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= MathematicalAnalysis II =
= Control Theory =
 
* '''Course name''': Control Theory
+
* '''Course name''': MathematicalAnalysis II
 
* '''Code discipline''':
 
* '''Code discipline''':
* '''Subject area''': ['Introduction to Linear Control, Stability of linear dynamical systems', 'Controller design', 'Sensing, observers, Adaptive control']
+
* '''Subject area''': Multivariate calculus: derivatives, differentials, maxima and minima, Multivariate integration, Functional series. Fourier series, Integrals with parameters
   
 
== Short Description ==
 
== Short Description ==
Line 22: Line 22:
 
! Section !! Topics within the section
 
! Section !! Topics within the section
 
|-
 
|-
  +
| Differential Analysis of Functions of Several Variables ||
| Introduction to Linear Control, Stability of linear dynamical systems ||
 
  +
# Limits of functions of several variables
# Control, introduction. Examples.
 
  +
# Partial and directional derivatives of functions of several variables. Gradient
# Single input single output (SISO) systems. Block diagrams.
 
  +
# Differentials of functions of several variables. Taylor formula
# From linear differential equations to state space models.
 
  +
# Maxima and minima for functions of several variables
# DC motor as a linear system.
 
  +
# Maxima and minima for functions of several variables subject to a constraint
# Spring-damper as a linear system.
 
# The concept of stability of the control system. Proof of stability for a linear system with negative real parts of eigenvalues.
 
# Multi input multi output (MIMO) systems.
 
# Linear Time Invariant (LTI) systems and their properties.
 
# Linear Time Varying (LTV) systems and their properties.
 
# Transfer function representation.
 
 
|-
 
|-
  +
| Integration of Functions of Several Variables ||
| Controller design. ||
 
  +
# Z-test
# Stabilizing control. Control error.
 
  +
# Double integrals. Fubini’s theorem and iterated integrals
# Proportional control.
 
  +
# Substituting variables in double integrals. Polar coordinates
# PD control. Order of a system and order of the controller.
 
  +
# Triple integrals. Use of Fubini’s theorem
# PID control.
 
  +
# Spherical and cylindrical coordinates
# P, PD and PID control for DC motor.
 
  +
# Path integrals
# Trajectory tracking. Control input types. Standard inputs (Heaviside step function, Dirac delta function, sine wave).
 
  +
# Area of a surface
# Tuning PD and PID. Pole placement.
 
  +
# Surface integrals
# Formal statements about stability. Lyapunov theory.
 
# Types of stability; Lyapunov stability, asymptotic stability, exponential stability.
 
# Eigenvalues in stability theory. Reasoning about solution of the autonomous linear system.
 
# Stability proof for PD control.
 
# Stability in stabilizing control and trajectory tracking.
 
# Frequency response. Phase response.
 
# Optimal control of linear systems. From Hamilton-Jacobi-Bellman to algebraic Riccati equation. LQR.
 
# Stability of LQR.
 
# Controllability.
 
 
|-
 
|-
  +
| Uniform Convergence of Functional Series. Fourier Series ||
| Sensing, observers, Adaptive control ||
 
  +
# Uniform and point wise convergence of functional series
# Modelling digital sensors: quantization, discretization, lag.
 
  +
# Properties of uniformly convergent series
# Modelling sensor noise. Gaussian noise. Additive models. Multiplicative models. Dynamic sensor models.
 
  +
# Fourier series. Sufficient conditions of convergence and uniform convergence
# Observability.
 
  +
# Bessel’s inequality and Parseval’s identity.
# Filters.
 
  +
|-
# State observers.
 
  +
| Integrals with Parameter(s) ||
# Optimal state observer for linear systems.
 
  +
# Definite integrals with parameters
# Linearization of nonlinear systems.
 
  +
# Improper integrals with parameters. Uniform convergence
# Linearization along trajectory.
 
  +
# Properties of uniformly convergent integrals
# Linearization of Inverted pendulum dynamics.
 
  +
# Beta-function and gamma-function
# Model errors. Differences between random disturbances and unmodeled dynamics/processes.
 
  +
# Fourier transform
# Adaptive control.
 
# Control for sets of linear systems.
 
# Discretization, discretization error.
 
# Control for discrete linear systems.
 
# Stability of discrete linear systems.
 
 
|}
 
|}
 
== Intended Learning Outcomes (ILOs) ==
 
== Intended Learning Outcomes (ILOs) ==
   
 
=== What is the main purpose of this course? ===
 
=== What is the main purpose of this course? ===
  +
The goal of the course is to study basic mathematical concepts that will be required in further studies. The course is based on Mathematical Analysis I, and the concepts studied there are widely used in this course. The course covers differentiation and integration of functions of several variables. Some more advanced concepts, as uniform convergence of series and integrals, are also considered, since they are important for understanding applicability of many theorems of mathematical analysis. In the end of the course some useful applications are covered, such as gamma-function, beta-function, and Fourier transform.
Linear Control Theory is both an active tool for modern industrial engineering and a prerequisite for most of the state-of-the-art level control techniques and the corresponding courses. With this in mind, the Linear Control course is both building a foundation for the following development of the student as a learner in the fields of Robotics, Control, Nonlinear Dynamics and others, as well as it is one of the essential practical courses in the engineering curricula.
 
   
 
=== ILOs defined at three levels ===
 
=== ILOs defined at three levels ===
Line 78: Line 61:
 
==== Level 1: What concepts should a student know/remember/explain? ====
 
==== Level 1: What concepts should a student know/remember/explain? ====
 
By the end of the course, the students should be able to ...
 
By the end of the course, the students should be able to ...
  +
* find partial and directional derivatives of functions of several variables;
* methods for control synthesis (linear controller gain tuning)
 
  +
* find maxima and minima for a function of several variables
* methods for controller analysis
 
  +
* use Fubini’s theorem for calculating multiple integrals
* methods for sensory data processing for linear systems
 
  +
* calculate line and path integrals
  +
* distinguish between point wise and uniform convergence of series and improper integrals
  +
* decompose a function into Fourier series
  +
* calculate Fourier transform of a function
   
 
==== Level 2: What basic practical skills should a student be able to perform? ====
 
==== Level 2: What basic practical skills should a student be able to perform? ====
 
By the end of the course, the students should be able to ...
 
