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    HW For Control Theory Class Harvard

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    Darrell Fischer
    1) Two potential functions P:4 and P:5 are analyzed and found to have ellipses clearly outside the stabilized region, so they are not feasible. 2) Three expressions for the energy E of a system are presented and analyzed: a) E as a function of x and xdot, b) E as only a function of x, and c) E stabilized to 0 by negative feedback that draws the system to the origin. 3) Expressions a) and b) give the total energy of the system as a function of position and velocity variables, while expression c) provides a feedback control that draws the system to the origin by making the energy dependent on the error from the origin.

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    HW For Control Theory Class Harvard

    Uploaded by

    Darrell Fischer
    15 views6 pages
    1) Two potential functions P:4 and P:5 are analyzed and found to have ellipses clearly outside the stabilized region, so they are not feasible. 2) Three expressions for the energy E of a system are presented and analyzed: a) E as a function of x and xdot, b) E as only a function of x, and c) E stabilized to 0 by negative feedback that draws the system to the origin. 3) Expressions a) and b) give the total energy of the system as a function of position and velocity variables, while expression c) provides a feedback control that draws the system to the origin by making the energy dependent on the error from the origin.

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    1) Two potential functions P:4 and P:5 are analyzed and found to have ellipses clearly outside the stabilized region, so they are not feasible. 2) Three expressions for the energy E of a system are presented and analyzed: a) E as a function of x and xdot, b) E as only a function of x, and c) E stabilized to 0 by negative feedback that draws the system to the origin. 3) Expressions a) and b) give the total energy of the system as a function of position and velocity variables, while expression c) provides a feedback control that draws the system to the origin by making the energy dependent on the error from the origin.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    15 views6 pages

    HW For Control Theory Class Harvard

    Uploaded by

    Darrell Fischer
    1) Two potential functions P:4 and P:5 are analyzed and found to have ellipses clearly outside the stabilized region, so they are not feasible. 2) Three expressions for the energy E of a system are presented and analyzed: a) E as a function of x and xdot, b) E as only a function of x, and c) E stabilized to 0 by negative feedback that draws the system to the origin. 3) Expressions a) and b) give the total energy of the system as a function of position and velocity variables, while expression c) provides a feedback control that draws the system to the origin by making the energy dependent on the error from the origin.

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    of 6

    9 .

    8)

    a)

    b)

    & is inside
    of the stabilized .
    points
    P =
    4

    5
    D =

    Both p
    : 4 &
    P : 5 have ellipses

    clearly outside the stabilized


    region ,
    so not feasible .
    199
    a) E =
    [ ml x2 +
    mglcosX
    ,

    E= mex, -mylsinx ,
    i ,

    ( x
    [re[bxn+mgesinxi I
    =

    & E=ml2xnez(a-bez+mgesinx ) ,
    -

    mylsinx , x2

    E =
    xz0[u-bx2+ mglsinx , -mylsinx ,
    )
    =
    xco [u b xz]-

    um

    n(x, u)

    b) E= Eml" x2+mglcosx -myh ,

    un
    not t dependent
    i E E =
    x
    ,
    h(x , u) =
    xz(n -
    bx1)

    c) E =
    x2 ( -kxcE + bxz -
    bxz)
    :
    xz( -

    kxzE)
    = =
    kx
    this works by negative feedback
    xz
    2 =0 Ex2 ,
    k>0 so
    ,
    i to 0
    ECO
    .

    E >0 & the drawing


    when opposite ,

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