Control Systems, A.A. 2017-2018, Dr. A.

D’Innocenzo
First retake exam, Part 2, February 1st, 2018. Available time: 2 h

Ex1, 5 points Given a plant characterized as follows

ẋ1 (t) = −x1 (t) + 3x2 (t) + u(t),

ẋ2 (t) = (2 − a)x2 (t) + u(t),
y(t) = bx1 (t), t ≥ 0,

with a, b ∈ R real parameters, define the set of values of a, b such that it

is possible, using an output-feedback control scheme, to assign the eigen-
values of the closed loop system in −1. Design the corresponding control
scheme and controller in state-space representation parameterized in a, b.
1
Ex2, 10 points Given a plant scheme as in Figure , where P1 (s) = (s+3) ,
z−0.5
P2 (z) = (z−1)(z−2)(z−e−1 ) , and T = 1, design a control scheme and a
digital controller such that:
1. the system is astatic with respect to a sinusoidal additive disturbance
d1 (kT ) = sin(2kT ) − cos(kT ) and to a step disturbance d2 (kT ) =
δ−1 (kT );
2. the system is characterized by flat response to a step input in the
shortest possible time.

Ex3.1, 10 points Define the controllability and observability properties and

the corresponding necessary and sufficient conditions, and illustrate the
separation principle.
Ex3.2, 5 points Given a control scheme as in the figure below, where the first
block is a zero-order holder, the second block is a continuous-time linear
time-invariant system with transfer function P (s) and the third block is
a sampler characterised by sampling time T , prove how P (z) = YU (z)
(z)
can
be computed from P (s).