By the end of the course, the students should be able to ...
  +
* how to find minima and maxima of a function subject to a constraint
* State-space models
 
  +
* how to represent double integrals as iterated integrals and vice versa
* Eigenvalue analysis for linear systems
 
  +
* what the length of a curve and the area of a surface is
* Proportional and PD controllers
 
  +
* properties of uniformly convergent series and improper integrals
* How to stabilize a linear system
 
  +
* beta-function, gamma-function and their properties
* Lyapunov Stability
 
  +
* how to find Fourier transform of a function
* How to check if the system is controllable
 
* Observer design
 
* Sources of sensor noise
 
* Filters
 
* Adaptive Control
 
* Optimal Control
 
* Linear Quadratic Regulator
 
   
 
==== Level 3: What complex comprehensive skills should a student be able to apply in real-life scenarios? ====
 
==== Level 3: What complex comprehensive skills should a student be able to apply in real-life scenarios? ====
 
By the end of the course, the students should be able to ...
 
By the end of the course, the students should be able to ...
  +
* find multiple, path, surface integrals
* Turn a system of linear differential equations into a state-space model.
 
  +
* find the range of a function in a given domain
* Design a controller by solving Algebraic Riccati eq.
 
  +
* decompose a function into Fourier series
* Find if a system is stable or not, using eigenvalue analysis.
 
 
== Grading ==
 
== Grading ==
   
Line 112: Line 93:
 
| A. Excellent || 85-100 || -
 
| A. Excellent || 85-100 || -
 
|-
 
|-
| B. Good || 70-84 || -
+
| B. Good || 65-84 || -
 
|-
 
|-
| C. Satisfactory || 50-69 || -
+
| C. Satisfactory || 45-64 || -
 
|-
 
|-
| D. Poor || 0-49 || -
+
| D. Poor || 0-44 || -
 
|}
 
|}
   
Line 125: Line 106:
 
! Activity Type !! Percentage of the overall course grade
 
! Activity Type !! Percentage of the overall course grade
 
|-
 
|-
| Labs/seminar classes || 30
+
| Test 1 || 10
 
|-
 
|-
  +
| Midterm || 25
| Interim performance assessment || 20
 
 
|-
 
|-
| Exams || 50
+
| Test 2 || 10
  +
|-
  +
| Participation || 5
  +
|-
  +
| Final exam || 50
 
|}
 
|}
   
Line 138: Line 123:
   
 
=== Open access resources ===
 
=== Open access resources ===
  +
* Robert A. Adams, Christopher Essex (2017) Calculus. A Complete Course, Pearson
* Williams, R.L. and Lawrence, D.A., 2007. Linear state-space control systems. John Wiley & Sons.
 
  +
* Jerrold Marsden, Alan Weinstein (1985) Calculus (in three volumes; volumes 2 and 3), Springer
* Ogata, K., 1995. Discrete-time control systems (Vol. 2, pp. 446-480). Englewood Cliffs, NJ: Prentice Hall.
 
   
 
=== Closed access resources ===
 
=== Closed access resources ===
Line 152: Line 137:
 
|+ Activities within each section
 
|+ Activities within each section
 
|-
 
|-
! Learning Activities !! Section 1 !! Section 2 !! Section 3
+
! Learning Activities !! Section 1 !! Section 2 !! Section 3 !! Section 4
 
|-
 
|-
| Homework and group projects || 1 || 1 || 1
+
| Homework and group projects || 1 || 1 || 1 || 1
 
|-
 
|-
| Testing (written or computer based) || 1 || 0 || 0
+
| Midterm evaluation || 1 || 1 || 1 || 1
 
|-
 
|-
| Reports || 1 || 1 || 1
+
| Testing (written or computer based) || 1 || 1 || 1 || 1
 
|-
 
|-
| Midterm evaluation || 0 || 1 || 0
+
| Discussions || 1 || 1 || 1 || 1
|-
 
| Discussions || 0 || 1 || 0
 
 
|}
 
|}
 
== Formative Assessment and Course Activities ==
 
== Formative Assessment and Course Activities ==
Line 174: Line 157:
 
! Activity Type !! Content !! Is Graded?
 
! Activity Type !! Content !! Is Graded?
 
|-
 
|-
  +
| Question || Find <math>{\textstyle \lim \limits _{x\to 0}\lim \limits _{y\to 0}u(x;y)}</math> , <math>{\textstyle \lim \limits _{y\to 0}\lim \limits _{x\to 0}u(x;y)}</math> and <math>{\textstyle \lim \limits _{(x;y)\to (0;0)}u(x;y)}</math> if <math>{\textstyle u(x;y)={\frac {x^{2}y+xy^{2}}{x^{2}-xy+y^{2}}}}</math> . || 1
| Question || What is a linear dynamical system? || 1
 
 
|-
 
|-
  +
| Question || Find the differential of a function: (a) <math>{\textstyle u(x;y)=\ln \left(x+{\sqrt {x^{2}+y^{2}}}\right)}</math> ; (b) <math>{\textstyle u(x;y)=\ln \sin {\frac {x+1}{\sqrt {y}}}}</math> . || 1
| Question || What is an LTI system? || 1
 
 
|-
 
|-
  +
| Question || Find the differential of <math>{\textstyle u(x;y)}</math> given implicitly by an equation <math>{\textstyle x^{3}+2y^{3}+u^{3}-3xyu+2y-3=0}</math> at points <math>{\textstyle M(1;1;1)}</math> and <math>{\textstyle N(1;1;-2)}</math> . || 1
| Question || What is an LTV system? || 1
 
 
|-
 
|-
  +
| Question || Find maxima and minima of a function subject to a constraint (or several constraints):<br><math>{\textstyle u=x^{2}y^{3}z^{4}}</math> , <math>{\textstyle 2x+3y+4z=18}</math> , <math>{\textstyle x>0}</math> , <math>{\textstyle y>0}</math> , <math>{\textstyle z>0}</math> ;<br><math>{\textstyle u=x-y+2z}</math> , <math>{\textstyle x^{2}+y^{2}+2z^{2}=16}</math> ;<br><math>{\textstyle u=\sum \limits _{i=1}^{k}a_{i}x_{i}^{2}}</math> , <math>{\textstyle \sum \limits _{i=1}^{k}x_{i}=1}</math> , <math>{\textstyle a_{i}>0}</math> ; || 1
| Question || Provide examples of LTI systems. || 1
 
 
|-
 
|-
  +
| Question || <math>{\textstyle u=x^{2}y^{3}z^{4}}</math> , <math>{\textstyle 2x+3y+4z=18}</math> , <math>{\textstyle x>0}</math> , <math>{\textstyle y>0}</math> , <math>{\textstyle z>0}</math> ; || 1
| Question || What is a MIMO system? || 1
 
 
|-
 
|-
  +
| Question || <math>{\textstyle u=x-y+2z}</math> , <math>{\textstyle x^{2}+y^{2}+2z^{2}=16}</math> ; || 1
| Question || Simulate a linear dynamic system as a higher order differential equation or in state-space form (Language is a free choice, Python and Google Colab are recommended. Use built-in solvers or implement Runge-Kutta or Euler method. || 0
 
