 1.36
0.5 + 𝑥′′′2𝑐 = 0.86 − ln 𝑥 ′′′ → 𝑥 ′′ 2𝑐 + ln 𝑥′′′ − 0.36 = 0 (2 points)
2𝑐 +1 2𝑐 +1

→ 𝑥′′2𝑐 = −0.29 (2 points)


→ (𝑥′′1𝑐 , 𝑥′′2𝑐 ) = (0.5, −0.29)

(4 points)
The origin is a stable focus. (4 points)
Problem 3 : (20 points)

𝑥̇ 1 = 𝑥2 − 𝑥1 (𝑥12 + 𝑥22 )
𝑥̇ 2 = −𝑥1 − 𝑥2 (𝑥12 + 𝑥22 )
1
𝑉(𝑥) = (𝑥12 + 𝑥22 )
2
𝑉̇ (𝑥) = 𝑥1 𝑥̇ 1 + 𝑥2 𝑥̇ 2 = 𝑥1 (𝑥2 − 𝑥1 (𝑥12 + 𝑥22 )) + 𝑥2 (−𝑥1 − 𝑥2 (𝑥12 + 𝑥22 )) = −2(𝑥12 + 𝑥22 ) < 0
(5 points)
𝑉(𝑥) → ∞ 𝑖𝑓 𝑥 → ∞, 𝑉(𝑥) is not bounded (5 points)

𝑉̇ (𝑥) < 0 ∀𝑥 ≠ 0 (5 points)


The system is globally asymptotically stable. (5 points)

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