Name- Praveen Malviya

Roll- 215EE3149

Q1)

( − ) +( − )<0

Consider the following problem. Place the poles of ( − ) in the left of s-plane. Use Matlab LMI tool
box. Find , , , ( − ) and ( − ).

Ans.1)
clc;
clear all;
A=[2 1 0;0 2 0;0 1 3];
B=[0 1;1 0;0 1];
setlmis([]);
Y=lmivar(1,[3 1]);
Q=lmivar(2,[2 3]);
lmiterm([1 1 1 Y],A,1,'s');
lmiterm([1 1 1 Q],-B,1,'s');
lmiterm([-2 1 1 Y],1,1);
lmis=getlmis;
n=decnbr(lmis);
c=zeros(n,1); options=[1e-
2,100,1e9,10,0];
[copt,xopt]=mincx(lmis,c,options);
Y=dec2mat(lmis,xopt,Y)
Q=dec2mat(lmis,xopt,Q)
K=Q*inv(Y)
a=A-B*K
e=eig(a)

Output

Y=

371.1434 1.5398 302.0763

1.5398 211.5438 1.5064

302.0763 1.5064 251.1010

Q=

1.0e+06 *
 -3.8908 0.0005 -3.8908
0.0008 3.8910 0.0008

11 =

1.0e+05 *

1.0201 0.0024 -1.3822

0.0062 0.1839 -0.0086

1=

1.0e+05 *

-0.0062 -0.1839 0.0086

-1.0201 -0.0024 1.3822
-0.0062 -0.1839 0.0086

5=

1.0e+04 *

-0.0001

-0.0001 + 2.5805i
-0.0001 - 2.5805i
 Q.2)

Consider the system given in Problem 1. Place the poles of ( − ) in the left of s-plane such that −4 <
( ) < −2. Use Matlab LMI tool box. Find , , , ( − ) and ( − ).

Ans.2)
clc;
clear all;
A=[2 1 0;0 2 0;0 1 3];
B=[0 1;1 0;0 1];
setlmis([]);
Y=lmivar(1,[3 1]);
Q=lmivar(2,[2 3]);
lmiterm([1 1 1 Y],A,1,'s');
lmiterm([1 1 1 Q],-B,1,'s');
lmiterm([1 1 1 Y],4,1);
lmiterm([-2 1 1 Y],1,1);
lmiterm([-3 1 1 Y],A,1,'s');
lmiterm([-3 1 1 Q],-B,1,'s');
lmiterm([-3 1 1 Y],8,1);
lmis=getlmis;
n=decnbr(lmis);
c=zeros(n,1); options=[1e-
2,100,1e9,10,0];
[copt,xopt]=mincx(lmis,c,options);
Y=dec2mat(lmis,xopt,Y)
Q=dec2mat(lmis,xopt,Q)
K=Q*inv(Y)
a=A-B*K
e=eig(a)

Output

25 =

91.7848 -0.2099 82.7752

-0.2099 83.1429 -0.2068
82.7752 -0.2068 75.3929

Q=

1.0e+05 *

4.4962 0.0042 4.4961

0.0044 -4.4953 0.0044

11 =

1.0e+04 *

-4.8673 0.0030 5.9403

0.0054 -0.5407 -0.0068

1=

1.0e+04 *

-0.0052 0.5408 0.0068

4.8673 -0.0028 -5.9403
-0.0054 0.5408 0.0071

e=

1.0e+03 *

-0.0025

-0.0030 + 7.6173i
-0.0030 - 7.6173i