ASSIGN MENT-a 17EE350ot

Kaluyan Roman

hg

Adh - -ih-ha
dt

Adha -% h-hh -gha

(o) State vainbls htha Input -a Oulpul-a

(
EAUILIBRIUM i Jot ha o enuilibxim be ha0
equillhxium be

ott

(Pao-haD)-

p hgo

dh-0
dt
Vo- hho- hao
 7EE 35004
Inctemetal TF
TKalyan Raman
h a hs hA 2A Rhoha

dhg le
+
+R oay le A
a
ho-ha A 2AhD

+P
ahr le da le
9Aheha0 2Ahao

ohgle 3A hio-h30 aAhgo 2A Ghgo 9Aho 3A\ 9A

A
+
2Ahao Ah
ct 0

2Aghas 9Ahao
ig A

Gi) C(oI-AB
S+
-A 3AGg

3ARhgp
2Ago
 e FEE 350044
JAhaD Kalyan Roman

dat (A) R
St
aAhao 3A, hgb

whexe det(A)
2A,hAGlho

aAlghgo 4Ahgo

2Atlhao Ah3o

CCsT-A)6
dat/a)

-.1

dot (A)

9Aao AAhgp
 HEE 35004
(C)
Kalyan Raman
A(ah) o (ah-Ah,)
ot 2hao
ACah
R(Ahbha
ahap hg
Lot Ah- V Vo To 3.g hgpR
A- G

aAhgo
-V
dt
To R

Gd Vg
dt R

-Mww- ww-
Ri

CA
 HEE 3500
Given d0.5cm P- 19/cc
h2010.cm
Kalyan Kamon
A 16cm - 980cm/s
d c 0.1163 cm

ro 5 cm/s/v

4ag O1963Ax180 8:613 cm

J
52
O-1963&180 8:613 Cm s

Mgo ahao 20 .cm

o 8-613 10 ca s 2749 cs

t 5 498 V
Krm

8613
O-086 =O0625
aARhao 2x 16x 1o0

2x8-613 O 086 3
0-178 A
5:375 k10
9Aghao x 16x Jio0

- 0 086 +O086 D-0635

A
tO.086 -0:1-8
C[o 4

5:375x10
GACS
S+ 0958s + 0-00F4
 17EE 35004t
Nen-Linea modol
TKalyan Kaman
Adh
dt Y-RJhrh
6 da 2749-8613 h-h
olt

ddt F181-0-5438 Jh-ha

Adhg

16 dha
dt 8-613Jhr-hg -8-613/h

dhg 0:5433 h-hg -

O-5433 Jh
dt

dh
7181
dt
L 0-54-33

hg

0-5433
ineax modal : IFEE 35004

Kalyan Raman
T Ay C:Ca A 16
V= Ah
R-
0-+2.76
8-613

Cd To
ott R

16 d V-g dVi 0.0685 To- 0-0251

dtt
(v-V
0F2t6

- VG heda o
dt R

V-Vg d
ott dt
O-0859 (V-V)-0.0851V
0F9-t6 0.F276

d
o
0 0851
O-06251o
Ng.
da/dt

0-085

Ut 20 >hotAhh

Utt0
H-ely
 17EE35004
. Kalyan Raman
Assignment 2:
Question 1: Non-linear(above) and Linear(below) models

pe heie to search

H1 scopee

Type nere to searen

 17EE35004
J. Kalyan Raman
H2 Scope:

Type hae 30 a

Question 2:Controllability and Observability

A to 1 0 a 0a -t0.26.F)/.4 0R 3 E 0 .66*9.R)/12.40.16) 01 riw

Ct C2 to 2 1 C a t z i i zoz any and caly zteceetivozy

araa*a 1tccata2aiiity
ntcotEoL bresht a a [ea a*a*a
naheervn na A a nAA h a i 1y
a
ri for beith

>contzoLLabiiity rank taat coatzol

149b-

tiity

bE t ank taat_eae_ cuscETRAikv Eo

4 v e e heie tos
 7EE 350O
Kaly an Raman

FBD o M

H
-
M

Mg
FeD +X9d)

Certbo, ok mae ek ms at
(t Laine, L coxe H
memert e into-dia e mabout s CM be

l9taue eoualien I 9 VLaine -HLcoxe

Foxce eaunlien M= - H

H-m(Trlaino)

V-mg-m(ceo)
ot

(0) being cloe te 5e9

ainee C90 1

I6 - VLe - H

H m t mlë

mg +0= mg
 7EE 35004
m + Më+t M
Kolyan Raman
-Mtm) itmlo

T mgUe- Cmt mlë) L

hote IK ml

ml mgl- mli
me mg - m 6)

cenditions axo Jolaaod

Arplayingaplace Txankon 0uming nitial

U (M+m) Sx) + mls p6)

mg p msXG)

- mSXG) S
XG)
rmLs-m9

U) (Mtm) s x olsC-s x)

X
UG)
CMem CAs-)-mls
Js-
sMLS-(M+m)a
 17EE 35004
XE)
TKalyan Raman
s(sMm)a)
ML

US)
ML

ML
US)
sM+mdg
u M

(b (M +m) + mle =

-mx M u-mge

M M

-CMemi) -MJS = u-Mem)g9

Meo)8
M ML

9tnto Vasinblos: ,0,0

Oulpul
 IFEE 3500

TKalyan Rarnan

mg 0
M
9

Mem) 0 -m
Ml

400 o1 .
O0 4 0

m 0-96 Kg M: 34+k d 0:36m

Rank AB ] à 4
Fem mattab o [e AB

Rank CA
CA
CA
CA )

0beuraloilily
Corlvellabilkity .

odbackohy T
fendulum can be balancud: uing' 9e

Because Aot C 1 o oo obewability- cornbuellabilily 4

sewabilily 3 00sos f
C [o o 'o
cortellability +or- t
Thexo s a pole 7pecancollatisn n ) whfch oducod a xank oa,
 7EE 35004
(C)
JKalyan Raman

sa

sCs-a)

Bounk the Jeep bto ab: ab ard iw chd

LBep gain, = PC Lser qain I+ RC

tg() (

K kCL
s-a
C sTs-a2

s-a

kC

I t i edant he ep@RsDNA d 0omslsuhol

plane
LGop gain9 Jas a Jugh tand. pg zex S = +b. Thexoleu

we kavea poura n coue o eocdoack

Whewo L9epqain dseunt have any unht, halk plono pro, .

thero ne etouxtness u in cae o Aaoodback