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Nonlinear Control Midterm Exam

This document appears to be a midterm exam for a nonlinear control systems course consisting of 4 questions: 1. Determine the state feedback gain matrix K for a given system that places the characteristic roots at specific points. 2. Determine the equilibrium points and examine the stability for a given nonlinear system, and write code to plot the phase portraits. 3. Obtain a describing function for a given nonlinear input-output relation of a control system element. 4. Determine if the origin is stable for a given system using a specified Lyapunov function.

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tes2004
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295 views

Nonlinear Control Midterm Exam

This document appears to be a midterm exam for a nonlinear control systems course consisting of 4 questions: 1. Determine the state feedback gain matrix K for a given system that places the characteristic roots at specific points. 2. Determine the equilibrium points and examine the stability for a given nonlinear system, and write code to plot the phase portraits. 3. Obtain a describing function for a given nonlinear input-output relation of a control system element. 4. Determine if the origin is stable for a given system using a specified Lyapunov function.

Uploaded by

tes2004
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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MEE5024 NONLINEAR CONTROL MIDTERM EXAM, May 30, 2013.

Nr: Name:


Q1. Consider the system

u
1
0
1
0
x
0 8 . 9 0 0
1 0 0 0
0 1 0 0
0 0 1 0
x
(
(
(
(

+
(
(
(
(

=

Assume that all state variables are available for measurement and use state variable
feedback (u=-Kx). Determine the state feedback gain matrix K, which places the system
characteristic roots at s=(-2i), -5, and -5. (You can use Matlab, show all steps in your
solution).

Q2. Consider the nonlinear system given below

a) Determine the equilibrium points.
b) Examine the stability of the equilibrium points.
c) Write the Matlab code to plot the phase portraits.

(Hint: Solve x
1
and x
2
from first equation and then substitute them into the second equation
in order to determine three equilibrium points).

Q3. A nonlinear element in a control system has the input-output relation given below.






Obtain a Describing Function for this nonlinear element.

Q4. Consider the following system:







Using the Lyapunov function given below, determine the origin is stable or not.
( )
2
1
2
2
2
2 1
1
x x
dt
dx
1 x 2 x
dt
dx
=
+ =
NL
y
4
y
2
y
5 3
+
( )
2
2
2 1 1 2
2
2
1
x x x x x
dt
dx
x
dt
dx
+ o =
=
2
2
2
1
x x ) x ( V + o =
Duration 90 minutes.

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