  +
|-
  +
| Question || <math>{\textstyle u=\sum \limits _{i=1}^{k}a_{i}x_{i}^{2}}</math> , <math>{\textstyle \sum \limits _{i=1}^{k}x_{i}=1}</math> , <math>{\textstyle a_{i}>0}</math> ; || 1
  +
|-
  +
| Question || Let us consider <math>{\textstyle u(x;y)={\begin{cases}1,&x=y^{2},\\0,&x\neq y^{2}.\end{cases}}}</math> Show that this function has a limit at the origin along any straight line that passes through it (and all these limits are equal to each other), yet this function does not have limit as <math>{\textstyle (x;y)\to (0;0)}</math> . || 0
  +
|-
  +
| Question || Find the largest possible value of directional derivative at point <math>{\textstyle M(1;-2;-3)}</math> of function <math>{\textstyle f=\ln xyz}</math> . || 0
  +
|-
  +
| Question || Find maxima and minima of functions <math>{\textstyle u(x,y)}</math> given implicitly by the equations:<br><math>{\textstyle x^{2}+y^{2}+u^{2}-4x-6y-4u+8=0}</math> , <math>{\textstyle u>2}</math> ;<br><math>{\textstyle x^{3}-y^{2}+u^{2}-3x+4y+u-8=0}</math> . || 0
  +
|-
  +
| Question || <math>{\textstyle x^{2}+y^{2}+u^{2}-4x-6y-4u+8=0}</math> , <math>{\textstyle u>2}</math> ; || 0
  +
|-
  +
| Question || <math>{\textstyle x^{3}-y^{2}+u^{2}-3x+4y+u-8=0}</math> . || 0
  +
|-
  +
| Question || Find maxima and minima of functions subject to constraints:<br><math>{\textstyle u=xy^{2}}</math> , <math>{\textstyle x+2y-1=0}</math> ;<br><math>{\textstyle u=xy+yz}</math> , <math>{\textstyle x^{2}+y^{2}=2}</math> , <math>{\textstyle y+z=2}</math> , <math>{\textstyle y>0}</math> . || 0
  +
|-
  +
| Question || <math>{\textstyle u=xy^{2}}</math> , <math>{\textstyle x+2y-1=0}</math> ; || 0
  +
|-
  +
| Question || <math>{\textstyle u=xy+yz}</math> , <math>{\textstyle x^{2}+y^{2}=2}</math> , <math>{\textstyle y+z=2}</math> , <math>{\textstyle y>0}</math> . || 0
 
|}
 
|}
 
==== Section 2 ====
 
==== Section 2 ====
Line 192: Line 193:
 
! Activity Type !! Content !! Is Graded?
 
! Activity Type !! Content !! Is Graded?
 
|-
 
|-
  +
| Question || Represent double integrals below as an iterated integrals (or a sum of iterated integrals) with different orders of integration: <math>{\textstyle \iint \limits _{D}f(x;y)\,dx\,dy}</math> where <math>{\textstyle D=\left\{(x;y)\left|x^{2}+y^{2}\leq 9,\,x^{2}+(y+4)^{2}\geq 25\right.\right\}}</math> . || 1
| Question || What is stability in the sense of Lyapunov? || 1
 
 
|-
 
|-
  +
| Question || Represent integral <math>{\textstyle I=\displaystyle \iiint \limits _{D}f(x;y;z)\,dx\,dy\,dz}</math> as iterated integrals with all possible (i.e. 6) orders of integration; <math>{\textstyle D}</math> is bounded by <math>{\textstyle x=0}</math> , <math>{\textstyle x=a}</math> , <math>{\textstyle y=0}</math> , <math>{\textstyle y={\sqrt {ax}}}</math> , <math>{\textstyle z=0}</math> , <math>{\textstyle z=x+y}</math> . || 1
| Question || What is stabilizing control? || 1
 
 
|-
 
|-
  +
| Question || Find line integrals of a scalar fields <math>{\textstyle \displaystyle \int \limits _{\Gamma }(x+y)\,ds}</math> where <math>{\textstyle \Gamma }</math> is boundary of a triangle with vertices <math>{\textstyle (0;0)}</math> , <math>{\textstyle (1;0)}</math> and <math>{\textstyle (0;1)}</math> . || 1
| Question || What is trajectory tracking? || 1
 
 
|-
 
|-
  +
| Question || Change order of integration in the iterated integral <math>{\textstyle \int \limits _{0}^{\sqrt {2}}dy\int \limits _{y}^{\sqrt {4-y^{2}}}f(x;y)\,dx}</math> . || 0
| Question || Why the control for a state-space system does not include the derivative of the state variable in the feedback law? || 1
 
 
|-
 
|-
  +
| Question || Find the volume of a solid given by <math>{\textstyle 0\leq z\leq x^{2}}</math> , <math>{\textstyle x+y\leq 5}</math> , <math>{\textstyle x-2y\geq 2}</math> , <math>{\textstyle y\geq 0}</math> . || 0
| Question || How can a PD controller for a second-order linear mechanical system can be re-written in the state-space form? || 1
 
 
|-
 
|-
  +
| Question || Change into polar coordinates and rewrite the integral as a single integral: <math>{\textstyle \displaystyle \iint \limits _{G}f\left({\sqrt {x^{2}+y^{2}}}\right)\,dx\,dy}</math> , <math>{\textstyle G=\left\{(x;y)\left|x^{2}+y^{2}\leq x;\,x^{2}+y^{2}\leq y\right.\right\}}</math> . || 0
| Question || Write a closed-loop dynamics for an LTI system with a proportional controller. || 1
 
 
|-
 
|-
  +
| Question || Having ascertained that integrand is an exact differential, calculate the integral along a piecewise smooth plain curve that starts at <math>{\textstyle A}</math> and finishes at <math>{\textstyle B}</math> : <math>{\textstyle \displaystyle \int \limits _{\Gamma }\left(x^{4}+4xy^{3}\right)\,dx+\left(6x^{2}y^{2}-5y^{4}\right)\,dy}</math> , <math>{\textstyle A(-2;-1)}</math> , <math>{\textstyle B(0;3)}</math> ; || 0
| Question || Give stability conditions for an LTI system with a proportional controller. || 1
 
