Question 1

a)

Therefore, [g(x) adf1g(x) adf2g(x)] is full rank

So {g(x), adf1g(x)} is involutive.
Therefore, the system is linearizable.
b)
the system has 3 states, we do not expect zero dynamics. Hence, the relative degree should be 3.
Therefore, relative degree is 3.

To cancel linearity and make states converge to 0,

Where k1, k2, k3>0, in this case,

, which could guarantee y converge to 0, in this case,

x1, x2, x3 could converge to 0 as well.

c)
Assume k1=k2=k3=3, states converge to 0 over time as discussed above.
 Figure 1. states x1, x2, x3(i.e. output y) and input u
Question 2
a)

System order n=2;

Relative degree ρ = 1;
Plant Zp=s+2, Rp=s2+2s+3, kp=1;
Reference model Zm=s+3, Rm=s2+5s+7, km=1;

To guarantee the error converge to 0,

As there is no parameter estimation error, plant output tracks reference model output perfectly.
 Figure 2. reference signal r, error e, plant output y, reference model output ym
b)

Put in state space form,

Gm(s)=(s+3)/(s2+5s+7), so
 Because the denominator is s2+5s+7, real parts of poles are all negative, Gm(s) is Hurwitz.

Figure 3. Nyquist plot of Gm(jw)

 According to figure 3, the real part of the Gm(s) strictly positive along imaginary axis.
 lims→∞Gm(s)=0.
Hence, Gm(s) is SPR.
According to K-Y-P lemma, there is a positive definite P and a positive definite Q such that,

Define a Lyapunov function candidate as:

Therefore, e and V are bounded,

According to Barbalat’s lemma, lim t→∞eTe=0, hence lim t→∞e(t)=0, lim t→∞e1(t)=0.
c)

Figure 4. error, plant output Y, reference model output Ym