1- Consider the nonlinear system

4 x = y + x(1 x y = + y (1

x2 y2 ) 4

x2 y2 ) 4

Show that this system has a limit cycle in form (2 cos(2t ),sin(2t )) and study the stability of that limit cycle. 2- Consider a servo motor with transfer function
G (s) = 4 s ( s + 1)( s + 2)

Controlled by dead zoneand a signnonlinearity as shown in figure 1.

Figure1. position servo Put some conditions on the parameter a such that the describing function method that sustained oscillations are avoided in the close loop system. 3- Consider the scalar system

x = ax3
(a) Show that Lyapunovlinearization method fails to determine stability of the origin. s (b) Use the Lyapunov function
V ( x) = x 4 to show that the system is globally asymptotically stable for a < 0 and unstable for a > 0 . (c) What can you say about the system for a = 0 ?

4- A student is confronted with the nonlinear differential equation 2x + x = 0 (1 + x 2 ) 2 and is asked to determine whether or not the equation is stable. The students think this is an 2 undamped mass-spring system spring is nonlinear with a spring constant of the . The (1 + x 2 ) 2 student re-writes the system as x1 = x2
x2 = 2 x1 (1 + x12 ) 2

and constructs the obvious Lyapunov function = V ( x)

x1

(1 +
0

2
2 2

d +

1 2 x2 2

The student declares,V is positive definite, because everywhere in R 2 V ( x) 0 , and V ( x) = 0 only if x = 0 . The student ascertains that V 0 everywhere in R 2 and concludes,the conditions for Lyapunovtheorem are satisfied, so the system is globally stable about x = 0 . s (a) Sadly, there is a mistake in the studentreasoning. What is the mistake? s (b) Perhaps the student has merely made a poor choice of Lyapunov function, and the system really is globally stable. Is there some other Lyapunov function that can be used to show global stability? Find such a function, or show that no such function exists.

5- Consider the system

2 x1= 4 x12 x2 f1 ( x1 )( x12 + 2 x2 4) 2 2 x1 =x13 f 2 ( x2 )( x12 + 2 x2 4) where the continuous functions f1 and f 2 have the same sign as their arguments, i.e. x i fi ( xi ) 0 (note that fi (0) = 0 ). Show that almost all trajectories of the system tend
2 towards the invariant set x12 + 2 x2 = 4 independently of the explicit expressions of f1 and f 2 .

6- Saturations constitute a severe restriction for stabilization of system. Figure 2 shows three phase portraits, each corresponding to one of the following linear systems under saturated feedback control. x1 = x2 (a) x2 = x1 + x2 sat (2 x1 + 2 x2 ) x1 = x2 (b) x2 = x1 + 2 x2 sat (3 x2 ) x1 = x2 (c ) x2 = 2 x1 2 x2 sat ( x1 x2 ) Which phase portrait belongs to what system?

Figure 2 Phase portraits for saturated linear systems

7a) Use describing function analysis to predict the amplitude of a possible limit cycle for the system shown in Figure 3. The non-linearity, ( y ) ,at the plant input is given by
( y ) =y . y . Figure 4 shows Nyquist plots of some closed-loop transfer functions

involving the linear plant, P( s ) , and the linear controller C(s).

b) Is the limit cycle predicted by the analysis stable?

Figure3 . The feedback control system of Problem 7.

Figure4. Nyquist curves for Problem 7.

8- A nonlinear system is given below.

x1 =x13 + x2 + u
2 x2 = x1 + ax2 x1

(a) Find all equilibrium points to the nonlinear system if u = 0 and a = 0 Determine their

local stability properties. (b) Let u = 0 and a = 0 ,prove that the origin is globally asymptotically stable using the Lyapunov function candidate

V= ( x)

1 2 1 2 x1 + x2 2 2

(c) When a = 1 the uncontrolled system is not stable. Design a control law u = f ( x) such

that the origin becomes stable (asymptotic stability not required). 9- Show that the system is Input Output linearization
x1 = x2 x2 = x1 ax12 x2 + ( x2 + 1)u y = x1

10- Show that the system is Input Output linearization x1 = x1 + x2 x3 x2 =x2 x1 x3 + u x3 =x2 + u y = x3

1. find the equilibrium points of the system and determine the type of equilibrium.
x1 =( x1 x12 ) + 1 x1 x2
2 x2 =( x2 x2 ) + 1 x1 x2

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2. Consider the scalar system

x = ax3

(a) Show that Lyapunovlinearization method fails to determine stability of the origin. s (b) Use the Lyapunov function V ( x) = x 4 to show that the system is globally asymptotically stable for a < 0 and unstable for a > 0 . (c) What can you say about the system for a = 0 ?
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3. Consider a logarithmic quantizer with two levels: y 4

1 u 0.5 1
2

This means that the output equals

-0.5 u 0.5 0 1 0.5<u 2 y = -2 u<-0.5 1 4 u>2 u<-2 -4 Calculate the describing function N (A ) for this quantizer.
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4. Consider the feedback loop system given bybelow figure with 1 G (s ) = 2 s ( s + 0.5s + 1) And f ( y ) = y 3 Use describing function analysis to predict the amplitude and frequency of alimit cycle.will the limit cycle be stable or unstable? r y

G (s )

-----------------------------------------------------------------------------5. A nonlinear system is given below.

x1 =x13 + x2 + u
2 x2 = x1 + ax2 x1

(a) Find all equilibrium points to the nonlinear system if u = 0 and a = 0 Determine their

local stability properties. (b) Let u = 0 and a = 0 ,prove that the origin is globally asymptotically stable using the Lyapunov function candidate
V= ( x) 1 2 1 2 x1 + x2 2 2

When a = 1 the uncontrolled system is not stable. Design a control law u = f ( x) such That the origin becomes stable (asymptotic stability not required).
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6. Consider the system

x1 = x 2
3 x 2 =x 1 x 2

(a) What can you coclude about the stability of the equilibrium using Lyapanov

linearization method?
(b) Use the function V= (x )

1 2 (x 1 + x 12 ) and show the equilibrium is globally asymptotically 2

stable or stable? ---------------------------------------------------------------------