  +
|}
  +
==== Section 3 ====
  +
{| class="wikitable"
  +
|+
 
|-
 
|-
  +
! Activity Type !! Content !! Is Graded?
| Question || Provide an example of a LTV system with negative eigenvalues that is not stable. || 1
 
 
|-
 
|-
  +
| Question || Find out whether the following functional series converges uniformly on the indicated intervals. Justify your answer. <math>{\textstyle \sum \limits _{n=1}^{\infty }e^{-n\left(x^{2}+2\sin x\right)}}</math> , <math>{\textstyle \Delta _{1}=(0;1]}</math> , <math>{\textstyle \Delta _{2}=[1;+\infty )}</math> ; || 1
| Question || Write algebraic Riccati equation for a standard additive quadratic cost. || 1
 
 
|-
 
|-
  +
| Question || <math>{\textstyle \sum \limits _{n=1}^{\infty }{\frac {\sqrt {nx^{3}}}{x^{2}+n^{2}}}}</math> , <math>{\textstyle \Delta _{1}=(0;1)}</math> , <math>{\textstyle \Delta _{2}=(1;+\infty )}</math> || 1
| Question || Derive algebraic Riccati equation for a given additive quadratic cost. || 1
 
 
|-
 
|-
  +
| Question || Show that sequence <math>{\textstyle f_{n}(x)=nx\left(1-x\right)^{n}}</math> converges non-uniformly on <math>{\textstyle [0;1]}</math> to a continuous function <math>{\textstyle f(x)}</math> , but <math>{\textstyle \lim \limits _{n\rightarrow +\infty }\int \limits _{0}^{1}f_{n}(x)\,dx=\lim \limits _{n\rightarrow +\infty }\int \limits _{0}^{1}f(x)\,dx}</math> . || 1
| Question || Derive differential Riccati equation for a standard additive quadratic cost. || 1
 
 
|-
 
|-
  +
| Question || Decompose the following function determined on <math>{\textstyle [-\pi ;\pi ]}</math> into Fourier series using the standard trigonometric system <math>{\textstyle \left.\left\{1;\cos kx;\sin kx\right\}\right|_{k=1}^{\infty }}</math> . Draw the graph of the sum of Fourier series obtained. <math>{\textstyle f(x)={\begin{cases}1,\;0\leq x\leq \pi ,\\0,\;-\pi \leq x<0.\end{cases}}}</math> || 1
| Question || What is the meaning of the unknown variable in the Riccati equation? What are its property in case of LTI dynamics. || 1
 
 
|-
 
|-
  +
| Question || Prove that if for an absolutely integrable function <math>{\textstyle f(x)}</math> on <math>{\textstyle [-\pi ;\pi ]}</math> <br><math>{\textstyle f(x+\pi )=f(x)}</math> then <math>{\textstyle a_{2k-1}=b_{2k-1}=0}</math> , <math>{\textstyle k\in \mathbb {N} }</math> ;<br><math>{\textstyle f(x+\pi )=-f(x)}</math> then <math>{\textstyle a_{0}=0}</math> , <math>{\textstyle a_{2k}=b_{2k}=0}</math> , <math>{\textstyle k\in \mathbb {N} }</math> . || 1
| Question || What is a frequency response? || 1
 
 
|-
 
|-
  +
| Question || <math>{\textstyle f(x+\pi )=f(x)}</math> then <math>{\textstyle a_{2k-1}=b_{2k-1}=0}</math> , <math>{\textstyle k\in \mathbb {N} }</math> ; || 1
| Question || What is a phase response? || 1
 
 
|-
 
|-
  +
| Question || <math>{\textstyle f(x+\pi )=-f(x)}</math> then <math>{\textstyle a_{0}=0}</math> , <math>{\textstyle a_{2k}=b_{2k}=0}</math> , <math>{\textstyle k\in \mathbb {N} }</math> . || 1
| Question || Design control for an LTI system using pole placement. || 0
 
 
|-
 
|-
  +
| Question || Show that sequence <math>{\textstyle f_{n}(x)=nx\left(1-x^{2}\right)^{n}}</math> converges on <math>{\textstyle [0;1]}</math> to a continuous function <math>{\textstyle f(x)}</math> , and at that <math>{\textstyle \lim \limits _{n\rightarrow +\infty }\int \limits _{0}^{1}f_{n}(x)\,dx\neq \lim \limits _{n\rightarrow +\infty }\int \limits _{0}^{1}f(x)\,dx}</math> . || 0
| Question || Design control for an LTI system using Riccati (LQR). || 0
 
 
|-
 
|-
  +
| Question || Show that sequence <math>{\textstyle f_{n}(x)=x^{3}+{\frac {1}{n}}\sin \left(nx+{\frac {n\pi }{2}}\right)}</math> converges uniformly on <math>{\textstyle \mathbb {R} }</math> , but <math>{\textstyle \left(\lim \limits _{n\rightarrow +\infty }f_{n}(x)\right)'\neq \lim \limits _{n\rightarrow +\infty }f'_{n}(x)}</math> . || 0
| Question || Simulate an LTI system with LQR controller. || 0
 
