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Linear Control Systems: Assignment #05

This document contains the solutions to two questions from a linear control systems assignment. The first question decomposes a 4x4 system into its controllable and uncontrollable parts. It is determined that the system has a controllable subspace of rank 2. The second question represents a 6th order system with 3 outputs in observer form. It is found that the observability matrix has rank 6, meaning the entire state is observable. The system is transformed into observer canonical form.

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Umair Zulfiqar
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29 views

Linear Control Systems: Assignment #05

This document contains the solutions to two questions from a linear control systems assignment. The first question decomposes a 4x4 system into its controllable and uncontrollable parts. It is determined that the system has a controllable subspace of rank 2. The second question represents a 6th order system with 3 outputs in observer form. It is found that the observability matrix has rank 6, meaning the entire state is observable. The system is transformed into observer canonical form.

Uploaded by

Umair Zulfiqar
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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LINEAR CONTROL SYSTEMS

ASSIGNMENT #05

Submitted By:
NS Umair Zulfiqar
NS Waseem Tariq
NS M. Naeem
Submitted To:
Madam Muwahida

College of Electrical and Mechanical Engineering


NUST

Question # 01
Take a 4x4 system where q=2. Decompose the system into controllable part.
Matlab Code:
A=[ 3 3 2 4; 4 2 2 4; 1 2 3 4; 2 1 1 3]
B=[1;1;-1;1]
W = ctrb(A,B)
rank_of_W=rank(W)
rank_of_first_two_column=rank(W(:,1:2))
p3=[3;1;1;2]
p4=[7;2;2;1]
P=[W(:,1:2) p3 p4]
rank_of_P=rank(P)
PI=inv(P)
A_hat = PI*A*P
B_hat = PI*B
A11_hat=A_hat(1:2,1:2)
A22_hat=A_hat(3:4,3:4)
B11_hat=B_hat(1:3,:)

Output:
A=

B=

1
1
-1
1

W=

76 740

76 740

-1

56 568

43 413

rank_of_W =

rank_of_first_two_column =

p3 =

3
1
1
2

p4 =

7
2
2
1

P=

-1

rank_of_P =

PI =

0.1333
-0.0667

0.1667 -0.6556
0.1667

0 -0.5000
0.2000

0.0444

0.0778 -0.0222

0.1667

0.6667

0 -0.0667 -0.2667

A_hat =

0.0000 -12.0000 -2.9333 -1.5000


1.0000 11.0000

3.4667

5.5000

-0.0000 -0.0000 -0.0000 -2.5000


0.0000

0.0000 -0.4000

B_hat =

1.0000
-0.0000
0
0

A11_hat =

0.0000 -12.0000
1.0000 11.0000

0.0000

A22_hat =

-0.0000 -2.5000
-0.4000

B11_hat =

1.0000
-0.0000
0

0.0000

Question#02
Take a 6 order system with three outputs and represent it in observer form.
Matlab Code:
A=[2 4 4 4 3 2;2 4 7 1 1 3; 3 6 2 4 5 1; 1 3 1 6 3 4; 5 1 6 1 2 4; 2 5 1 3 3
4]
C=[4 3 2 6 7 1; 4 2 7 4 4 5; 6 7 5 1 2 1]
rank_of_C=rank(C)
O = obsv(A,C)
rank_of_O=rank(O)
eeta_C1=2
eeta_C2=2
eeta_C3=2
Oa=[C(1,:); C(1,:)*A; C(2,:); C(2,:)*A; C(3,:); C(3,:)*A;]
Rank_of_Oa=rank(Oa)
J=inv(Oa)
j=J(:,2)
j1=J(:,4)
j2=J(:,6)
PI=[j A*j j1 A*j1 j2 A*j2 ]
P=inv(PI)
AH=P*A*PI
CH=C*PI

