Quiz 1

Quiz, 5 questions

1
point

1. 
One way of getting a general feeling for what a di erential equation is up to is to look at the sign and
magnitude of the derivative at di erent points for di erent values of x. Use this idea for the dynamics

3
ẋ(t) = −x(t) .

Which one of the plots below (where t is on the ``x-axis" and x(t) is on the ``y-axis") was generated by
this system? Note that x(0) = 10.
Quiz 1
Quiz, 5 questions
Quiz 1
Quiz, 5 questions

1
point

2. 
 One way of modeling epidemics is to describe how the fraction of infected individuals evolves over time.
QuizLet1I be that fraction, with the model being
Quiz, 5 questions
˙
I = βI (1 − I ) − ρI .

Here, the constants β and ρ are the infection and recovery rates, respectively.

What are the possible equilibrium points to this system (values for I when the fraction of infected
individuals is not changing)?

Only when I =0

When I = 0 or I = (1 − β)/ρ

When I = 0 or I = (β − ρ)/β

Only when I = (β − ρ)/β

Only when I = (1 − β)/ρ

1
point

3. 
If someone gives you a possible solution to a di erential equation, one of the checks needed to see if this
is indeed a solution is by taking the required number of derivatives and seeing if the proposed solution
does in fact satisfy the di erential equation.

Let

2
ẍ(t) = −ω x(t).

Which of the following options is not a possible solution to this equation?

x(t) = sin(ωt)

x(t) = 0

x(t) = ω sin(ωt) − cos(ωt)

x(t) = e−ωt

x(t) = cos(ωt)

1
point

4. 
 We saw that the model of a cruise-controller could be given by
Quiz 1
Quiz, 5ẋquestions
=
c
u − γx,
m

where u is the input, x is the speed of the car, and c, m, γ are constant parameters.

If there was no wind resistance in the cruise-control model (γ = 0), what would the steady-state values be
for the velocity x when using a pure D -regulator, i.e., when u = k ė = k( ṙ − ẋ) = −kẋ (since r is
constant)?

x(∞) = 0

Impossible to say

x(∞) less than r

x(∞) = r

x(∞) > r

1
point

5. 
Let a discrete-time system be given by

xk+1 = max{0, 5 − xk }.

If this system starts at x0 = 10, what happens to the state of the system?

It jumps down to x1 = 0 and increases up by one until x5 = 5 and then jumps back to 0 again
(and the process repeats)

It keeps growing from 10 up to ∞

It keeps switching between 0 and -5

It keeps switching between 0 and 5

It jumps down to x1 = 0 and remains at 0 for ever

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Quiz 1
Quiz, 5 questions
Quiz 2
Quiz, 5 questions

1
point

1. 
Consider a unicycle robot with dynamics

ẋ = v cos ϕ

ẏ = v sin ϕ

˙
ϕ = ω

If the two inputs (v, ω) are constant what will the robot do?

Drive along a circular arc with radius v/ω .

Drive along an outward spiral.

Drive along a circular arc with radius ω/v .

Drive along an inward spiral.

Drive along a circular arc with radius vω .

1
point

2. 
A di erential-drive robot is equipped with a wheel encoder with 10 ''ticks" per revolution, wheel radius of
0.1m, and the two wheels are 0.2m apart. The robot starts at the origin (position and orientation is 0) and,
during a short time interval of 0.5s a total of 5 ticks were recorded for the right wheel and 3 ticks for the
left. Where is the robot approximately located after 0.5s?

x ≈ 0.3,  y ≈ 0.3,  ϕ ≈ −0.6

Impossible to say -- not enough information provided.

x ≈ 0.3,  y ≈ 0,  ϕ ≈ 0.6

x ≈ 0,  y ≈ 0.3,  ϕ ≈ 0.6

x ≈ 0.3,  y ≈ 0.3,  ϕ ≈ 0.6

 1
Quiz 2point
Quiz, 5 questions
3. 
Same question as Question 2, with the small di erence that the time interval is now 5 minutes and the
right tick count is 40 and the left tick count is 65.

x ≈ 3.3,  y ≈ 3.3,  ϕ ≈ −1.6

x ≈ 0,  y ≈ 3.3,  ϕ ≈ 1.6

x ≈ 3.3,  y ≈ 3.3,  ϕ ≈ 1.6

x ≈ 3.3,  y ≈ 0,  ϕ ≈ 1.6

Impossible to say -- not enough information provided.