  +
|-
  +
| Question || Decompose <math>{\textstyle \cos \alpha x}</math> , <math>{\textstyle \alpha \notin \mathbb {Z} }</math> into Fourier series on <math>{\textstyle [-\pi ;\pi ]}</math> . Using this decomposition prove that <math>{\textstyle \cot y={\frac {1}{y}}+\sum \limits _{k=1}^{\infty }{\frac {2y}{y^{2}-\pi ^{2}k^{2}}}}</math> . || 0
  +
|-
  +
| Question || Function <math>{\textstyle f(x)}</math> is absolutely integrable on <math>{\textstyle [0;\pi ]}</math> , and <math>{\textstyle f(\pi -x)=f(x)}</math> . Prove that<br>if it is decomposed into Fourier series of sines then <math>{\textstyle b_{2k}=0}</math> , <math>{\textstyle k\in \mathbb {N} }</math> ;<br>if it is decomposed into Fourier series of cosines then <math>{\textstyle a_{2k-1}=0}</math> , <math>{\textstyle k\in \mathbb {N} }</math> . || 0
  +
|-
  +
| Question || if it is decomposed into Fourier series of sines then <math>{\textstyle b_{2k}=0}</math> , <math>{\textstyle k\in \mathbb {N} }</math> ; || 0
  +
|-
  +
| Question || if it is decomposed into Fourier series of cosines then <math>{\textstyle a_{2k-1}=0}</math> , <math>{\textstyle k\in \mathbb {N} }</math> . || 0
  +
|-
  +
| Question || ## Decompose <math>{\textstyle f(x)={\begin{cases}1,\;|x|<\alpha ,\\0,\;\alpha \leqslant |x|<\pi \end{cases}}}</math> into Fourier series using the standard trigonometric system.<br>Using Parseval’s identity find <math>{\textstyle \sigma _{1}=\sum \limits _{k=1}^{\infty }{\frac {\sin ^{2}k\alpha }{k^{2}}}}</math> and <math>{\textstyle \sigma _{2}=\sum \limits _{k=1}^{\infty }{\frac {\cos ^{2}k\alpha }{k^{2}}}}</math> . || 0
  +
|-
  +
| Question || Using Parseval’s identity find <math>{\textstyle \sigma _{1}=\sum \limits _{k=1}^{\infty }{\frac {\sin ^{2}k\alpha }{k^{2}}}}</math> and <math>{\textstyle \sigma _{2}=\sum \limits _{k=1}^{\infty }{\frac {\cos ^{2}k\alpha }{k^{2}}}}</math> . || 0
 
|}
 
|}
==== Section 3 ====
+
==== Section 4 ====
 
{| class="wikitable"
 
{| class="wikitable"
 
|+
 
|+
Line 232: Line 249:
 
! Activity Type !! Content !! Is Graded?
 
! Activity Type !! Content !! Is Graded?
 
|-
 
|-
  +
| Question || Find out if <math>{\textstyle \displaystyle \int \limits _{0}^{1}\left(\lim \limits _{\alpha \to 0}{\frac {2x\alpha ^{2}}{\left(\alpha ^{2}+x^{2}\right)^{2}}}\right)\,dx=\lim \limits _{\alpha \to 0}\int \limits _{0}^{1}{\frac {2x\alpha ^{2}}{\left(\alpha ^{2}+x^{2}\right)^{2}}}\,dx}</math> . || 1
| Question || What are the sources of sensor noise? || 1
 
 
|-
 
|-
  +
| Question || Differentiating the integrals with respect to parameter <math>{\textstyle \varphi }</math> , find it: <math>{\textstyle I(\alpha )=\int \limits _{0}^{\pi /2}\ln \left(\alpha ^{2}-\sin ^{2}\varphi \right)\,d\varphi }</math> , <math>{\textstyle \alpha >1}</math> . || 1
| Question || How can we combat the lack of sensory information? || 1
 
 
|-
 
|-
  +
| Question || Prove that the following integral converges uniformly on the indicated set. <math>{\textstyle \displaystyle \int \limits _{0}^{+\infty }e^{-\alpha x}\cos 2x\,dx}</math> , <math>{\textstyle \Delta =[1;+\infty )}</math> ; || 1
| Question || When it is possible to combat the lack of sensory information? || 1
 
 
|-
 
|-
  +
| Question || It is known that Dirichlet’s integral <math>{\textstyle \int \limits _{0}^{+\infty }{\frac {\sin x}{x}}\,dx}</math> is equal to <math>{\textstyle {\frac {\pi }{2}}}</math> . Find the values of the following integrals using Dirichlet’s integral<br><math>{\textstyle \int \limits _{0}^{+\infty }{\frac {\sin }{\alpha x}}x\,dx}</math> , <math>{\textstyle \alpha \neq 0}</math> ;<br><math>{\textstyle \int \limits _{0}^{+\infty }{\frac {\sin x-x\cos x}{x^{3}}}\,dx}</math> . || 1
| Question || How can we combat the sensory noise? || 1
 
 
|-
 
|-
  +
| Question || <math>{\textstyle \int \limits _{0}^{+\infty }{\frac {\sin }{\alpha x}}x\,dx}</math> , <math>{\textstyle \alpha \neq 0}</math> ; || 1
| Question || What is an Observer? || 1
 
 
|-
 
|-
  +
| Question || <math>{\textstyle \int \limits _{0}^{+\infty }{\frac {\sin x-x\cos x}{x^{3}}}\,dx}</math> . || 1
| Question || What is a filter? || 1
 
 
|-
 
|-
  +
| Question || Find out if <math>{\textstyle \displaystyle \int \limits _{0}^{1}\left(\int \limits _{0}^{1}f(x,\alpha )\,d\alpha \right)\,dx=\int \limits _{0}^{1}\left(\int \limits _{0}^{1}f(x,\alpha )\,dx\right)\,d\alpha }</math> if <math>{\textstyle f(x;\alpha )={\frac {\alpha -x}{(\alpha +x)^{3}}}}</math> . || 0
| Question || How is additive noise different from multiplicative noise? || 1
 
 
|-
 
|-
  +
| Question || Find <math>{\textstyle \Phi '(\alpha )}</math> if <math>{\textstyle \Phi (\alpha )=\int \limits _{1}^{2}{\frac {e^{\alpha x^{2}}}{x}}\,dx}</math> . || 0
| Question || Simulate an LTI system with proportional control and sensor noise. || 0
 
 
|-
 
|-
  +
| Question || Differentiating the integral with respect to parameter <math>{\textstyle \alpha }</math> , find it: <math>{\textstyle I(\alpha )=\int \limits _{0}^{\pi }{\frac {1}{\cos x}}\ln {\frac {1+\alpha \cos x}{1-\alpha \cos x}}\,dx}</math> , <math>{\textstyle |\alpha |<1}</math> . || 0
| Question || Design an observer for an LTI system with proportional control and lack of sensory information. || 0
 
