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Foundations of Cyber-Physical Systems

Assignment- Week 5
TYPE OF QUESTION: MCQ/MSQ/Numerical

Number of questions: 10 Total mark: 10 X 3 = 30

Question 1

A double integrator system is a canonical example of second order control system. It can be
characterized by a circuit that takes an input signal and integrates it 2 consecutive times and produces
an output signal.

Consider a double integrator system 𝑦̈ = 𝒖 where 𝑢 is input to the system and 𝑦 is the output. Can you
express the system in form of a continuous-time state-space LTI system?
Hint: Consider 𝑦 𝑎𝑛𝑑 𝑦̇ as system states.

0 1 1
a. A=[ ],𝐵 = [ ],𝐶 = [1 0], 𝐷 = [0]
1 0 1
0 1 0
b. A=[ ],𝐵 = [ ],𝐶 = [1 0], 𝐷 = [0]
0 0 1
0 1 1 0 1
c. A=[ ],𝐵 = [ ],𝐶 =[ ] , 𝐷 = [0]
0 0 0 1 0
0 1 0 0 1
d. A=[ ],𝐵 = [ ],𝐶 =[ ] , 𝐷 = [ 0 1]
0 0 1 1 0

0 1 0
Correct Answer: b. A=[ ] , 𝐵 = [ ] , 𝐶 = [1 0], 𝐷 = [0]
0 0 1

Detailed Explanation:
𝑥̇ 1 0 1 𝑥1 0 𝑥1
𝑦 = 𝑥1 , 𝑦̇ = 𝑥̇ 1 = 𝑥2 , 𝑦̈ = 𝑥̇ 2 = 𝑢 ⇒ [ ]=[ ] [𝑥 ] + [ ] [𝑢], 𝑦 = [1 0] [𝑥 ] + [0][𝑢]
𝑥̇ 2 0 0 2 1 2
0 1 0
⇒𝐴=[ ] , 𝐵 = [ ] , 𝐶 = [1 0] , 𝐷 = [0]
0 0 1
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Question 2

Discretize the above system for a sampling period of 100ms. Which of the following represent the state-
space of the discrete double integrator system?

1.005 0.1 0.1052

a. A=[ ],𝐵 = [ ] , 𝐶 = [1 0], 𝐷 = [0]
0.1 1.005 0.1002
1.105 0.0525 0.1052 0 1
b. A=[ ],𝐵 = [ ],𝐶 = [ ] , 𝐷 = [0]
0 1.158 0 1 0
1 0.1 0.005
c. A=[ ],𝐵 = [ ] , 𝐶 = [1 0], 𝐷 = [0]
0 1 0.1
1.105 0.1 0 0 1
d. A=[ ],𝐵 = [ ],𝐶 = [ ] , 𝐷 = [0]
0.1 1.158 0.005 1 0

1 0.1 0.005
Correct Answer: c. 𝑨 = [ ],𝐵 = [ ] , 𝐶 = [1 0], 𝐷 = [0]
0 1 0.1
Detailed Explanation: As we know, discretizing the state-space equation 𝑥̇ = 𝐴𝑥 + 𝐵𝑢 (see week 5
𝐴2 𝑡 2 𝐵
slides 8-11) we get Φ = 𝑒 𝐴𝑡 = 𝐼 + 𝐴𝑡 + + ⋯ and Γ = (𝑒 𝐴ℎ − 1)
2! 𝐴

1 0.1 0.005
Replacing h=0.1 we get discrete matrices as 𝐴 = [ ],𝐵 = [ ] (option c)
0 1 0.1
Here we express Φ, Γ as A, B. C and D remains the same.

Question 3

Given a final state of the discrete double integrator system after 𝑡 units of time, is it possible to
conclude a unique initial state for a sequence of input signals?
a. Yes
b. No

Correct Answer: a. yes

0.005 0.015
Detailed Explanation: The controllability matrix for the system is = [B AB] = [ ] since the
0.1 0.1
number of system states=2. Since the controllability matrix is of full rank i.e. rank=2 therefore a unique
solution to the above question is possible as per the definition of controllability.

Question 4

Find out the observability matrix for the discrete double integrator system in Question 2, where the
second state is considered to be the output of the system.

0 1
Correct Answer: [ ]
0 1
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0 1
Detailed Explanation: 𝑪 = [𝟎 𝟏] ⇒ 𝑶𝒃𝒔𝒆𝒓𝒗𝒂𝒃𝒊𝒍𝒊𝒕𝒚 𝒎𝒂𝒕𝒓𝒊𝒙 = [𝑪, 𝑪𝑨]𝑻 = [ ]
0 1

Question 5

Consider the following trajectory tracking control system for a vehicle of mass 𝑚 that tries to minimize
its deviation 𝑥 from a certain reference distance by exerting certain input force 𝑢 to overcome the equal
amount of force inflicted due to the friction between road and tire. But due to the wind drag and rolling
resistance the vehicle faces a backward resistive force 𝑏𝑣 while the vehicle moves forward in 𝑣 velocity
due to the force applied. Obviously, the equations are simplified and complexities that arise due to the
powertrain is omitted here. Given 𝑚 = 100𝑘𝑔 𝑎𝑛𝑑 𝑏 = 50 𝑁/𝑚/𝑠 find out whether the system is stable
in open loop.

a. Stable
b. Unstable
c. Marginally stable
d. System description lacks sufficient information to comment on its stability