1
point

4. 
Let the go-to-goal behavior drive a robot straight towards the goal location and the obstacle-avoidance
behavior drive perpendicularly away from the closest obstacle point. Moreover, assume that the system
blends the two behaviors in the following way: it uses only go-to-goal when the obstacle is far away and
only obstacle-avoidance when the obstacle is really close. What would happen to this robot if it was to
negotiate the environment shown below?

The robot will get stuck and not be able to negotiate the obstacle.

The robot will successfully negotiate the obstacle by moving around it in a clockwise fashion.

Impossible to say -- not enough information about the di erent behaviors is provided.

The robot will never get close enough to the obstacle so the question is pointless.

The robot will successfully negotiate the obstacle by moving around it in a counter-clockwise
fashion.
 1
Quiz 2point
Quiz, 5 questions

5. 
Now, consider the labyrinth below. Assume the robot is indeed equipped with a well-designed go-to-goal
behavior. Which of the following obstacle-avoidance behaviors would not be able to lead to a successful
negotiation of the labyrinth?

Follow-Obstacle-In-Direction-That-Moves-Robot-Closer-To-Goal

Follow-Obstacle-Clockwise

Follow-Obstacle-Counter-Clockwise

Always-Keep-Obstacle-To-The-Left-Of-Robot

They all would do the trick

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Quiz 3
Quiz, 5 questions

1
point

1. 
This question investigates how to obtain linearized models of non-linear dynamical systems.

A controlled pendulum with friction can be described by

¨ ˙
mℓϕ = −mg sin ϕ − kℓϕ + τ ,

where ϕ is the angle of the pendulum and τ is the input torque applied at the base of the pendulum. m is
the mass of the pendulum, ℓ its length, g is the gravitational constant, and k is a friction coe cient.

Linearize this model around the two equilibrium points, i.e., when the pendulum is hanging straight down (
ϕ = 0 ) and balancing straight up (ϕ = π ). Let x1 ˙
= ϕ, x2 = ϕ , and u = τ , giving the linearized system
ẋ = Ax + Bu , where

0
B = [ 1 ].
mℓ

But what is A? Which of the following A-matrices give the correct linearizations around the two
equilibrium points?

0 1
ϕ = 0 :  A = [ g k ]
− −
ℓ m

0 1
ϕ = π :  A = [ g k ]
−
ℓ m

 
 1 0
Quiz 3 ϕ = 0 :  A = [
−
g
−
k
]

Quiz, 5 questions ℓ m

1 0
ϕ = π :  A = [ k
]
0 −
m

0 1
ϕ = 0 :  A = [ k g ]
− −
m ℓ

0 1
ϕ = π :  A = [ k ]
− 0
m

1 0
ϕ = 0 :  A = [ k g ]
− −
m ℓ

1 0
ϕ = π :  A = [ k ]
− 0
m

0 1
ϕ = 0 :   A = [ k
]
0 −
m

0 1
ϕ = π : A = [ g k ]
− −
ℓ m

1
point

2. 
Which of the following statements is correct?

Most systems are already linear so linearizations are not really needed.

Output-feedback is more general than state-feedback.

The unicycle model has a useful linearization.

Stability is not a control objective when designing controllers.

The stability properties of ẋ = Ax are determined by A's eigenvalues.

 1
Quiz 3point
Quiz, 5 questions

3. 
This question involves the computation of eigenvalues and how these eigenvalues relate to the stability
properties of the system.

Given a linear system

α β
ẋ = [ ]x.
0 α

Which of the options below captures all the values of α and β for which the system is asymptotically
stable?

Hint: The following fact might come in handy: The determinant of a 2 × 2 matrix is given by
∣a b∣
∣ ∣ = ad − bc.
∣c d∣

α < 0,  β whatever

α < 0,  β < 0

α whatever, β < 0

Impossible to say -- not enough information provided.

