Bas de Bruijne, student id: 4454685

Exersize set 4, question 3

close all
clear all
clc

J1 = 10/9;
J2 = 10;
c = 0.1;
k = 1;
ki = 1;
A = [[0 0 1 0];[0 0 0 1];[-k/J1 k/J1 -c/J1 c/J1];[k/J2 -k/J2 c/J2 -c/J2]];
B = [[0 0];[0 0];[ki/J1 0];[0 1/J1]];
C = [[1 0 0 0];[0 1 0 0]];
D = zeros(2);

sys = ss(A, B, C, D);

%% Question a
K = ctrb(A, B(:, 1)); %controllability matrix
if (rank(K) == 4)
disp("System is controllable from I")
else
disp("System is not controllable from I")
end

K = ctrb(A, B(:, 2)); %controllability matrix

if (rank(K) == 4)
disp("System is controllable from Td")
else
disp("System is not controllable from Td")
end

Returns that system is controllable from both I and Td, eventhough Td is a disturbance input.

%% Question b
[V, lamda] = eig(A)

Indeed returns that the eigenvalues are -5+/-i and 0 (2x)

%% Question c
F = place(A,B(:,1),[-2, -1, -1+i, -1-i]')

Output: F =
8.9333 35.5111 5.4444 101.2222

%% Question d
cl=ss(A-B(:, 1)*F,B(:, 2),C,0);
figure(1);clf;
for i = 0:.1:1-.1
x0=[i*20;0;i*20;0];
dt = 0.001;
tu = 0:dt:20;
[yn,tn]=lsim(cl,0*tu,tu,x0);
 subplot(2,1,1);
hold on
plot(tn,yn(:, 1), 'color', ones(1,3)*(1-i))
subplot(2,1,2);
hold on
plot(tn,yn(:, 2), 'color', ones(1,3)*(1-i))
end
subplot(2,1,1);
title('Output 1')
subplot(2,1,2);
title('Output 2')
x0=[i;0;i;0];
dt = 0.001;
tu = 0:dt:20;
[yn,tn]=lsim(cl,ones(size(tu)),tu,x0);
subplot(2,1,1);
hold on
plot(tn,yn(:, 1), 'color', [1 0 0])
subplot(2,1,2);
hold on
plot(tn,yn(:, 2), 'color', [1 0 0])

Plot:

Black lines are different disturbances for x0, red line is step response for disturbance input

%% Question e
DCGain = dcgain(cl)

Output: DCGain =
-6.9885
2.0115

So the system does not converge to zero