BCE6O2 Exam 1 September 27, 2013 1 Name: SOLO TION Score: {100 ‘This examn is closed-book. # You must show ALL of your work for full credit ~ Please read the questions carefully ~ Please check your answers carefully. * Calculators may NOT be used. ~ Please leave fractions as fractions, etc. ~ Tdo not want the decimal equivalents. # Cell phones and other electronic communication devices must be turned off and. stowed under your desk. = Please do not write on the backs of the exam or additional pages. ~ Extra paper is available from the instructor.ECE6O2 Exam 1 September 27, 2013 2 1. (6 points) State the Cayley Hamilton Theorem. A mreix SATISFIES ITS Cwn CHA@ACMERISTIC EGUATION. 2, (6 pointa) Let A(X) — AX | XB where 11 20 a-[oi] P=[03] Find the eigenvalues of A. Tue EIGENVALLDES CF ad Are Sums of e.vauwes o& A Asn B. A avo BR aege W SNE. THus Specld)= fys2 3 he (aut Wire Fac eicenvawwe HavivG mucmeueart 2,ECE602 Exam 1 September 27, 2013 3 3. (27 points) You are given the matrix 1-1 a-[5 5] (a) Find the characteristic equation of A. Siete \ = NG-2-0 See ee go WHE CHAR. EGY. OD A Vs -38+2tO (b) Find the eigenvalues and eigenvectors of A. Ais veee2 THIANGULAE SO HAS EIGEN VAWES L2 on +rS HIAGoMe , pon A=/- ot x eieic ce KS) Jefe] ove j COO SE [sf C ata foe nl Kinx%_e Sr fa a ap cs [é 7 xe sx Xe @uec se payECE62 Exam 1 September 27, 2013 4 «Still using (c) Find a matrix Q that can be used to transform the matrix A to its Jordan form. tS cOLLMNS oF GQ SHOLLD BE A SET OF UN. IND. EN gy 23. ONE PossiSGiwiry 1S Q-\3! O-N (@) Use the Cayley Hamilton Theorem to find Q-* lee aaa -S8t-1 so Q* 2 we. O*=BCE602 Exam 1 Soptember 27, 2013 a-[0 7] (8) Use the Q and J you found in the previous parts to find A“ N= OS'O (eae eteees i Le ai al ‘| u——_ \ a i . (% ‘fo “> ie 1 ‘| if (6 Ue [st . Still using we] | (g) Define « polynomial A(X) as described in lecturé and in the text. Use it to find ret PO? & hla)s Bot AB een DEL Have = BotBi Fot aia wave so - 2 mien pie [2 © ue . es 2-B 8° CS “he. a (teed: ut Ve Ya te oO.BCE6O2 Exam 1 September 27, 2013 6 4, (15 points) Solution of continuous-time LTT IVP k= Ax+ Bu, x(0) =x (8) Give the formula for x(t) for the continuous-time LTT system £ so pe ere, o [eee een neue eaeeta geese ZUR ZSQ (b) Caleulate the zero input response xzrn(t) [53]. >-[t} =-[é] F2OM P2CRLEM 2, e* Qe" @ =/! Ee | o-1 Lo eo -1 ' ie et o-71LO em : iS et- ert oO te ‘et ete 2 ci neh ete [é Flo Wy > a < ~ "‘BCE6O2 Exam 1 September 27, 2013 7 6. (15 points) You are given the new matrix 210 A 020]. 00 | (a) Find A‘. eeause A is IN So@DaAN NORMAL Foam, e (b) Find e“*. gccase A is is Joe0eN CGAL FOeM, AGBCE6O2 Exan 1 September 27, 2013 8 6. (15 points) Solution of continuous-time LTI IVP x(k +1] = Ax(k] + Bulk], x[0) = xo (a) Give the formula for xk] for this diseroto-time LTT system. ete xlle]= Ary {o} + = KX a Bultel (esses eeaco neo zse& (b) Calculate the zero input response xz7p[k] when of} a) Bh A «3 ae JNE so | non (Seat [aT EE]BCE6O2 Bxam 1 September 27, 2013 9 7. (18 points) Consider the system X(é) = £(x(t),u(t),£) where Alt) = ee alt) = Sea t+uet arty f(t) = Baym tut Linearize about the operating point (xo, to)” where x9 = (0,1, 2) and up = (3,4) (a) Define your state vector and input vectors, TWe STAME ANO INPUT VECTOES ARE x= [t %| ARO ae[er | |, RESPECTIVELY L (b) Indicate how you will obtain your linearized model. (Provide all appropriate equations.) oerne Ax= x- Xe Avz U- Uo THEN TGS LINEAR APPROXIMATIONS To F oarawes ay aPeLNG Tanods THM 15 (x) = ACAx)+ @(Au) weer AB) 6S ~~ 6 ON Sate) so Ke) ot ol fl a1 9g Nels BS x: = ecetee 4H 2 © dye Lo wr iguy o oO oO oS OQ 1 2 jo 1 Bx:+2u, O So 200,42 we (34