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Foundations of Cyber-Physical Systems
Assignment- Week 8
TYPE OF QUESTION: MCQ/MSQ/Numerical
Number of questions: 10 Total mark: 10 X 3 = 30
Question 1
Choose the correct option to fill in the blanks in the following definition.
A system is BIBO stable if for each ________ there exists a _________ such that ||𝑥(𝑡0 )|| < 𝛿 =>
||𝑥(𝑡)|| < 𝜖 ∀ 𝑡 > 𝑡0 .
a. 𝜖 > 0, 𝛿 < 0
b. 𝜖 > 0, 𝛿 > 0
c. 𝜖 < 0, 𝛿 > 0
d. 𝜖 < 0, 𝛿 < 0
Correct Answer: b. 𝜖 > 0, 𝛿 > 0
Detailed Explanation: See the definition of BIBO stability in week 8 slide 7
Question 2
Select the correct properties of a Lyapunov function 𝑉(𝑥) from the following options for a stable system
with equilibrium point 𝑥𝑒 (domain of system states is 𝒟).
a. 𝑉(𝑥) ≥ 0, ∀𝑥 ∈ 𝒟 ∖ 𝑥𝑒 , 𝑉(𝑥𝑒 ) < 0
b. 𝑉̇(𝑥) < 0
c. 𝑉(𝑥) > 0, ∀𝑥 ∈ 𝒟 ∖ 𝑥𝑒 , 𝑉(𝑥𝑒 ) = 0
d. 𝑉̇(𝑥) > 0
Correct Answer: b. and c.
Detailed Explanation: See the criteria of Lyapunov stability in week 8 slide 11-14
Question 3
Considering system state matrix 𝑋 = [𝑥 𝑦]𝑇 and candidate Lyapunov function 𝑉, comment on the
stability of the system at the equilibrium point 𝑋 = 0 when 𝑥̇ = 𝑥 + 3𝑦, 𝑦̇ = 2𝑥 and 𝑉 = 2𝑥 2 − 3𝑦 2 . The
system is
a. BIBO stable
b. Unstable
c. Local asymptotic stable
d. Global asymptotic stable
Correct Answer: b. Unstable
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Detailed Explanation:
𝑋 = [𝑥 𝑦]𝑇
Equilibrium point X=0
𝑥̇ = 𝑥 + 3𝑦 𝑦̇ = 2𝑥
Candidate Lyapunov function
𝑉 = 2𝑥 2 − 3𝑦 2
𝑉(0,0) = 0
𝑉̇ = 4𝑥𝑥̇ − 6𝑦𝑦̇
= 4𝑥(𝑥 + 3𝑦) − 6𝑦 × 2𝑥
= 4𝑥 2 + 12𝑥𝑦 − 12𝑥𝑦 = 4𝑥 2 > 0
The system is unstable.
Question 4
If the system is exponentially stable and there exist 2 positive constants 𝑐 and 𝜎 such that ||𝑥(𝑡0 )|| <
𝛿 => ||𝑥(𝑡)|| ≤ _____________
a. δ
b. 𝑐𝑒 −𝜎(𝑡−𝑡0 )
c. 𝑒 −𝑐𝜎(𝑡−𝑡0 )
d. 𝑐 −𝜎(𝑡−𝑡0)
Correct Answer: b. 𝑐𝑒 −𝜎(𝑡−𝑡0 )
Detailed Explanation: See the definition in the week 8 slide 9
Question 5
For the described inverted pendulum, where 𝑥1 is the angular deviation 𝜃 from the upright position and 𝑢 is the
(scaled) acceleration of the pivot, as shown in the below figure. The system has an equilibrium at 𝑥1 = 𝑥2 =
0, which corresponds to the pendulum standing upright. This equilibrium is unstable. Design a stabilizing
controller for the system using the Lyapunov function 𝑉(𝑥) = (cos 𝑥1 − 1) + 𝑎(1 − cos 2 𝑥1 ) + 0.5𝑥22 . Is the
system asymptotically stable?
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a. Yes
b. No
c. Can’t say
d. Insufficient information
Correct Answer: c. Can’t say
Detailed Explanation: Since the angular deviation is a small quantity, we can approximate to make the
𝑥12
computation easier (considering cos 𝑥1 = 1 − and 𝑠𝑖𝑛𝑥1 = 𝑥1 ), i.e.
2
𝑉(𝑥) = (𝑐𝑜𝑠𝑥1 − 1) + 𝑎(1 − cos 2 𝑥1 ) + 0.5𝑥22 ≈ (𝑎 − 0.5)𝑥12 + 0.5𝑥22
The Taylor series expansion shows that the function is positive definite near the origin if 𝑎 > 0.5.
