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Exam RT2 2017 Winter
Exam RT2 2017 Winter
Exam RT2 2017 Winter
L1 R1 R3
L2
va R2 vb vc vd
R4
Vb (s) Vd (s)
a) Calculate the transfer functions G1 (s) = and G2 (s) = with
Va (s) Vc (s)
L1 = L2 = 1 H, R1 = 2 Ω, R2 = R3 = 1 Ω,
b) Now assume that the two electrical circuits are connected in series (vb = vc ). Write
Vd (s)
down a state space representation of G3 (s) = in controller canonical form as
Va (s)
a function of R4 .
i) observability is lost?
ii) controllability is lost?
Give reasons.
e) Is the system G3 (s) stable for any value of R4 > 0? Give reasons.
1
f) You get a Matlab function for constructing a state space model in controller canon-
ical form for a given transfer function G, but something went wrong with the code.
Bring the following lines in a correct order such that the Matlab function works
appropriately.
2
Problem 2 (25 Marks)
1 2 0
ẋ = x+ u + bn nx
0 −3 1 (1)
y = 1 0 x + ny ,
where nx , ny represent zero-mean white process and measurement noise, respectively. The
goal is to design an observer-based state feedback controller that meets certain closed-loop
requirements.
a) i) Find pole locations such that the closed-loop has a damping coefficient ζ = 0.8
and a 1% settling time in its step response of ts = 1.15 s.
ii) Compute a state feedback gain that places the poles at the locations from
(a)(i).
⊤
b) An observer gain is chosen as L = 2 0 .
3
c) Refer to Figure 2, where G(s) is the transfer
function
corresponding to the model
in (1), and a new state feedback gain F = −10 −5 is considered.
r u y
v G(s)
x̂
Observer
ii) Calculate the value of v that achieves perfect tracking assuming there are no
model uncertainties or disturbances.
4
Problem 3 (25 Marks)
G(s)
y1
G2 (s)
u
G1 (s)
y2
G3 (s)
G11 (s)
G1 (s) = G2 (s) = G21 (s) G22 (s) G3 (s) = G31 (s) G32 (s) (2)
G12 (s)
d1 d2
r e u y
K(s) G(s)
−
5
c) Given the following state space realization of G(s) in Figure 3
ẋ = Ax + Bu
(3)
y1
= Cx,
y2
assume the whole state vector is available for measurement. An LQ optimal state
feedback controller is to be designed such that:
i) Draw a block diagram of the closed-loop system fulfilling the above mentioned
conditions and draw a box around the controller.
ii) Complete the following MATLAB code to compute the state feedback gains.
Assume A, B and C from (3) are in the workspace.
1 n = size(A,1);
2 no = size(C,1);
3 ni = size(B,2);
4 ...
6
Problem 4 (25 Marks)
a) Consider the following state space model of a continuous-time transfer function G(s)
ẋ = Ax + Bu,
(4)
y = Cx,
where
1 2 0
A= , B= , C= 1 0 . (5)
−0.5 −1 1
i) Find the discrete-time transfer function Gd (z) using exact discretisation and a
sampling time of T = 1 sec.
ii) How many sampling zeros does the transfer function Gd (z) have? Give reasons.
r y
K G(z)
−
i) Sketch the root loci for the following discrete-time transfer functions.
z − 0.5 z + 0.1
Ga (z) = Gb (z) =
z + 0.5 (z + 0.5)2
ii) Are the feedback loops with G(z) = Ga (z) and G(z) = Gb (z) stable for all
values of K > 0? Give reasons.
7
Formulas
∞ ZT
AT
X (AT )n 1
Φ=e = = I + AT + A2 T 2 + . . . , Γ= eAτ B dτ
n=0
n! 2
0
F = −pTa−1 C −1 with
p = ān−1 − an−1 ān−2 − an−2 . . . ā0 − a0 and
1 an−1 an−2 . . . a1
0 1 an−1 . . . a2
Ta = .. .. .. , where ai are the open-loop transfer function coefficients
..
. . . .
