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    Quiz 1 Solutions

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    Erick Felipe
    This document contains solutions to 5 quiz questions about control of mobile robots and differential equations. The summaries are: 1) The solution analyzes the sign and magnitude of the derivative for the differential equation x ̇ = −x3 and determines that the plot where x is decreasing over time matches the behavior of the equation. 2) The possible equilibrium points for the epidemic model I ̇ = βI(1-I) - ρI are determined to be I = 0 and I = (β - ρ)/β. 3) It is shown that the option e-ωt is not a valid solution to the differential equation x ̈ = -ω2x by taking the second derivative

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    © All Rights Reserved
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    Quiz 1 Solutions

    Uploaded by

    Erick Felipe
    1K views4 pages
    This document contains solutions to 5 quiz questions about control of mobile robots and differential equations. The summaries are: 1) The solution analyzes the sign and magnitude of the derivative for the differential equation x ̇ = −x3 and determines that the plot where x is decreasing over time matches the behavior of the equation. 2) The possible equilibrium points for the epidemic model I ̇ = βI(1-I) - ρI are determined to be I = 0 and I = (β - ρ)/β. 3) It is shown that the option e-ωt is not a valid solution to the differential equation x ̈ = -ω2x by taking the second derivative

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    Quiz 1 Solutions

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    This document contains solutions to 5 quiz questions about control of mobile robots and differential equations. The summaries are: 1) The solution analyzes the sign and magnitude of the derivative for the differential equation x ̇ = −x3 and determines that the plot where x is decreasing over time matches the behavior of the equation. 2) The possible equilibrium points for the epidemic model I ̇ = βI(1-I) - ρI are determined to be I = 0 and I = (β - ρ)/β. 3) It is shown that the option e-ωt is not a valid solution to the differential equation x ̈ = -ω2x by taking the second derivative

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    1K views4 pages

    Quiz 1 Solutions

    Uploaded by

    Erick Felipe
    This document contains solutions to 5 quiz questions about control of mobile robots and differential equations. The summaries are: 1) The solution analyzes the sign and magnitude of the derivative for the differential equation x ̇ = −x3 and determines that the plot where x is decreasing over time matches the behavior of the equation. 2) The possible equilibrium points for the epidemic model I ̇ = βI(1-I) - ρI are determined to be I = 0 and I = (β - ρ)/β. 3) It is shown that the option e-ωt is not a valid solution to the differential equation x ̈ = -ω2x by taking the second derivative

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    SOLUTIONS: QUIZ 1

    CONTROL OF MOBILE ROBOTS


    February 7, 2013

    1
    One way of getting a general feeling for what a differential equation is up to is to look at the sign and
    magnitude of the derivative at different points for different values of x. Use this idea for the dynamics
    x(t)

    = x(t)3 .
    Which one of the plots below (where t is on the x-axis and x(t) is on the y-axis) was generated by
    this system?

    SOLUTION
    We see that in all options, the state x start at 10, i.e., x(0) = 10. But, x = x3 means that the derivative
    has to be negative 103 at the beginning, i.e., x has to be decreasing. And, as x decreases, x3 decreases
    as well, i.e., the derivative is going to remain negative (for positive x) but get smaller and smaller in
    magnitude, the smaller x gets. As such, the only plot that fits this bill is:
    10

    0.01

    0.02

    0.03

    0.04

    0.05

    0.06

    0.07

    0.08

    0.09

    0.1

    2
    One way of modeling epidemics is to describe how the fraction of infected individuals evolves over time.
    Let I be that fraction, with the model being
    I = I(1 I) I.
    Here, the constants and are the infection and recovery rates, respectively.
    What are the possible equilibrium points to this system (values for I when the fraction of infected
    individuals is not changing)?

    SOLUTION
    An equlibrium point is a point where the system does not change. In other words, we need I = 0. This
    means that
    0 = I(1 I) I = I((1 I) ),
    from which we see that I = 0 is one solution. The other solution is given by
    (1 I) = 0 1 I =

    I = 1 = ( )/.

    As such, the answer is I = 0 and I = ( )/.

    3
    If someone gives you a possible solution to a differential equation, the way to check if this is indeed a
    solution is by taking the required number of derivatives and seeing if the proposed solution does in fact
    satisfy the differential equation.
    Let
    x
    (t) = 2 x(t).
    Which of the following options is not a possible solution to this equation?

    SOLUTION
    We have to check the different options:
    x = cos(t):
    x = sin(t) x
    = 2 cos(t) = 2 x,
    i.e., this is a solution.
    x = 0:
    x = 0 x
    = 0 = 2 0 = 0,
    i.e., this is a solution.
    x = et :
    x = et x = 2 et 6= 2 x,
    i.e., this is not a solution.
    x = sin(t):
    x = cos(t) x
    = 2 sin(t) = 2 x,

    i.e., this is a solution.


    x = sin(t) cos(t):
    x = 2 cos(t) + sin(t) x = 3 sin(t) + 2 cos(t) = 2 x,
    i.e., this is a solution.
    So, the only non-solution is et .

    4
    We saw that the model of a cruise-controller could be given by
    x =

    c
    u x,
    m

    where u is the input, x is the speed of the car, and c, m, are constant parameters.
    If there was no wind resistance in the cruise-control model ( = 0), what would the steady-state
    values be for the velocity x when using a pure D-regulator, i.e., when u = k e = k(r x)
    = k x (since r
    is constant)?

    SOLUTION
    Plugging in the values gives that

    ck
    x,

    m
    which no longer is a differential equation but an algebraic equation with solution x = 0. this would mean
    that somehow, magically, x = 0 right away which is clearly physically impossible. But, allowing for this
    to even be a possibility means that x never changes i.e., x(t) = x(0) for all values of t, i.e., it is impossible
    to say what x() is without knowing the initial conditions. (Really, the whole equation is somewhat
    suspect to start with since we are setting the velocity to be a function of the velocity which makes sense
    in discrete time where thenew velocity can be a function of the old velocity, but certainly not in
    continuous time where the velocity at time t is somehow supposed to be a function of the velocity at time
    t?...) So, the answer is: Impossible to say!
    x =

    5
    Let a discrete-time system be given by
    xk+1 = max{0, 5 xk }.
    If this system starts at x0 = 10, what happens to the state of the system?

    SOLUTION
    At the first step, we get
    x1 = max{0, 5 10} = max{0, 5} = 0.
    At the next step we get
    x2 = max{0, 5 0} = max{0, 5} = 5.

    Iterating in this way yields


    x3 = max{0, 5 5} = max{0, 0} = 0
    x4 = max{0, 5 0} = max{0, 5} = 5
    ..
    .
    As such, this discrete-time system keeps switching between 0 and 5.

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