Institutionen fr Reglerteknik Lunds Tekniska Hgskola

Nonlinear Control FRT 075

Exam 1999-04-07, 813

Grading All solutions need to be clearly motivated unless otherwise stated. The clarity of your presentations can inuence the grading. The exam consists of 25 points. Grade 3: 12 points Grade 4: 17 points Grade 5: 22 points Allowed material Solved examples such as exams and exercises are not allowed. Otherwise, all material is allowed. Results The results will be posted outside the labs on the ground oor, M-building. If you allow your result to be published on the course home page then please conrm this on the rst page of your solutions.

Good Luck!

Phase plane

Phase plane

3
1

2
0.5

x2

x2

0.5

2
1

3
1.5

0 x1

1.5

0.5

0 x1

0.5

1.5

Phase plane
4

Phase plane

3
3

2
2

1
1

x2

x2

3
4 4

0 x1

0 x1

Figure 1

The phase portraits in Problem 1

1. a. Which phase portrait in Figure 1 belongs to what system? No motivation is required.

(i) (ii) (iii) (iv)

1 x 2 x 1 x 2 x 1 x 2 x 1 x 2 x

x2

x2 sin( x1 )
x2

(1 x2 1 ) x2 x1
x2

x1 + 0.5 x2 x3 1
x2

x1 (2 p)

b. Find all equilibrium points to system (i) and determine the corresponding linearizations and local stability properties. (You should not analyze the (2 p) other three systems (ii), (iii) or (iv).)

2.

Consider a general mass-, damper- and spring-system + Dy + Ky 0 My y The state vector x is a 2n 1 vector, and the n n matrices M , D , K y are all symmetric positive denite (i.e. yT My > 0, for all y 0 etc). a. Find all equilibrium points.

(1 p)

b. Show that the system is globally asymptotically stable at x 0. (Hint: The 1 T T kinetic energy is 1 2 y M y and the stored potential energy is 2 y K y.) (2 p) 3. a. Determine the describing function for the nonlinearity f (u(t)) u5 (t). (2 p)

b. Show that the describing function N f ( A) of a static nonlinearity y(t) f (u(t)) is real-valued. (2 p) 4. Figure 2 describes an I-controller with antiwindup controlling the process G p ( s) The saturation is described by 1 s+1

sat(v)

v , v 1 1 ,v > 1

1 , v < 1

The parameters in the I-controller are the integral time Ti > 0, and the tracking time Tt > 0. 0 v u
G p ( s)

1 Ti

1 s

1 Tt

Figure 2

I-controller with antiwindup in Problem 4.

a. Introduce state variables and write the closed loop system on the form x f ( x)

(3 p)

b. Determine the equilibria of the closed loop system.

(1 p)

c. Determine Gtot (s) so that the closed loop system can be described as in (2 p) Figure 3. 0 +
Gtot ( s)

sat(v)

Figure 3

Equivalent representation of the system in Figure 2.

d. You want to use the circle criterion to guarantee stability for the system in Figure 3. What is the requirement on the Nyquist-curve of Gtot (s)? (1 p)

(Note: It is possible to do all subproblems independently of each other.)

5. For what constants a > 0, b > 0, and c > 0 is the linear system G ( s) passive? 6. Solve the optimal control problem min x2 (T ) +
u 0 T

s+b (s + a)(s + c )

(2 p)

u2 (t) dt

d x(t) dt x(0) The nal time T is xed.

t u(t) 1.

(3 p)

a sin( t) y

1 (s+1)2

1
Figure 4 The systems in Problem 7

7.

A motor with time-varying dynamics is controlled with a simple proportional controller. An equivalent representation of the resulting closed loop system is shown in Figure 4. Note that the control signal is given by u(t) (r(t) y(t)) a sin( t). Show that the closed loop system is BIBO stable if a < 1.

(2 p)