0 0 0 ... 1
4.6
s1,2 = −σ ± jωd , ts = , ζ = sin(θ), θ = tan−1 (σ/ωd )
σ
−1
−1 a b 1 d −b
A = =
c d det(A) −c a
R
Kirchhoff’s loop rule
v0 vR L
vL
v0 = vR + vL
Current-voltage relation
L iL R iR
diL vR = R iR
vL = L
dt
vL vR
Solution
Control Systems Theory and Design
03.03.2017
Solution to Problem 1
1 s + R4
a) G1 (s) = , G2 (s) =
3+s s + R4 + 1
s + R4
b) G3 (s) =
s2 + (4 + R4 s + 3(1 + R4 ))
0 1 0
ẋ = x+ u
−3(1 + R4 ) −(4 + R4 ) 1
y = R4 1 x
e) The poles are p1 = −3 and p2 = 1 + R4 , so the system is stable for all R4 > 0.
1
Solution to Problem 2
a) i) Using the provided formulas:
4.6 σ
σ= =4 θ = arcsin(ζ) = 0.9273 ωd = =3
ts tan θ
→ s1,2 = −4 ± 3j
ii) One way to solve pole placement problems is using the Bass-Gura formula:
Open loop polynomial (s + 3)(s − 1) = s2 + 2s − 3
Closed loop polynomial (from (a)(i)) (s + 4 + 3j)(s + 4 − 3j) = s2 + 8s + 25
p = 8 − 2 25 + 3 = 6 28
1 2 0 2
Ta = C = b Ab =
0 1 1 −3
1 −2 1.5 1
F = − 6 28 = − 17 6
0 1 0.5 0
b) i)
1 2 2 3 2
A + LC = 1 0 = ,
0 −3 0 0 −3
the eigenvalue λ = 3 indicates that the observer is unstable, therefore an
unreasonable choice.
ii) x̃ → ∞ as t → ∞ because A + LC is unstable.
iii)
1 p = 5*[-4+3i -4-3i];
2 L = -place(A',C',p)'
c) i) As can be seen in the hint, the estimation error x̃ is uncontrollable from input
r, this means that x̃ will get canceled out and the closed-loop transfer function
is therefore given by
−1 0
1 2 0 1
Gcl (0) = 1 0 − − −10 −5 =
0 −3 1 1 6
ii) Perfect tracking of step references means the static gain from r → y must be
1, the prefilter must then be chosen as v = Gcl1(0) = 6
2
Solution to Problem 3
a) i) G(s) is a 2 × 1 transfer function matrix, i.e. 2 outputs and 1 input.
ii)
G11
G21 G22 G12
G2 G1 G21 G11 + G22 G12
G(s) = =
G11 = G31 G11 + G32 G12
G3 G1
G31 G32
G12
r 1 u y
s FI G(s)
−
x
1 0
c) i)
ii)
1 n = size(A,1);
2 no = size(C,1);
3 ni = size(B,2);
4 Cint = C(1,:);
5 nint = size(Cint,1)
6 Aaug = [A zeros(n,nint); -Cint zeros(nint)];
7 Baug = [B;zeros(nint ,ni)];
8 Faug = -lqr(Aaug,Baug,eye(n+nint),eye(ni));
9 F = Faug(:,1:n)
10 Fi = Faug(:,n+1:end)
3
Solution to Problem 4
2 2 1 z+1
a) i) Φ = ,Γ= , Gd (z) =
−0.5 0 0.5 (z − 1)2
ii) n = 2, m = 0, there are n − m − 1 = 1 sampling zeros
iii) n = 2, m = 0, there are n − m = 2 sampling zeros
z+1
iv) Hd (z) = z −1 Gd (z) =
z(z − 1)2
v) The system is marginally stable (two poles at p1,2 = 1 ): impulse response goes
to infiniy
vi) Phi = eye(2)+A; Gamma = [1; 0.5]; F = -dlqr(Phi, Gamma, C’*C,1);
b) i) see Fig. 1
ii) Ga (s) is stable for all K > 0: root locus always inside the unit disc; Gb (s) is
only stable for small K: one pole goes to −∞ for large K
1 1
0.5 0.5
z1 = −0.1
Im{z}
Im{z}
0 0
p1 = −0.5 z1 = 0.5
p1,2 = −0.5
−0.5 −0.5
−1 −1
−1 −0.5 0 0.5 1 −2 −1.5 −1 −0.5 0 0.5 1
Re{z} Re{z}