  +
|-
  +
| Question || Find Fourier transform of the following functions:<br><math>{\textstyle f(x)={\begin{cases}1,&|x|\leq 1,\\0,&|x|>1;\end{cases}}}</math> || 0
  +
|-
  +
| Question || <math>{\textstyle f(x)={\begin{cases}1,&|x|\leq 1,\\0,&|x|>1;\end{cases}}}</math> || 0
  +
|-
  +
| Question || Let <math>{\textstyle {\widehat {f}}(y)}</math> be Fourier transform of <math>{\textstyle f(x)}</math> . Prove that Fourier transform of <math>{\textstyle e^{i\alpha x}f(x)}</math> is equal to <math>{\textstyle {\widehat {f}}(y-\alpha )}</math> , <math>{\textstyle \alpha \in \mathbb {R} }</math> . || 0
 
|}
 
|}
 
=== Final assessment ===
 
=== Final assessment ===
 
'''Section 1'''
 
'''Section 1'''
  +
# Find all points where the differential of a function <math>{\textstyle f(x;y)=(5x+7y-25)e^{-x^{2}-xy-y^{2}}}</math> is equal to zero.
# Convert a linear differential equation into a state space form.
 
  +
# Show that function <math>{\textstyle \varphi =f\left({\frac {x}{y}};x^{2}+y-z^{2}\right)}</math> satisfies the equation <math>{\textstyle 2xz\varphi _{x}+2yz\varphi _{y}+\left(2x^{2}+y\right)\varphi _{z}=0}</math> .
# Convert a transfer function into a state space form.
 
  +
# Find maxima and minima of function <math>{\textstyle u=2x^{2}+12xy+y^{2}}</math> under condition that <math>{\textstyle x^{2}+4y^{2}=25}</math> . Find the maximum and minimum value of a function
# Convert a linear differential equation into a transfer function.
 
  +
# <math>{\textstyle u=\left(y^{2}-x^{2}\right)e^{1-x^{2}+y^{2}}}</math> on a domain given by inequality <math>{\textstyle x^{2}+y^{2}\leq 4}</math> ;
# What does it mean for a linear differential equation to be stable?
 
 
'''Section 2'''
 
'''Section 2'''
# You have a linear system: <math>{\displaystyle {\dot {x}}=Ax+Bu}</math> and a cost function: a) <math>{\textstyle J=\int (x^{\top }Qx+u^{\top }Iu)dt}</math> b) <math>{\textstyle J=\int (x^{\top }Ix+u^{\top }Ru)dt}</math> Write Riccati eq. and find LQR gain analytically.
+
# Domain <math>{\textstyle G}</math> is bounded by lines <math>{\textstyle y=2x}</math> , <math>{\textstyle y=x}</math> and <math>{\textstyle y=2}</math> . Rewrite integral <math>{\textstyle \iint \limits _{G}f(x)\,dx\,dy}</math> as a single integral.
  +
# Represent the integral <math>{\textstyle \displaystyle \iint \limits _{G}f(x;y)\,dx\,dy}</math> as iterated integrals with different order of integration in polar coordinates if <math>{\textstyle G=\left\{(x;y)\left|a^{2}\leq x^{2}+y^{2}\leq 4a^{2};\,|x|-y\geq 0\right.\right\}}</math> .
# You have a linear system a) <math>{\textstyle {\begin{bmatrix}{\dot {x}}_{1}\\{\dot {x}}_{2}\end{bmatrix}}={\begin{bmatrix}1&10\\-3&4\end{bmatrix}}{\begin{bmatrix}x_{1}\\x_{2}\end{bmatrix}}}</math> b) <math>{\textstyle {\begin{bmatrix}{\dot {x}}_{1}\\{\dot {x}}_{2}\end{bmatrix}}={\begin{bmatrix}-2&1\\2&40\end{bmatrix}}{\begin{bmatrix}x_{1}\\x_{2}\end{bmatrix}}}</math> Prove whether or not it is stable.
 
  +
# Find the integral making an appropriate substitution: <math>{\textstyle \displaystyle \iiint \limits _{G}\left(x^{2}-y^{2}\right)\left(z+x^{2}-y^{2}\right)\,dx\,dy\,dz}</math> , <math>{\textstyle G=\left\{(x;y;z)\left|x-1<y<x;\,1-x<y<2-x;\,1-x^{2}+y^{2}<z<y^{2}-x^{2}+2x\right.\right\}}</math> .
# You have a linear system a) <math>{\displaystyle {\begin{bmatrix}{\dot {x}}_{1}\\{\dot {x}}_{2}\end{bmatrix}}={\begin{bmatrix}1&10\\-3&4\end{bmatrix}}{\begin{bmatrix}x_{1}\\x_{2}\end{bmatrix}}+{\begin{bmatrix}u_{1}\\u_{2}\end{bmatrix}}}</math> b) <math>{\displaystyle {\begin{bmatrix}{\dot {x}}_{1}\\{\dot {x}}_{2}\end{bmatrix}}={\begin{bmatrix}-2&1\\2&40\end{bmatrix}}{\begin{bmatrix}x_{1}\\x_{2}\end{bmatrix}}+{\begin{bmatrix}u_{1}\\u_{2}\end{bmatrix}}}</math> Your controller is: a) <math>{\textstyle {\begin{bmatrix}u_{1}\\u_{2}\end{bmatrix}}={\begin{bmatrix}100&1\\1&20\end{bmatrix}}{\begin{bmatrix}x_{1}\\x_{2}\end{bmatrix}}}</math> b) <math>{\textstyle {\begin{bmatrix}u_{1}\\u_{2}\end{bmatrix}}={\begin{bmatrix}7&2\\2&5\end{bmatrix}}{\begin{bmatrix}x_{1}\\x_{2}\end{bmatrix}}}</math> Prove whether the control system is stable.
 
