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Exercise 1.1: (15 pts) The nonlinear dynamic equation of a bar rotating, with friction due to viscosity, around a point where a torque is applied, is given by

ml 2 = mgl sin( ) kl 2 2 + C where is the angle between the bar and the vertical axis, C is the torque ( C > 0 ), k is the spring constant, l is the length of the bar and m is the mass of the bar. a) Choose appropriate state variable and write down the state equations. b) Find all equilibria of the system, assuming that (C / mgl ) < 1 , and linearize the system equations around the equilibrium points.
Exercise 1.2: (30 pts)

Consider the following nonlinear systems

(i ) x1 = cos( x1 ) sin( x1 ) 1 2 x2 = x1 x2 + x2
2 2 x = x2 ( x1 x2 ) (ii ) 1 2 2 x2 = x1 ( x1 x2 ) x = x2 (iv) 1 x2 = x2 ( x1 x2 )

x = x 2 x1 x2 (iii ) 1 1 x2 = 2 x1 x2 x2

In the forth system, ( y ) = y 3 + 0.5 y if y 1 and ( y ) = 2 y 0.5sgn( y ) if y > 1 .

a) Find all equilibrium points for each of the forgoing systems and determine if they are isolated or nonisolated. b) Using the ode functions in MATLAB, solve the state equations given in (ii) and (iii) and plot their state responses versus time for different initial conditions and in appropriate time intervals. c) Based on your graphical findings in part (b), discuss the local behavior of each system around its equilibrium points.
Exercise 1.3: (25 pts)

Consider the following autonomous system x1 (t ) = x1 (t ) + x12 (t ) x2 (t ) x2 (t ) = x2 (t ) with initial state [ x1 (0) x2 (0) ] .
T

a) Use your background in ordinary differential equations to solve the system equations analytically.

b) Indicate that under which conditions the solutions of this equation exhibit a finite escape time. (Hint: a finite escape time means a finite time like Tc which at least one of the system states grows without bound as t Tc .) c) Plot the system states for various initial conditions and discuss the system behavior around the origin.
Exercise 1.4: (30 pts)

Consider the scalar nonlinear plant, described by

x(t ) = x(t ) + u (t ) S : y (t ) = tanh x(t )

where x(t ) is the state, u (t ) is the control input and y (t ) denotes the measured system output. It is desired that y (t ) track a constant reference signal r with acceptable transient response and zero steady-state error in a unity feedback structure, see Fig.1.

Fig. 1: Feedback control system in Exercise 2.3

a) Find the equilibrium set of the plant in terms of r , which ensures zero tracking error, i.e., e(t ) = r y (t ) = 0 . Also, determine the acceptable values of the reference input r correspond to this equilibrium set. b) Linearize the system about the equilibrium set and determine the associated transfer function. c) Assume that a PI controller ( C : G ( s ) = k P + k I / s ) is acting on the tracking error in Fig. 1. Select the PI gains as functions of the reference input r , k P (r ) and k I (r ) , such that the closed loop linearized system has a transfer function independent of r and the closed loop poles satisfy a natural frequency ( n ) of 1 rad/s and a relative damping ratio ( ) of 0.7.
Good Luck