The time derivative of 𝑉(𝑥) is,
𝑉̇ = −𝑥̇1 𝑠𝑖𝑛𝑥1 + 2𝑎 𝑥̇1 𝑠𝑖𝑛𝑥1 𝑐𝑜𝑠𝑥1 + 𝑥̇ 2 𝑥2 = 𝑥2 (𝑢 + 2𝑎𝑠𝑖𝑛𝑥1 )𝑐𝑜𝑠𝑥1 .
Choosing the feedback law 𝑢 = −2𝑎𝑠𝑖𝑛𝑥1 − 𝑥2 𝑐𝑜𝑠𝑥1 gives 𝑉̇ = −𝑥22 cos 2 𝑥1 ≤ 0.
It follows from Lyapunov’s theorem: Since the function is only negative semidefinite, we cannot
conclude asymptotic stability
Question 6
Match the followings considering the usual notations for Lyapunov function V, barrier certificate B,
unsafe region 𝒰 and system state 𝑥
A. 𝑥 → ∞ 1. 𝑉(𝑥) → 0
B. 𝑥 → 𝒰 2. 𝑉(𝑥) → ∞
C. 𝑥 → 0 3. 𝐵(𝑥) ≥ 0
(i) A matches with __
(ii) B matches with __
(iii) C matches with __
(choose among 1,2,3)
Correct Answer: A. 2, B. 3, C. 1
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Detailed Explanation: By property, the Lyapunov function of a system must approach zero at the
equilibrium and approach infinity when x approach infinity. And by property the Barrier certificate
approaches towards infinity as the system state approach towards the unsafe region.
Question 7
Select the correct properties of a Barrier function 𝐵(𝑥) from the following options.
a. 𝐵(𝑥) > 0 ∀ 𝑥 ∈ 𝒟 ∖ 𝒳0
b. 𝐵̇ (x) ≥ 0 ∀ x ∈ 𝒟 ∖ 𝒰
c. 𝐵(𝑥) < 0 ∀ 𝑥 ∈ 𝒟 ∖ 𝒳0
d. 𝐵̇ (𝑥) ≤ 0 ∀ 𝑥 ∈ 𝒟 ∖ 𝒰
Correct Answer: a and d
Detailed Explanation: See the definition in week 8 slide 32
Question 8
To find a quadratic Lyapunov function 𝑉(𝑥) for a continuous time-controlled system to be globally
stable at the equilibrium point 𝑥 = 0, we need to find a unique symmetric matrix P such that _____ =
−𝑄 (for a positive definite, symmetric matrix 𝑄 and Hurwitz 𝑚𝑎𝑡𝑟𝑖𝑥 𝐴).
Choose an option that fits in the blank.
a. (𝐴𝑃𝑇 𝐴 + 𝐴)
b. (𝐴𝑃𝑇 + 𝑃𝑇 𝐴)
c. (𝐴𝑇 𝑃 + 𝑃𝐴)
d. (𝐴𝑇 𝑃𝐴 + 𝑃)
Correct Answer: c. (𝐴𝑇 𝑃 + 𝑃𝐴)
Detailed Explanation: From Lyapunov’s indirect method matrix Lyapunov is AT P + PA = −Q such that
the Lyapunov function V(x) = x T Px
Question 9
A matrix 𝐴 is an 𝑛 × 𝑛 Hurwitz matrix if the eigenvalues of 𝐴 𝜆𝑖 , ∀𝑖 ∈ [0, 𝑛] satisfy the following
a. 𝑅𝑒(λ𝑖 ) < 0
b. 𝑅𝑒(λ𝑖 ) < |𝐴|
c. |𝑅𝑒(λ𝑖 )| < 1
d. 𝑅𝑒(λ𝑖 ) ≤ 0
Correct Answer: a. 𝑅𝑒(𝜆𝑖 ) < 0
Detailed Explanation: Following the definition of Hurwitz matrix if a square matrix have all negative
eigenvalues then the matrix is called Hurwitz.
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Question 10
Choose whether the following statements are true or false:
A. Unique equilibrium point for all trajectories of a dynamical system concludes global stability.
a. T b. F
B. Time independent bounding ball for the system states for an asymptotically stable system
concludes uniform asymptotic stability.
a. T b. F
Correct Answer: A. a, B. a
Detailed Explanation: See the definitions in the week 8 slides 7,8