  +
# Use divergence theorem to find the following integrals <math>{\textstyle \displaystyle \iint \limits _{S}(1+2x)\,dy\,dz+(2x+3y)\,dz\,dx+(3y+4z)\,dx\,dy}</math> where <math>{\textstyle S}</math> is the outer surface of a tetrahedron <math>{\textstyle {\frac {x}{a}}+{\frac {y}{b}}+{\frac {z}{c}}\leq 1}</math> , <math>{\textstyle x\geq 0}</math> , <math>{\textstyle y\geq 0}</math> , <math>{\textstyle z\geq 0}</math> ;
# You have linear dynamics:
 
a) <math>{\textstyle 2{\ddot {q}}+3{\dot {q}}-5q=u}</math>
 
b) <math>{\textstyle 10{\ddot {q}}-7{\dot {q}}+10q=u}</math>
 
c) <math>{\textstyle 15{\ddot {q}}+17{\dot {q}}+11q=2u}</math>
 
d) <math>{\textstyle 20{\ddot {q}}-{\dot {q}}-2q=-u}</math>
 
If <math>{\textstyle u=0}</math> , which are stable (a - d)?
 
Find <math>{\textstyle u}</math> that makes the dynamics stable.
 
Write transfer functions for the cases <math>{\textstyle u=0}</math> and <math>{\textstyle u=-100x}</math> .
 
# If <math>{\textstyle u=0}</math> , which are stable (a - d)?
 
# Find <math>{\textstyle u}</math> that makes the dynamics stable.
 
# Write transfer functions for the cases <math>{\textstyle u=0}</math> and <math>{\textstyle u=-100x}</math> .
 
# What is the difference between exponential stability, asymptotic stability and optimality?
 
 
'''Section 3'''
 
'''Section 3'''
  +
# Find out whether the following functional series converge uniformly on the indicated intervals. Justify your answer. <math>{\textstyle \sum \limits _{n=1}^{\infty }{\frac {xn+{\sqrt {n}}}{n+x}}\ln \left(1+{\frac {x}{n{\sqrt {n}}}}\right)}</math> , <math>{\textstyle \Delta _{1}=(0;1)}</math> , <math>{\textstyle \Delta _{2}=(1;+\infty )}</math> ;
# Write a model of a linear system with additive Gaussian noise.
 
  +
# Show that sequence <math>{\textstyle f_{n}(x)={\frac {\sin nx}{\sqrt {n}}}}</math> converges uniformly on <math>{\textstyle \mathbb {R} }</math> to a differentiable function <math>{\textstyle f(x)}</math> , and at that <math>{\textstyle \lim \limits _{n\rightarrow +\infty }f'_{n}(0)\neq f'(0)}</math> .
# Derive and implement an observer.
 
  +
'''Section 4'''
# Derive and implement a filter.
 
  +
# Find out if <math>{\textstyle \displaystyle \int \limits _{0}^{1}\left(\int \limits _{0}^{1}f(x,\alpha )\,d\alpha \right)\,dx=\int \limits _{0}^{1}\left(\int \limits _{0}^{1}f(x,\alpha )\,dx\right)\,d\alpha }</math> if <math>{\textstyle f(x;\alpha )={\frac {\alpha ^{2}-x^{2}}{\left(\alpha ^{2}+x^{2}\right)^{2}}}}</math> .
  +
# Find <math>{\textstyle \Phi '(\alpha )}</math> if <math>{\textstyle \Phi (\alpha )=\int \limits _{0}^{\alpha }{\frac {\ln(1+\alpha x)}{x}}\,dx}</math> .
  +
# Prove that the following integral converges uniformly on the indicated set. <math>{\textstyle \displaystyle \int \limits _{-\infty }^{+\infty }{\frac {\cos \alpha x}{4+x^{2}}}\,dx}</math> , <math>{\textstyle \Delta =\mathbb {R} }</math> ;
  +
# Find Fourier integral for <math>{\textstyle f(x)={\begin{cases}1,&|x|\leq \tau ,\\0,&|x|>\tau ;\end{cases}}}</math>
   
 
=== The retake exam ===
 
=== The retake exam ===
Line 283: Line 299:
   
 
'''Section 3'''
 
'''Section 3'''
  +
  +
'''Section 4'''

Revision as of 12:20, 20 April 2022

MathematicalAnalysis II

  • Course name: MathematicalAnalysis II
  • Code discipline:
  • Subject area: Multivariate calculus: derivatives, differentials, maxima and minima, Multivariate integration, Functional series. Fourier series, Integrals with parameters

Short Description

Prerequisites

Prerequisite subjects

Prerequisite topics

Course Topics

Course Sections and Topics
Section Topics within the section
Differential Analysis of Functions of Several Variables
  1. Limits of functions of several variables
  2. Partial and directional derivatives of functions of several variables. Gradient
  3. Differentials of functions of several variables. Taylor formula
  4. Maxima and minima for functions of several variables
  5. Maxima and minima for functions of several variables subject to a constraint
Integration of Functions of Several Variables
  1. Z-test
  2. Double integrals. Fubini’s theorem and iterated integrals
  3. Substituting variables in double integrals. Polar coordinates
  4. Triple integrals. Use of Fubini’s theorem
  5. Spherical and cylindrical coordinates
  6. Path integrals
  7. Area of a surface
  8. Surface integrals
Uniform Convergence of Functional Series. Fourier Series
  1. Uniform and point wise convergence of functional series
  2. Properties of uniformly convergent series
  3. Fourier series. Sufficient conditions of convergence and uniform convergence
  4. Bessel’s inequality and Parseval’s identity.
Integrals with Parameter(s)
  1. Definite integrals with parameters
  2. Improper integrals with parameters. Uniform convergence
  3. Properties of uniformly convergent integrals
  4. Beta-function and gamma-function
  5. Fourier transform

Intended Learning Outcomes (ILOs)

What is the main purpose of this course?

The goal of the course is to study basic mathematical concepts that will be required in further studies. The course is based on Mathematical Analysis I, and the concepts studied there are widely used in this course. The course covers differentiation and integration of functions of several variables. Some more advanced concepts, as uniform convergence of series and integrals, are also considered, since they are important for understanding applicability of many theorems of mathematical analysis. In the end of the course some useful applications are covered, such as gamma-function, beta-function, and Fourier transform.

ILOs defined at three levels

Level 1: What concepts should a student know/remember/explain?

By the end of the course, the students should be able to ...

