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    Robust+Control+Systems HW1

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    Mehmet KILIÇ
    This document provides instructions for a homework assignment to construct a state-space representation of a ship steering problem using two different approaches. Students are asked to find the generalized plant P for a ship steering problem given the equation of motion and block diagram of the system, which includes a PD controller, low-pass filter, and integrator acting on the error between the ship's heading and reference input. The objective is to minimize the gain from an external disturbance input w to the error output z.

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    Robust+Control+Systems HW1

    Uploaded by

    Mehmet KILIÇ
    18 views1 page
    This document provides instructions for a homework assignment to construct a state-space representation of a ship steering problem using two different approaches. Students are asked to find the generalized plant P for a ship steering problem given the equation of motion and block diagram of the system, which includes a PD controller, low-pass filter, and integrator acting on the error between the ship's heading and reference input. The objective is to minimize the gain from an external disturbance input w to the error output z.

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    Robust control

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    Robust+Control+Systems_HW1

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    This document provides instructions for a homework assignment to construct a state-space representation of a ship steering problem using two different approaches. Students are asked to find the generalized plant P for a ship steering problem given the equation of motion and block diagram of the system, which includes a PD controller, low-pass filter, and integrator acting on the error between the ship's heading and reference input. The objective is to minimize the gain from an external disturbance input w to the error output z.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    18 views1 page

    Robust+Control+Systems HW1

    Uploaded by

    Mehmet KILIÇ
    This document provides instructions for a homework assignment to construct a state-space representation of a ship steering problem using two different approaches. Students are asked to find the generalized plant P for a ship steering problem given the equation of motion and block diagram of the system, which includes a PD controller, low-pass filter, and integrator acting on the error between the ship's heading and reference input. The objective is to minimize the gain from an external disturbance input w to the error output z.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 1

    ROBUST CONTROL SYSTEMS HOMEWORK 1

    (Deadline: March 26, 2018)


    Find the generalized plant P in state-space representation for the ship steering problem
    given below by using two different approaches. You can choose two of the given three
    approaches below in order to construct P:
     µ-Toolbox (Robust Control Toolbox)
     Simulink + “linmod” command
     Block Diagram

    The ship steering problem

    The equation of motion is where denotes the


    heading of the ship, denotes the rudder angle and is the speed. The constants
    are given as a=0.3, b=0.8 and . The states of the system are chosen as
    . The PD controller is given as (kp=2.5, kd=2.15)

    where it acts on the error term . We choose Wi as a second-order low-


    pass filter with a cut-off frequency of 1 rad/s and take Wo as an approximate integrator
    for eliminating steady-state errors. That is, and .
    Our objective is to design an additional feedforward controller C as shown below to
    minimize the gain from w to z.

    The block diagram of the system

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