Correct Answer: b. unstable

Detailed Explanation: 𝒎𝒂 + 𝒃𝒗 = 𝒖 ⇒ 𝒎𝒙̈ + 𝒃 𝒙̇ = 𝒖, 𝒊𝒇 𝒙𝟏 = 𝒙 𝒂𝒏𝒅 𝒙𝟐 = 𝒗 = 𝒙𝟏̇ ⇒ 𝒎 𝒙̇ 𝟐 + 𝒃 𝒙𝟐 = 𝒖

𝑥̇ 0 1 𝑥1 0 𝑥1
⇒ [ 1]=[ ][ ] +[ ] [𝑢], 𝑦 = [1 0] [𝑥 ] + [0][𝑢]
𝑥̇ 2 0 −𝑏/𝑚 𝑥2 1/𝑚 2
𝑏 1 0 1
− 𝑚 = −0.05, 𝑚 = 0.001 ⇒ 𝐴 = [ ] has eigen values 𝜆1 = 1, 𝜆2 = −0.05
0 −0.05
Since max (𝜆1 . 𝜆2 )>0 therefore the system is unstable.

Question 6

Design a controller for the trajectory tracking control system given in question 5 such that the closed-
loop discrete system poles are placed at 0.2 if the sampling period of the controller is 0.5 seconds
Hint: Use Ackerman method. Answer till 1 decimal place.

Correct Answer: [ -256 -270 ]

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1 0.5
Detailed Explanation: Discrete state transition matrix = 𝚽 = [ ]
0 0.75
Following Ackerman’s method 𝐾 = −[0 1] × 𝑖𝑛𝑣([𝐵 𝐵𝐴]) × (𝐴 − 0.2 ∗ 𝐼)(𝐴 − 0.2 ∗ 𝐼)𝑇 = −[0 1] ×
−300 200 0.64 0.675
[ ]×[ ] = [−256 − 270]
400 0 0 0.3025

Question 7

If there is a delay of 0.4 seconds between sensing the current position of the vehicle and calculating the
required control input to the vehicle to minimize it, what is the new augmented state transition matrix for
the delay-aware system?

1 0.5 0
Correct Answer: [0 0.75 0.004]
0 0 0

Detailed Explanation: We derived the discrete state-transition matrix for the trajectory tracking control
1 0.5 Φ Γ1 (0.4) Φ 0.4 ∗ Γ
system earlier [ ]. Augmented state-transition matrix Φ𝑎𝑢𝑔 = [ ]=[ ]=
0 0.75 0 0 0 0
1 0.5 0
[0 0.75 0.004]
0 0 0

Question 8

Design a feed forward gain 𝐹 for the closed-loop delay-aware system with characteristic matrices
Φ𝑎𝑢𝑔 , Γ𝑎𝑢𝑔 , 𝐶𝑎𝑢𝑔 and with a controller gain 𝐾 (𝐼 is identity matrix).

𝟏
a. −𝟏
𝑪𝒂𝒖𝒈 (𝜱𝒂𝒖𝒈 +𝜞𝒂𝒖𝒈 𝑲) 𝜞𝒂𝒖𝒈
−𝟏 −𝟏
b. (𝑪𝒂𝒖𝒈 (𝑰 − 𝜱𝒂𝒖𝒈 − 𝜞𝒂𝒖𝒈 𝑲) 𝜞𝒂𝒖𝒈 )
−𝟏 −𝟏
c. (𝑪𝒂𝒖𝒈 (−𝜱𝒂𝒖𝒈 − 𝜞𝒂𝒖𝒈 𝑲) 𝜞𝒂𝒖𝒈 )
𝟏
d.
𝑪𝒂𝒖𝒈 (𝑰−𝜱𝒂𝒖𝒈 −𝜞𝒂𝒖𝒈 𝑲)𝜞−𝟏
𝒂𝒖𝒈

−𝟏 −𝟏
Correct Answer: 𝒃. 𝑭 = (𝑪𝒂𝒖𝒈 (𝑰 − 𝜱𝒂𝒖𝒈 − 𝜞𝒂𝒖𝒈 𝑲) 𝜞𝒂𝒖𝒈 )

𝟏
Detailed Explanation: See week 5 slide 46 𝑭 = −𝟏
𝑪𝒂𝒖𝒈 (𝑰−𝚽𝒂𝒖𝒈 −𝚪𝒂𝒖𝒈 𝑲) 𝚪𝒂𝒖𝒈
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Question 9

Which among the below options are the minimum execution rates required to stabilize the discretized
double integrator system in question 2 and the discretized trajectory tracking control system given in
question 6?
a. 0.5,0
b. 0.1,0.1
c. 0,0.5
d. 1,1

Correct Answer: b

Detailed Explanation: According to Branicky’s theorem a system with marginally stable open loop,
becomes exponentially stable in its closed loop for all possible minimum execution rates>0. Both the
trajectory tracking control and double integrator systems are marginally stable in open loop. Hence they
will be exponentially stable with any minimum execution rate>0. Here 0.1 is such a minimum value
(option b).

Question 10

Find whether the following statements are true or false

A. In absence of the rolling resistance the trajectory tracking open loop resembles the double
integrator
B. In absence of the spring a spring mass damper system resembles the trajectory tracking
system
C. The past control input is considered as another state in delay-aware system design

a. T,F,T
b. T,T,T
c. F,T,F
d. F,F,T

Correct Answer: b

Detailed Explanation: Till now you have designed all these systems mentioned above. Change the
system parameters as mentioned and observe how the transition matrices change.