Q2 (25) State NCF

Consider the system

*₁ = X2

*₂

asin(x₁) bucos(x2)

in which a, b are positive constants.

(i) Show the system is NCSF enabled.

(ii) Find a nonlinearity cancelling state feedback

control law.

(iii) Show that in the closed loop system, 1(t), 2(t)

both converge to 0.