Examination Paper

For International Postgraduates

Course: Modern Control Theory

Date: Dec. 15, 2021

Name: NABIL AYECH (那比尔)

Student No.: LB2115201
School: Astronautics
Category: □ Master Program □ Doctoral Program

Nationality: ALGERIAN
Aeronautical and Astronautical Science and
Specialty:
Technology

Compulsory/Elective: Compulsory
Score:

BEIHANG UNIVERSITY
 EXAM (Modern Control Theory)
Student Name: AYECH Nabil 那比尔
Student ID: LB2115201

Exercise 01

Give the system state-space model and output model:

1 1
+4 +2
u y
-2 x2
x1

The above block diagram can be written as:

= +4 = −2 = −4 −2
= + +2 = + = −2 +
=

= = =

We convert these equations to state-space model:

− −
= +
−

!=" #

Exercise 02

Analyse the system controllability and observability:

1 x2 1 x1
y= x1

1 2

By extracting the state-space equations, we have:

−2 1 1
= −2 + + = +
0 −1 0
=−
= = "1 0#

(i) Using the controllability equation:

%& = "' ⋮ )'#

1
 −2 1 1
From the state-space equations we define : ) = ,'=
0 −1 0
:

−2 1 1 −2
)' = =
0 −1 0 0
1 −2
So %& =
0 0
,we can see that rank(Pc) = 1 < rank(A) = 2

The system is not controllable.

(ii) Using the observability equation:

+
%* =
+)
−2 1
Where + = "1 0#, ) =
0 −1
:

−2 1
+) = "1 0# = "−2 1#
0 −1

So %* = "−2 1#, we can see that rank(Po) = 2 = rank(A)

The system is observable.

Exercise 03

, 1 1
= +
0 - 1
Determine what conditions the parameters a and b should satisfy for to be
controllable and observable:

1- Controllability: %& = "' ⋮ )'#

, 1 1 ,+1
)' = =
0 - 1 -
1 ,+1
So %& =
1 -
. ≠ − , and 0 ≠ .
, so for the system to be controllable, the Rank(Pc) must satisfy the condition, where:

+
2- Observability: %* =
+)
, 1
+) = "1 −1# = ", - + 1#
0 -
1 −1
So: %* =
, -+1
. ≠ , and 0 ≠ − .
, so for the system to be observable, the Rank(Po) must satisfy the condition, where:

3- Transfer function of the system:

, 1 1
)= , '= , + = "1 −1#
0 - 1
−- −1
2 −, −1 1 0 −, 1
= "1 −1# = "1 −1#
3 0 −- 1 −- −, 1

2
 − - −1 −-−1
2 0 −, 1 −, ,+-−1
⇒ = "1 −1# = "1 −1# =
3 − , + - + ,- 1 − , + - + ,- − , + - + ,-

.+0−
5 =
− . + 0 + .0

Exercise 04

Known system state equation and initial state:

−1 0 1 2
= + 0 =
1 −2 1 3
,

When input u(t)=1(t), we have :

:
7 =8 . 9:
0 + < 89 : =
' > ? >
@

The matrix 8 9: is calculated, as such:

+1 0
8 9: = ℒ | C − )| ⇒ C−) = D D
0 +2
1
1 0
+2 0
=E +1 F ⇒ 8 9: = 8 0
:
⇒ C−) =
+1 +2 0 +1 1 0 8 :
0
+2

So: 8 9: . 0 = 8
:
0 2 = 28 : ………………………. (1)
0 8 : 3 38 :

1
= G8 0 > ? > = I@ G8 0
: = : =
And: 8 9 H ⇒ I@ 8 9 ' H 1 ?>
: = : : = :
0 8 : =
0 8 : = 1

8: − 1
= I@ G 8
: =
H ?> = J K …………………………….. (2)
:
8 : = 8 :−

By adding (1)+(2), we get the unit step response with:

NOL −
L = MP L Q
O −

Exercise 05

Find the minimum of: R = I@ 2 7 − 7 ?7, where: = , =

S

Let’s write the state-space equation:

0 0 1
= +
1 0 0

3
 :Z
1 1
R= T
U7V W% U7V W + < " T
7 X 7 7 + T
7 Y 7 7 #?7
2 2
@

X X
Where: % = 0, Y = , X = G H
X[ X

0 0
Using J to identify Q, we get X =
0 2

When we use Riccati equation, we set

\ 7 = −\ 7 ) 7 − )T 7 \ 7 + \ 7 ' 7 Y 7 'T 7 \ 7 − X 7

\ \ 0 0 0 1 \ \ \ \ 1 1 \ \ 0 0
= −G H − G H+G H " 0# G\ H−
\[ \ 1 0 0 0 \[ \ \[ \ 0 2 1 [ \ 0 2

1 1
−2\ + \ −\ + \ \
=E 2 2 F
1 1
−\ + \ \[ \ \[ − 2
2 2
Where using K1(tf)= K2,3(tf)= K4(tf)=0:

1 \ \ 7
∗
7 = −Y 7 'T 7 \ 7 7 = − "1 0# G HG H
2 \[ \ 7

∗
L =− ^ L − ^ L

Exercise 06

Assume the system model is:

0 0 0 1
= M1 −1 0 Q + M0Q
0 1 −1 0

= " 0 1 1#

1) Set the feedback matrix K, where = −2, ,[ = −1 ± `√3

1 0 0
%& = "' )' ) ' # = M 0 1 −1Q, we can see that Rank(Pc) = 3
0 0 1

The desired characteristic equation, where: = "\ \ \[ #

Then Ak = A – BK

0 0 \ \ \[
?87 C − ) + '\ = ?87 bM−1 +1 0 Q+M0 0 0 Qc = 0
0 −1 +1 0 0 0
+\ \ \[
= ?87 bM −1 +1 0 Qc = +\ +2 +1 +\ + \ + \[ = 0
0 −1 +1
4
 ⇒ [
+ 2+\ + 1 + 2\ + \ + \ + \ + \[ = 0

To put the poles at: = −2, ,[ = −1 ± `√3, we have:

+ 2 U + 1 − `√3WU + 1 + `√3W = +2 U + + `√3 + + 1 + `√3 − `√3 − `√3 + 3W

= [
+4 +8 +8

Compared with: [
+ 2+\ + 1 + 2\ + \ + \ + \ + \[ = 0, we get:

2+\ = 4⇒ \ = 2
1 + 2\ + \ = 8 ⇒ \ = 3
\ + \ + \[ = 8 ⇒ \ = 3
u = (2 3 3)

2) Set matrix H, to put the estimator poles at e = −5, e ,[ = −4 ± `4:

+ 0 1 1
%* = M +) Q = M1 0 −1Q, we can see that Rank(Po) = 3= Rank(A)
+) 0 −1 1

The desired estimator characteristic equation, where: g = "ℎ ℎ ℎ[ #T :

ℎ 0 ℎ ℎ
g& = Mℎ Q "0 1 1# = M 0 ℎ ℎ Q
ℎ[ 0 ℎ[ ℎ[

ℎ ℎ
We can write: ?87 C − ) + g& = ?87 bM−1 +1+ℎ ℎ Qc = 0
0 −1 + ℎ[ + 1 + ℎ[

?87 C − ) + g& = + 2 + ℎ[ + ℎ + 1 + 2ℎ + ℎ[ + ℎ + 1 + ℎ[ + ℎ 1 − ℎ[ = 0

= [
+ 2 + ℎ[ + ℎ + 1 + 2ℎ + ℎ + ℎ[ + 2ℎ + 1 = 0

The desired estimator characteristic equation:

+5 + 4 + 4` + 4 − 4` = +5 + 8 + 32 = [
+ 13 + 72 + 160 = 0

Compared with: [
+ 2 + ℎ[ + ℎ + 1 + 2ℎ + ℎ + ℎ[ + ℎ ℎ[ + 2ℎ + 1 = 0, we get:

2 + ℎ[ + ℎ = 13 ⇒ 2 − 8.5 − 2ℎ + ℎ = 13 ⇒ −6.5 − ℎ = 13 ⇒ ℎ = −19.5

1 + 2ℎ + ℎ + ℎ[ = 72 ⇒ 1 + 2ℎ + 79.5 + ℎ[ = 72 ⇒ ℎ[ = −8.5 − 2ℎ ⇒ ℎ[ = 30.5
2ℎ + 1 = 160 ⇒ ℎ = 79.5
Hc = (79.5 -19.5 30.5)