Robust Control HW 3

2012/12/22 1. Consider the following system

u1 ( t )

e1

H1

y1 ( t )

y2 ( t )

H2

e2

+ +

u2 ( t )

1 and H 2 = K . Please find K to guarantee that the s + 2s + 4 closed-loop system is stable. (a) Use pole analysis. (b) Use small gain theorem. 2. Please estimate the distribution of the eigenvalues for the following matrix.
where H1 =
2

2 + 1i 1 + 2i 3 5 1 i 2 4 3 4
3. Consider the following closed-loop control system

a1s + a0 s ( a4 s 2 + a3 s + a2 )

where

2 a4 4, 1 a3 3, 3 a2 5, 2 a1 3

and

4 a0 5 .

Please

determine the control gain K so that the closed-loop system could be robust stability. 4. Given G1 ( s ) =

s2 s +s+2
2

and G2 ( s ) =

s +1 . Please find the state-space s+3

realization of G1 ( s ) G2 ( s ) . 5. Find a balanced realization of the following system

G (s) = 1 s + 3s + 2
2