Homework 1

ECE6552 Nonlinear Control Systems

Magnus Egerstedt

Due: January 25, 2018 (and Feb. 1 for DL students – sections Q, Q3, QSZ)

1
a
Let ẋ = f (x), where f is locally Lipschitz continuous everywhere. Assume that x? is a “globally asymp-
totically stable equilibrium point” to the system, which means that all trajectories approach x? no matter
what the initial conditions are as well as f (x? ) = 0.
Is it possible that a trajectory starting at x0 6= x? will reach x? in a finite amount of time? (Motivate
your answer – a simple YES/NO is not enough.)

b
Assume now that ẋ = f (x, u), with f again being locally Lipschitz continuous everywhere. Assume that
we want to drive this system to some set, implicitly defined by the function σ(x) ∈ R, and the desired
set being {x ∈ Rn | σ(x) = 0}. A so-called “sliding mode controller” typically looks something like
u(x) = −sign(σ(x))v(x),
for some cleverly chosen function v. In light of your answer to the question in 1a, why would someone
use such a strange-looking controller?

2
Consider the two trajectories below, which are generated by some two-dimensional system (the state is in
R2 ) from two different initial conditions, x1 (t0 ) and x2 (t0 ) . Which of the following systems (there might
be more than one of them) could have generated the situation in the Figure? (Motivate your answer for
full credit!)

x1 (t0 )

x2 (t0 )

System 1: ẋ = f (x, t), f locally Lipschitz continuous everywhere and piecewise continuous in t
System 2: ẋ = f (x), f locally Lipschitz continuous everywhere
System 3: ẋ = f (x), f not locally Lipschitz continuous everywhere
System 4: ẋ = Ax

1
3
In order to preserve power consumption in sensor networks sensors are typically turned on and off ac-
cording to a given probability distribution. In particular, let pi (t) be the probability that sensor i is ON
at time t, a standard update law for this probability is

ṗi = αp2i ,

with α ∈ (0, 1) and pi (0) = p0 ∈ (0, 1).

a
Solve this differential equation, i.e., find pi (t).

b
Give a useful definition of what one could mean by the “life time” of a sensor based on your answer in a.
Also, what is the life time, explicitly given in terms of α and p0 ?

4
One way of modeling the spread of an epidemics is to describe how the fraction of infected individuals
evolves over time. Let I be that fraction, with the model being

I˙ = βI(1 − I) − ρI.

Here, the constants β and ρ are the infection and recovery rates, respectively, with ρ < β. (Both ρ and
β are positive.)

a
What are the equilibrium points to this system?

b
Based on the linearizations around the different equilibrium points, what can you say about these points’
stability properties? Interpret your answer.

5
A controlled pendulum can be described by

m`φ̈ = −mg sin φ − k`φ̇ + τ,

where φ is the angle of the pendulum and τ is an input torque.

a
Find the torque τ (φ0 ) needed to keep the pendulum at an equilibrium angle φ0 .

b
Linearize the pendulum around the operating point φ = φ0 , φ̇ = 0, τ = τ (φ0 ), where τ (φ0 ) is your answer
to 5a (for an arbitrary choice of φ0 ).

2
c
Plug in the following different values for φ0 : (i) φ0 = 0, (ii) φ0 = π/2, (iii) φ0 = π in the linearization.
Based on the stability properties of the three different linearization (when the input torques are exactly
equal to the torques computed in Question 5a), what can you say about the stability properties of the
original non-linear system around the three operating points?

6
Two groups of people are supposed to agree on a decision. Let xi , i = 1, 2 be the current (scalar) opinion
associated with the two groups. A variant of DeGroot’s opinion dynamics model states that the opinions
evolve as
ẋ1 = τ1 (x2 − x1 ), ẋ2 = τ2 (x1 − x2 ),
where τ1 is the degree to which group one trusts group 2, and vice versa. Moreover, the trusts evolve
according to how much the other group is willing to change its opinion as

τ̇1 = (x1 − x2 )ẋ2 , τ̇2 = (x2 − x1 )ẋ1 .

a
Let τ = τ1 + τ2 be the total trust among the two groups and let x = x1 − x2 be the disagreement in
opinion between the two groups. Expressed solely in τ and x (no x1 , x2 , τ1 , τ2 ), what are the dynamics
associated with these two entities?

b
Now, let
1
z = τ + x2 .
2
What is ż? Interpret your answer qualitatively - not quantitatively.

c
Group polarization is the psychological effect that occurs when two groups that distrust each other initially
quickly diverge completely in terms of their opinions. Mathematically, this means that x exhibits Finite
Escape Time. If we let
1
η= 2
x
how can a study of η help us determine if the system exhibits Finite Escape Time?

d
Show that the system does indeed exhibit Finite Escape Time as long as τ (0) is sufficiently large and
negative.