hw9 - Take the closed-loop eigenvalues as-1 and-1(b Find a...

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ME/ECE859-Spring 2008 Homework 9 Due date: 4/14/08 Monday 1. Exercise 14.33 of the textbook. 2. Exercise 14.46 of the textbook. (Hint: Use the Cascade Connection method in Lecture 29, or Theorem 14.5 in the textbook.) 3. Consider the system ˙ x 1 = x 2 , ˙ x 2 = - x 3 1 + ku Let the nominal value of k be k = 1. (a) Use feedback linearization to design a globally stabilizing state feedback control.
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Unformatted text preview: Take the closed-loop eigenvalues as -1 and -1. (b) Find a CLF from part (a) and design another stabilizing controller using Sontag’s formula. (c) Verify that u =-sat( x 2 ) is a globally stabilizing controller that is passivity based. (d) Verify a CLF from from part (c) and design another stabilizing controller using Sontag’s formula. 1...
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This note was uploaded on 07/25/2008 for the course ME 859 taught by Professor Choi during the Spring '08 term at Michigan State University.

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