α < 0,  β > 0

1
point

4. 
 Let the output of a third order system (ẋ = Ax,  y = Cx ) be given in the gure below:
Quiz 3
Quiz, 5  questions

The options below show the possible placements of the eigenvalues to the A matrix, with the axis being
the real parts and the imaginary parts of the eigenvalues. Which option corresponds to the system used to
generate the gure?
Quiz 3
Quiz, 5 questions
Quiz 3
Quiz, 5 questions

1
point

5. 
Recall the quadrotor model from Module 1

¨
h = cv − g,

where h is the altitude of the quadrotor and v is the input. The purpose of this question is to revisit PID
design but in the context of state-feedback to see that there really isn't anything magical/special about PID.
So, please keep reading and follow along in the math...

First, if we directly compensate for gravity by introducing a new control input v = u + g/c we get the
much simpler system ¨
h = cu .

Now, let x1 ˙
= h,  x2 = h and the resulting linear system is

0 1 0
ẋ = [ ]x + [ ]u.
0 0 c

As seen, a PD regulator is u = KP e + KD ė ˙
= KP (r − h) + KD ( ṙ − h) where r is the reference signal.
In other words
Quiz  3
Quiz, 5 questions
r
u = KP D [ ] − KP D x,
ṙ

where KP D = [KP , KD ],

i.e., it is just a state-feedback controller, and the closed-loop system becomes

r
ẋ = (A − BKP D )x + BKP D [ ].
ṙ

So doing state-feedback is exactly the same as PD control for this system.

But what about the I-part? This requires some more work. For this we actually need to introduce another,
extra state. Let the new state be

t
x3 (t) = ∫0 x1 (τ )dτ .

The resulting system has three states instead of two and if we let

x1
⎡ ⎤
~
x = x2 ,
⎣ ⎦
x3

we get the closed-loop PID dynamics

r
~ ~ ~ ⎡ ⎤
~
˙ ~
x = (A − BKP I D )x + BKP I D ṙ ,
⎣ ⎦
∫ r

where KP ID = [KP , KD , KI ] and where

 
Quiz~ 3 ⎡
0
⎤
B = c .
Quiz, 5 questions
⎣ ⎦
0

~
But, which of the options below give the correct A ? (Write out the dynamics of the new, third order system
in order to gure out the new A-matrix.)

0 0 1
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
1 0 0

0 1 0
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
1 0 0

0 0 1
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
0 1 0

0 1 0
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
0 0 1

0 1 0
~ ⎡ ⎤
A = 0 0 0
⎣ ⎦
0 0 0

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 Common Derivatives and Integrals

Derivatives
Basic Properties/Formulas/Rules
d
dx
( cf ( x ) ) = cf ′ ( x ) , c is any constant. ( f ( x ) ± g ( x ) )′ =f ′ ( x ) ± g ′ ( x )
d n
dx
( x ) = nx n −1 , n is any number.
d
dx
( c ) = 0 , c is any constant.
 f ′ f ′ g − f g ′
(f =g )′ f ′ g + f g ′ – (Product Rule)   = – (Quotient Rule)
g g2
d
dx
( )
f ( g ( x ) ) = f ′ ( g ( x ) ) g ′ ( x ) (Chain Rule)

g′( x)
dx
e( )
d g ( x)
= g′( x) e ( )
g x d
dx
( ln g ( x ) ) =
g ( x)

Common Derivatives
Polynomials
d
dx
(c) = 0
d
dx
( x) = 1
d
dx
( cx ) = c
d n
dx
( x ) = nx n−1 d
dx
( cx n ) = ncx n−1
Trig Functions
d d d
( sin x ) = cos x ( cos x ) = − sin x ( tan x ) = sec2 x
dx dx dx
d d d
( sec x ) = sec x tan x ( csc x ) = − csc x cot x ( cot x ) = − csc2 x
dx dx dx

Inverse Trig Functions

d
( sin −1 x ) =
1 d
( cos −1 x ) = −
1 d
( tan −1 x ) =
1
1 + x2
dx 1 − x2 dx 1 − x2 dx
d
( sec −1 x ) =
1 d
( csc −1 x ) = −
1 d
( cot −1 x ) = −
1
1 + x2
dx x x2 −1 dx x x2 −1 dx

Exponential/Logarithm Functions
(
d x
dx
a ) = a x ln ( a )
d x
dx
( e ) = ex
d
dx
( ( x )) , x > 0
ln =
1
x
d
dx
( ln=x)
1
x
, x≠0
d
dx
( =
log a ( x ))
1
x ln a
, x>0

