UNIVERSITY OF CALIFORNIA AT BERKELEY
Department of Mechanical Engineering
ME290J Model Predictive Control
Homework 1
Solutions Due Date: September 4th 2014
Exercise 1
Equilibrium Point and Linearization
Figure 1: Inverted Double Pendulum
Consider the syst
UNIVERSITY OF CALIFORNIA AT BERKELEY
Department of Mechanical Engineering
ME290J Model Predictive Control
Homework 2
Solutions Due Date: September 18th 2014
Exercise 1
Convexity
Which of the following sets are convex? Give reasons for your answers.
1. (ma
Solutions to Problem Set 1
Grade your homework as follows: For each (sub)question:
Assign maxpoint for correct answer.
Assign 0 points for major errors: e.g., no answer, wrong answer based on wrong approach,.
3
Assign 4 maxpoint for minor errors: typos
Solutions to Problem Set 2
Grade your homework as follows: For each (sub)question:
Assign maxpoint for correct answer.
Assign 0 points for major errors: e.g., no answer, wrong answer based on wrong
approach,.
Assign 3 maxpoint for minor errors: typos,
Some Math Preliminaries
Questions/Comments: Frank Chuang, [email protected]
1
Basic math notation
Below you will nd a table of commonly used math symbols.
Symbol
R
N
Z
\

2
meaning
set of real numbers
set of natural numbers
set of integers
empty set
se