Task 1: Linearization [10 + 5 + 5 + 5 = 25 Points]

The Hindmarsh-Rose model of neuronal activity is aimed to study the spiking-bursting behavior of
the membrane potential observed in experiments made with a single neuron. The model has the
mathematical form of a system of three nonlinear ordinary differential equations on the dynamical
variables x(t), y(t), and z(t). x, y and z are dimensionaless scalars.

dx
=y + 3x2 − x3 − z + u
dt
dy
=1 − 5x2 − y (1)
dt
dz
=4x + 1 − z.
dt
u is the input of the system.

a) Set the input u = 0. Linearize the nonlinear dynamical system;

b) Analyze stability of the linearized system;

c) Is the linearized system controllable? Justify your answer;

d) An engineer installs additional actuators so that u1 and u2 can be independently manipulated,

resulting a new nonlinear system following differential equations in (2).

dx
=y + 3x2 − x3 − z + u1 + u2
dt
dy
=1 − 5x2 − y (2)
dt
dz
=4x + 1 − z.
dt
Analyze the controllability of the linearized system in (2).

2
Task 2: Linearization [8 Points]
A system is described by the following nonlinear state space model

−9x2 (t)x
3 (t) + u2 (t)

   
ẋ1 (t)
ẋ(t) = ẋ2 (t) = exp − x2 (t) 3x2 (t) − u(t)

ẋ3 (t) x1 (t)x3 (t) − cos x2 (t) − 1
y(t) = x1 (t) x23 (t) + 3x2 u(t).

a) Calculate an equilibrium x∗ for a constant input signal u∗ = 3.

b) Calculate A, b, c> , and d for the linearized system at the equilibrium x∗ .

Hint: To achieve the maximum points, numerical values for the entries of A, b, c> and d
has to be provided. However, points can also be achieved independently of a) and b) for a
parametric solution as a function of x∗ and u∗ .

5
 Solution to Task 2
a) [3 Points]
For u∗ = 3 , the second state equation gives the relation

0 = exp (−x∗2 ) (3x∗2 − u∗ ) = exp (−x∗2 ) (3x∗2 − 3) . (1)

With exp (−x∗2 ) 6= 0 one get x∗2 = 1. With x∗2 = 1 and the first state equation one can derive
x∗3 = 1. Using cos (x∗2 − 1) = cos (0) = 1 of the third state equation, the solution x∗1 = 1 can
be determined.

b) [5 Points]
The linearization results in the system matrices
Lineraized the system around
 ∂f1 (x∗ ,u∗ ) ∂f1 (x∗ ,u∗ ) ∂f1 (x∗ ,u∗ )  
−9x∗3 −9x∗2

he equilibrium point (X1*, X2*, ∂x1 ∂x2 ∂x3 0
∗ ∗ ∗ ∗ ∗ ∗
X3*)....? A =  ∂f2 (x ,u ) ∂f2 (x ,u ) ∂f2 (x ,u ) 
 =  0 exp (−x∗2 ) (u∗ − 3x∗2 + 3) 0 

∂x1 ∂x2 ∂x3
∂f3 (x∗ ,u∗ ) ∂f3 (x∗ ,u∗ ) ∂f3 (x∗ ,u∗ ) x3∗ ∗
sin (x2 − 1) x∗1
∂x1 ∂x2 ∂x3
     
0 −9 −9 0 −9 −9 0 −9 −9
= 0 exp (−1) (3 − 3 + 3) 0  = 0 3 exp (−1) 0  ≈ 0 1.104 0  ,
1 sin (1 − 1) 1 1 0 1 1 0 1
 ∂f (x∗ ,u∗ )  
1
2u∗
    
∂u∗ ∗ 6 6
 ∂f2 (x ,u )  ∗ ) = − exp (−1) ≈ −0.368 ,
b= ∂u  =  − exp (−x 2
∂f3 (x∗ ,u∗ ) 0 0 0
∂u
h ∗ ,u∗ )
i
∂g(x∗ ,u∗ ) ∂g(x∗ ,u∗ )
cT = ∂g(x ∗ 2 3u∗ 2x∗ x∗ = 1 9 2 ,
   
∂x1 ∂x2 ∂x3
= x 3 1 3

∂g (x∗ , u∗ )
d= = 3.
∂u

6
Aufgabe / Problem 1 (2+5=7 Punkte / Points)
Consider the following nonlinear continuous-time system:

ẋ1 = x2
 x  x2
1 2
ẋ2 = ρ exp − − g + ρx3 (1)
k 2x3
sin x1
ẋ3 = − + k sin x2 ,
2
where ρ > 0, k > 0, g > 0 are constants.

(a) Find an equilibrium point to the system (1). Is it unique?

(b) Linearize the system (1) around the equilibrium point found in part (a).