Hyperbolic Trig Functions

d d d
( sinh x ) = cosh x ( cosh x ) = sinh x ( tanh x ) = sech 2 x
dx dx dx
d d d
( sech x ) = − sech x tanh x ( csch x ) = − csch x coth x ( coth x ) = − csch 2 x
dx dx dx

Visit http://tutorial.math.lamar.edu for a complete set of Calculus I & II notes. © 2005 Paul Dawkins
 Common Derivatives and Integrals

Integrals
Basic Properties/Formulas/Rules
∫ cf ( x ) dx = c ∫ f ( x ) dx , c is a constant. ∫ f ( x ) ± g ( x ) dx = ∫ f ( x ) dx ± ∫ g ( x ) dx
∫ a f ( x=
) dx F (=
x) a F ( b ) − F ( a ) where F ( x ) = ∫ f ( x ) dx
b b

∫ a cf ( x ) dx = c ∫ a f ( x ) dx , c is a constant. ∫ a f ( x ) ± g ( x ) dx= ∫ a f ( x ) dx ± ∫ a g ( x ) dx
b b b b b

f ( x ) dx = 0 f ( x ) dx = − ∫ f ( x ) dx
a b a
∫a ∫a b

f ( x ) dx ∫ f ( x ) dx + ∫ f ( x ) dx dx c ( b − a )
b c b b
∫=
a a c ∫a c=
If f ( x ) ≥ 0 on a ≤ x ≤ b then ∫ a f ( x ) dx ≥ 0
b

If f ( x ) ≥ g ( x ) on a ≤ x ≤ b then f ( x ) dx ≥ ∫ g ( x ) dx
b b
∫a a

Common Integrals
Polynomials
1 n +1
∫ dx= x+c ∫ k dx
= k x+c ∫ x dx
= x + c, n ≠ −1
n

n +1
⌠ 1= 1
∫x = ∫ x=
−n
 dx ln x + c
−1
dx ln x + c dx x − n +1 + c, n ≠ 1
⌡x −n + 1
p p p+q
⌠ 1 = 1 1 q +1 q
 ln ax + b + c ∫=
x q dx x= +c +c
q
dx x
⌡ ax + b a q +1
p
p+q

Trig Functions
∫ cos u=
du sin u + c ∫ sin u du = − cos u + c ∫ sec u= du tan u + c 2

∫ sec u tan u=
du sec u + c ∫ csc u cot udu = − csc u + c ∫ csc u du = − cot u + c 2

∫ tan
= u du ln sec u + c ∫ cot
= u du ln sin u + c

∫ sec u du= ln sec u + tan u + c ∫ sec =u du

1
2
( sec u tan u + ln sec u + tan u ) + c
3

∫ csc u du= ln csc u − cot u + c ∫ csc

3 1
u du =−
2
( csc u cot u + ln csc u − cot u ) + c

Exponential/Logarithm Functions
au
∫e
u
du= e + c
u
∫a =
u
du +c ∫ ln u=
du u ln ( u ) − u + c
ln a
e au
∫ e sin ( bu=
au
) du
a 2 + b2
( a sin ( bu ) − b cos ( bu ) ) + c ∫ ue du =( u − 1) e
u u
+c

e au ⌠ 1=
∫ e au
cos ( =
bu ) du
a 2 + b2
( a cos ( bu ) + b sin ( bu ) ) + c 
⌡ u ln u
du ln ln u + c

Visit http://tutorial.math.lamar.edu for a complete set of Calculus I & II notes. © 2005 Paul Dawkins
 Common Derivatives and Integrals

Inverse Trig Functions

⌠ 1 u
du sin −1   + c ∫ sin
−1
 = du u sin −1 u + 1 − u 2 + c
u=
⌡ a2 − u2 a
⌠ 1 u
du u tan −1 u − ln (1 + u 2 ) + c
1 1
∫ tan
−1
= du tan −1   + c u=
⌡ a +u a
2 2
a 2
⌠ 1 1 u
sec −1   + c ∫ cos
−1
 = du du u cos −1 u − 1 − u 2 + c
u=
⌡ u u −a
2 2 a a

Hyperbolic Trig Functions

∫ sinh=
u du cosh u + c ∫ sech u tanh u du =
− sech u + c ∫ sech =
u du tanh u + c
2