  • find partial and directional derivatives of functions of several variables;
  • find maxima and minima for a function of several variables
  • use Fubini’s theorem for calculating multiple integrals
  • calculate line and path integrals
  • distinguish between point wise and uniform convergence of series and improper integrals
  • decompose a function into Fourier series
  • calculate Fourier transform of a function

Level 2: What basic practical skills should a student be able to perform?

By the end of the course, the students should be able to ...

  • how to find minima and maxima of a function subject to a constraint
  • how to represent double integrals as iterated integrals and vice versa
  • what the length of a curve and the area of a surface is
  • properties of uniformly convergent series and improper integrals
  • beta-function, gamma-function and their properties
  • how to find Fourier transform of a function

Level 3: What complex comprehensive skills should a student be able to apply in real-life scenarios?

By the end of the course, the students should be able to ...

  • find multiple, path, surface integrals
  • find the range of a function in a given domain
  • decompose a function into Fourier series

Grading

Course grading range

Grade Range Description of performance
A. Excellent 85-100 -
B. Good 65-84 -
C. Satisfactory 45-64 -
D. Poor 0-44 -

Course activities and grading breakdown

Activity Type Percentage of the overall course grade
Test 1 10
Midterm 25
Test 2 10
Participation 5
Final exam 50

Recommendations for students on how to succeed in the course

Resources, literature and reference materials

Open access resources

  • Robert A. Adams, Christopher Essex (2017) Calculus. A Complete Course, Pearson
  • Jerrold Marsden, Alan Weinstein (1985) Calculus (in three volumes; volumes 2 and 3), Springer

Closed access resources

Software and tools used within the course

Teaching Methodology: Methods, techniques, & activities

Activities and Teaching Methods

Activities within each section
Learning Activities Section 1 Section 2 Section 3 Section 4
Homework and group projects 1 1 1 1
Midterm evaluation 1 1 1 1
Testing (written or computer based) 1 1 1 1
Discussions 1 1 1 1

Formative Assessment and Course Activities

Ongoing performance assessment

Section 1

Activity Type Content Is Graded?
Question Find , and if . 1
Question Find the differential of a function: (a)  ; (b)  . 1
Question Find the differential of given implicitly by an equation at points and . 1
Question Find maxima and minima of a function subject to a constraint (or several constraints):
, , , ,  ;
,  ;
, ,  ;
1
Question , , , ,  ; 1
Question ,  ; 1
Question , ,  ; 1
Question Let us consider Show that this function has a limit at the origin along any straight line that passes through it (and all these limits are equal to each other), yet this function does not have limit as . 0
Question Find the largest possible value of directional derivative at point of function . 0
Question Find maxima and minima of functions given implicitly by the equations:
,  ;
.
0
Question ,  ; 0
Question . 0
Question Find maxima and minima of functions subject to constraints:
,  ;
, , , .
0
Question ,  ; 0
Question , , , . 0

Section 2

Activity Type Content Is Graded?
Question Represent double integrals below as an iterated integrals (or a sum of iterated integrals) with different orders of integration: where . 1
Question Represent integral as iterated integrals with all possible (i.e. 6) orders of integration; is bounded by , , , , , . 1
Question Find line integrals of a scalar fields where is boundary of a triangle with vertices , and . 1
Question Change order of integration in the iterated integral . 0
Question Find the volume of a solid given by , , , . 0
Question Change into polar coordinates and rewrite the integral as a single integral: , . 0
Question Having ascertained that integrand is an exact differential, calculate the integral along a piecewise smooth plain curve that starts at and finishes at  : , ,  ; 0

Section 3

Activity Type Content Is Graded?
Question Find out whether the following functional series converges uniformly on the indicated intervals. Justify your answer. , ,  ; 1
Question , , 1
Question Show that sequence converges non-uniformly on to a continuous function , but . 1
Question Decompose the following function determined on into Fourier series using the standard trigonometric system . Draw the graph of the sum of Fourier series obtained. 1
Question Prove that if for an absolutely integrable function on
then ,  ;
then , , .
1
Question then ,  ; 1
Question then , , . 1
Question Show that sequence converges on to a continuous function , and at that . 0
Question Show that sequence converges uniformly on , but . 0
Question Decompose , into Fourier series on . Using this decomposition prove that . 0
Question Function is absolutely integrable on , and . Prove that
if it is decomposed into Fourier series of sines then ,  ;
if it is decomposed into Fourier series of cosines then , .
0
Question if it is decomposed into Fourier series of sines then ,  ; 0
Question if it is decomposed into Fourier series of cosines then , . 0
Question ## Decompose into Fourier series using the standard trigonometric system.
Using Parseval’s identity find and .
0
Question Using Parseval’s identity find and . 0

Section 4

Activity Type Content Is Graded?
Question Find out if . 1
Question Differentiating the integrals with respect to parameter , find it: , . 1
Question Prove that the following integral converges uniformly on the indicated set. ,  ; 1
Question It is known that Dirichlet’s integral is equal to . Find the values of the following integrals using Dirichlet’s integral
,  ;
.
1
Question ,  ; 1
Question . 1
Question Find out if if . 0
Question Find if . 0
Question Differentiating the integral with respect to parameter , find it: , . 0
Question Find Fourier transform of the following functions:
0
Question 0
Question Let be Fourier transform of . Prove that Fourier transform of is equal to , . 0

Final assessment

Section 1

  1. Find all points where the differential of a function is equal to zero.
  2. Show that function satisfies the equation .
  3. Find maxima and minima of function under condition that . Find the maximum and minimum value of a function
  4. on a domain given by inequality  ;

Section 2

  1. Domain is bounded by lines , and . Rewrite integral as a single integral.
  2. Represent the integral as iterated integrals with different order of integration in polar coordinates if .
  3. Find the integral making an appropriate substitution: , .
  4. Use divergence theorem to find the following integrals where is the outer surface of a tetrahedron , , ,  ;

Section 3

  1. Find out whether the following functional series converge uniformly on the indicated intervals. Justify your answer. , ,  ;
  2. Show that sequence converges uniformly on to a differentiable function , and at that .

Section 4

  1. Find out if if .
  2. Find if .
  3. Prove that the following integral converges uniformly on the indicated set. ,  ;
  4. Find Fourier integral for

The retake exam

Section 1

Section 2

Section 3

Section 4