Output:
A =
2
2
3
1
5
2

4
4
6
3
1
5

4
7
2
1
6
1

4
1
4
6
1
3

3
1
5
3
2
3

2
3
1
4
4
4

4
4
6

3
2
7

2
7
5

6
4
1

7
4
2

1
5
1

C =

rank_of_C =
3

O =
4
4
6
63
67
54
1059
1234
1053
20146
23014
19755
378764
435354
371029
7150999
8199777
6992380

3
2
7
70
107
92
1726
1874
1682
31498
36941
31122
603865
688273
589014
11331535
13027275
11088513

2
7
5
90
77
97
1430
1837
1530
29479
32846
28763
545185
632345
536306
10362928
11850263
10123179

2
90
7
77
5
97

7
60
4
84
2
60

rank_of_O =
6
eeta_C1 =
2
eeta_C2 =
2
eeta_C3 =
2
Oa =
4
63
4
67
6
54

3
70
2
107
7
92

Rank_of_Oa =
6

6
73
4
89
1
62

1
75
5
73
1
54

6
4
1
73
89
62
1405
1520
1290
25159
29173
24516
476950
544359
464850
8954154
10285889
8758083

7
4
2
60
84
60
1273
1347
1207
22588
26563
22330
433394
493235
422640
8123119
9343038
7951450

1
5
1
75
73
54
1258
1516
1185
24470
27459
23410
453133
522477
442663
8568216
9808156
8366018

J =
0.0768
-0.0763
0.0373
0.2601
-0.0681
-0.2367

0.0295
-0.0107
0.0051
0.1089
-0.1026
-0.0315

-0.0555
-0.0949
-0.0050
-0.8547
0.7536
0.3704

-0.0101
0.0130
-0.0248
-0.0663
0.0578
0.0444

0.2015
0.0168
-0.0408
-0.1452
0.0147
-0.0063

-0.0273
0.0071
0.0269
0.0154
-0.0044
-0.0275

0.1015
-0.0362
-0.0742
0.2220
-0.0549
-0.0965

-0.0101
0.0130
-0.0248
-0.0663
0.0578
0.0444

-0.0704
-0.0170
0.0662
-0.0426
0.0406
0.1721

-0.0273
0.0071
0.0269
0.0154
-0.0044
-0.0275

0.0750
0.0910
0.0268
-0.0099
-0.0712
-0.0691

12.9687
3.0000
35.1129
2.0000
26.2309
7.0000

-20.3111
2.0000
-33.4058
7.0000
-6.4298
5.0000

2.2973
6.0000
9.2647
4.0000
13.7884
1.0000

-16.8920
7.0000
-5.9721
4.0000
5.1702
2.0000

6.0062
1.0000
9.0817
5.0000
-3.3069
1.0000

j =
0.0295
-0.0107
0.0051
0.1089
-0.1026
-0.0315
j1 =
-0.0101
0.0130
-0.0248
-0.0663
0.0578
0.0444
j2 =
-0.0273
0.0071
0.0269
0.0154
-0.0044
-0.0275
PI =
0.0295
-0.0107
0.0051
0.1089
-0.1026
-0.0315
P =
-18.6716
4.0000
-26.7443
4.0000
-25.8433
6.0000

AH =
-0.0000
1.0000
-0.0000
-0.0000
0
0.0000

-16.0970
2.8540
-34.9789
5.3107
-17.6143
0.2085

-0.0000
-0.0000
0.0000
1.0000
0.0000
0

-5.5357
12.5609
21.6738
10.7363
19.9929
10.1377

0.0000
-0.0000
-0.0000
0.0000
-0.0000
1.0000

-9.3264
3.3354
-5.4487
4.9261
0.8328
6.4097

1.0000
0.0000
0.0000

-0.0000
-0.0000
-0.0000

-0.0000
1.0000
-0.0000

-0.0000
-0.0000
-0.0000

-0.0000
-0.0000
1.0000

CH =
0.0000
0.0000
0.0000

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