∫ cosh= sinh u + c ∫ csch u coth u du =

− csch u + c ∫ csch u du =
− coth u + c
2
u du

∫=tanh u du ln ( cosh u ) + c =
∫ sech u du tan sinh u + c
−1

Miscellaneous
⌠= 1 1 u+a ⌠= 1 1 u−a
 2 du ln +c  2 du ln +c
⌡ a −u 2
2a u − a ⌡ u −a 2
2a u + a
u 2 a2
∫ a + u du = a + u + ln u + a 2 + u 2 + c
2 2 2

2 2
u 2 a2
∫ u 2 − a 2 du
=
2
u − a 2 − ln u + u 2 − a 2 + c
2
u 2 a2 u
∫ a 2 − u 2 du
=
2
a − u 2 + sin −1   + c
2 a
u−a a2  a −u 
∫ 2au −=
u 2 du
2
2au − u 2 + cos −1 
2  a 
+c

Standard Integration Techniques

Note that all but the first one of these tend to be taught in a Calculus II class.

u Substitution

∫ a f ( g ( x ) ) g ′ ( x ) dx then the substitution u = g ( x ) will convert this into the

b
Given
g (b)
integral, ∫ f ( g ( x ) ) g ′ ( x ) dx = ∫ f ( u ) du .
b
a g(a)

Integration by Parts
The standard formulas for integration by parts are,
b b
∫ udv =
uv − ∫ vdu ∫a uv a − ∫ vdu
b
udv =
a
Choose u and dv and then compute du by differentiating u and compute v by using the
fact that v = ∫ dv .

Visit http://tutorial.math.lamar.edu for a complete set of Calculus I & II notes. © 2005 Paul Dawkins
 Common Derivatives and Integrals

Trig Substitutions
If the integral contains the following root use the given substitution and formula.
a
a 2 − b2 x2 ⇒ x= sin θ and cos 2 θ = 1 − sin 2 θ
b
a
b2 x2 − a 2 ⇒ x = sec θ and tan 2 θ = sec 2 θ − 1
b
a
a 2 + b2 x2 ⇒ x= tan θ and sec 2 θ =1 + tan 2 θ
b
Partial Fractions
⌠ P ( x)
If integrating  dx where the degree (largest exponent) of P ( x ) is smaller than the
⌡ Q ( x)
degree of Q ( x ) then factor the denominator as completely as possible and find the partial
fraction decomposition of the rational expression. Integrate the partial fraction
decomposition (P.F.D.). For each factor in the denominator we get term(s) in the
decomposition according to the following table.

Factor in Q ( x ) Term in P.F.D Factor in Q ( x ) Term in P.F.D

A A1 A2 Ak
ax + b ( ax + b )
k
+ + +
ax + b ax + b ( ax + b ) 2
( ax + b )
k

Ax + B A1 x + B1 Ak x + Bk
( ax 2 + bx + c ) + +
k
ax 2 + bx + c ax + bx + c ( ax 2 + bx + c )
2 k
ax + bx + c
2

Products and (some) Quotients of Trig Functions

∫ sin x cos x dx
n m

1. If n is odd. Strip one sine out and convert the remaining sines to cosines using
sin 2 x = 1 − cos 2 x , then use the substitution u = cos x
2. If m is odd. Strip one cosine out and convert the remaining cosines to sines
using cos 2 x = 1 − sin 2 x , then use the substitution u = sin x
3. If n and m are both odd. Use either 1. or 2.
4. If n and m are both even. Use double angle formula for sine and/or half angle
formulas to reduce the integral into a form that can be integrated.
∫ tan x sec x dx
n m

1. If n is odd. Strip one tangent and one secant out and convert the remaining
tangents to secants using tan = 2
x sec 2 x − 1 , then use the substitution u = sec x
2. If m is even. Strip two secants out and convert the remaining secants to tangents
using sec 2 x = 1 + tan 2 x , then use the substitution u = tan x
3. If n is odd and m is even. Use either 1. or 2.
4. If n is even and m is odd. Each integral will be dealt with differently.
( cos x ) = (1 − sin x )
3 3
Convert Example : cos 6 x= 2 2

Visit http://tutorial.math.lamar.edu for a complete set of Calculus I & II notes. © 2005 Paul Dawkins