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Unformatted text preview: 5 LTI MACHINE? 5 8 LTI Machine? If you put a sequence of ﬁve numbers into a certain machine, it responds with a ﬁvenumber
sequence; this exchange constitutes one experiment. For each possible machine characteris
tic below, give enough sets of inputoutput sequences (that is, ”experiments”) that would
demonstrate it:
1. Linear, timeinvariant
A solution: [1,1,1,1,1] → [3,2,2,1,0] and [0,2,2,2,2] → [0,6,4,4,2].
2. Linear, timevarying
A solution: [1,1,0,0,0] → [0,3,2,1,0] and [0,2,2,0,0] → [0,6,4,2,0].
3. Nonlinear, timeinvariant
A solution: [1,2,3,0,0] → [5,4,3,0,0] and [0,2,4,6,0] → [0,4,3,2,0]. Note this is a static
mapping; a dynamic system would take more trials to determine that it was both
nonlinear and timeinvariant.
4. Nonlinear, timevarying
A solution: [2,3,4,0,0] → [1,1,0,1,1] and [0,4,6,8,0] → [0,0,3,0,3]. A timevarying system
cannot be a static map, so we have to have dynamics. However, similarly to the above
case, there is a limit to what can be deduced with only two trials. MIT OpenCourseWare
http://ocw.mit.edu 2.017J Design of Electromechanical Robotic Systems
Fall 2009 For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms . ...
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 Spring '05
 GeorgeKocur
 LTI system theory, MIT OpenCourseWare, Limit of a sequence, Electromechanical Robotic Systems

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