ME/ECE 859 – Spring 2023

Homework # 6
Due Thursday, April 6, 2023

1. Consider the system

ẋ1 = −ϕ1 (x1 ) + x2 , ẋ2 = −x1 − ϕ2 (x2 ) + x3 , ẋ3 = −x3 + u, y = x2

where ϕ1 and ϕ2 are smooth functions that satisfy ϕi (0) = 0.

(a) Find the relative degree.

(b) Under what additional conditions is the system minimum phase?
(c) Transform the system into the normal form. Is the change of variables valid
globally?
(d) Under what additional conditions is the system feedback linearizable?
(e) Under the conditions of part (d), find a change of variables that transforms the
system into the controller form.

2. It is required to design a state feedback controller to globally stabilize the origin of

x2
ẋ1 = x1 + , ẋ2 = −x2 + u
1 + x21

(a) Show that there exists a state transformation to transform the system into con-
troller form (Check if the rank and Involutive conditions are satisfied)
(b) Show that the state transformation is

z1 = x1 , z2 = x1 + x2 /(1 + x21 )

and Find the transfomed system and show that it is in controller form.