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    PS7 2011

    Uploaded by

    Muhammad Zubair Sheikh
    This document contains 6 problems related to linear systems and control theory. Problem 1 asks about reachable states of a given system. Problem 2 asks about finding closed loop characteristic equations for state and output feedback controllers. Problem 3 asks about analyzing closed loop eigenvalues for different proportional feedback controllers. Problem 4 asks about designing a state feedback controller to place poles at specific locations. Problem 5 asks about designing a dynamic compensator to place closed loop poles at desired locations. Problem 6 asks about realizing a given transfer function as a minimal state space realization.

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    PS7 2011

    Uploaded by

    Muhammad Zubair Sheikh
    11 views2 pages
    This document contains 6 problems related to linear systems and control theory. Problem 1 asks about reachable states of a given system. Problem 2 asks about finding closed loop characteristic equations for state and output feedback controllers. Problem 3 asks about analyzing closed loop eigenvalues for different proportional feedback controllers. Problem 4 asks about designing a state feedback controller to place poles at specific locations. Problem 5 asks about designing a dynamic compensator to place closed loop poles at desired locations. Problem 6 asks about realizing a given transfer function as a minimal state space realization.

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    PS7_2011

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    This document contains 6 problems related to linear systems and control theory. Problem 1 asks about reachable states of a given system. Problem 2 asks about finding closed loop characteristic equations for state and output feedback controllers. Problem 3 asks about analyzing closed loop eigenvalues for different proportional feedback controllers. Problem 4 asks about designing a state feedback controller to place poles at specific locations. Problem 5 asks about designing a dynamic compensator to place closed loop poles at desired locations. Problem 6 asks about realizing a given transfer function as a minimal state space realization.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    11 views2 pages

    PS7 2011

    Uploaded by

    Muhammad Zubair Sheikh
    This document contains 6 problems related to linear systems and control theory. Problem 1 asks about reachable states of a given system. Problem 2 asks about finding closed loop characteristic equations for state and output feedback controllers. Problem 3 asks about analyzing closed loop eigenvalues for different proportional feedback controllers. Problem 4 asks about designing a state feedback controller to place poles at specific locations. Problem 5 asks about designing a dynamic compensator to place closed loop poles at desired locations. Problem 6 asks about realizing a given transfer function as a minimal state space realization.

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    Attribution Non-Commercial (BY-NC)
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    Download as pdf or txt
    of 2

    1

    VM564 Linear Systems Problem Set 7


    Dr. Jun Zhang Fall 2011

    Issued: November 21, 2011 Problem 1 (Reachable states) 1) Given the system

    Due: November 30, 2011

    1 0 0 1 x = 0 2 0 x + 1 u; 0 0 3 0

    0 x(0) = 0 0

    True or false: there exists u[0, T ] such that x(T ) = [1, 1, 0]T . If true, give a sketch of the proof; if false, explain. 2) Given the system 1 1 b 0 x + 1 u; x(0) = x= 0 1 b2 1 For u(t) = 0, what is the space in R3 in which the response x(t) lies? What condition on (b1 , b2 ) will guarantee that there is a u(t), t [0, 1], such that x(1) = [0, 1]T ? Problem 2 (State vs. Output Feedback) Consider the plant described by: x = Ax + bu y = cx where A= 0 1 , 7 4 b= 1 , 2 c= 1 3 .

    Find the closed loop characteristic equation if the feedback is: (1) u = f1 f2 x, and (2) u = ky. Problem 3 Consider the 2-input, 2-output system x = Ax + Bu, y = Cx. The control law u1 = y1 , u2 = y2 is used, where , R. Complete the table below. Explain fully. closed-loop eigenvalues 0 0 0,0,1 0 1 0,1,1 1 0 0,1,1 1 2/3 2,1/3 2j/3 4/3 0 0,4/3,1 4/3 1 ?,?,?

    Problem 4 (Pole placement) Consider the dynamic system: d4 d3 d2 d + 1 3 + 2 2 + 3 + 4 = u 4 dt dt dt dt


    where u represents an input force, i are real scalars. Assuming that d 3 , d 2 , d , and can all be dt dt dt measured, design a state variable feedback control scheme which places the closed-loop eigenvalues at s1 = 1, s2 = 1, s3 = 1 + j1, s4 = 1 j1.
    3 2

    Problem 5 (Dynamic Compensator Design) Consider a completely controllable SISO plant x = Ax + bu, y = cT x,

    where A Rnn , b and c are n vectors. The plant transfer function is Gp (s) = cT (sI A)1 b A compensator Gc (s) can be added in cascade to the plant, that is, the input to the compensator is y and its output is u. Now the closed-loop poles are the zeros of 1 + Gc (s)Gp (s) = 0. It is desired to obtain the coefcients of the compensator transfer function
    n1 k U (s) k=0 k s = Gc (s) = Y (s) sn1 + n2 j sj j=0

    such that the closed loop system has a given set = {1 , 2 , . . . , 2n1 } as poles with complex congugate n2 symmetry. Prove that the coefcients {k }n1 and {j }j=0 are uniquely determined by if and only if k=0 (A, c) is completely observable. Problem 6 You are given a transfer function of the form
    r

    H(s) =
    j=1

    Rj Rno ni (s) s j

    with the i all distinct. Let j be the rank of Rj and then observe that we may write Rj = Cj Bj , Now verify that A = block diag{j Ij , j = 1, . . . , r}, and
    T B = B1 . . . T Br T

    Cj Rno j ,

    Bj Rj ni .

    C = C1 . . .

    Cr

    is a controllable and observable realization. (Such realizations are called minimal). Use this procedure to realized 1 2
    s+1 1 (s+1)(s+2) s+1 1 s+2

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