Scribd
Upload
117 views

Nonlinear Control Assignment 1

This document outlines a 7 question assignment on nonlinear control systems. It includes: 1) Modeling a single-link manipulator and finding equilibrium points. 2) Modeling a synchronous generator, finding equilibrium points, and simulating the system. 3) Analyzing a phase-locked loop system. 4) Finding equilibrium points for 5 nonlinear systems. 5) Drawing phase portraits to verify the results of question 4. 6) Deriving the closed-loop dynamics for a controlled system. 7) Simulating a PD controlled pendulum and verifying properties of the equilibrium points.

Uploaded by

SirboiuDan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
117 views

Nonlinear Control Assignment 1

This document outlines a 7 question assignment on nonlinear control systems. It includes: 1) Modeling a single-link manipulator and finding equilibrium points. 2) Modeling a synchronous generator, finding equilibrium points, and simulating the system. 3) Analyzing a phase-locked loop system. 4) Finding equilibrium points for 5 nonlinear systems. 5) Drawing phase portraits to verify the results of question 4. 6) Deriving the closed-loop dynamics for a controlled system. 7) Simulating a PD controlled pendulum and verifying properties of the equilibrium points.

Uploaded by

SirboiuDan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 2

Assignment Week 1 Nonlinear Control 2021 - 201900085

Hand in deadline on Canvas: 25-02-2021


Always show each step in your calculations or derivations!

1. (10 pt) The nonlinear dynamic equations for a single-link manipulator with flexible joint, damp-
ing, is given by

I q̈1 + M gL sin q1 + k(q1 − q2 ) = 0, (1)


J q̈2 − k(q1 − q2 ) = u, (2)

where q1 and q2 are angular positions, I and J are moments of inertia, k is a spring constant,
M is the total mass, L is a distance, and u is a torque input. Choose state variables for this
system and write down the state equations. Find all equilibrium points of the system.

2. (20 pt) A synchronous generator connected to an infinite bus can be represented by

M δ̈ = P − Dδ̇ − η1 Eq sin δ, (3)


τ Ėq = −η2 Eq + η3 cos δ + EF D , (4)

where δ is an angle in radians, Eq is voltage, P is mechanical input power, EF D is field voltage


(input), D is damping coefficient, M is inertial coefficient, τ is time constant, and η1 , η2 , and η3
are constant parameters.

(a) Using δ, δ̇, and Eq as state variables, find the state equation.
(b) Let P = 0.815, EF D = 1.22, η1 = 2.0, η2 = 2.7, η3 = 1.7, τ = 6.6, M = 0.0147, and
D/M = 4. Find all equilibrium points.
(c) Create a Simulink model in Matlab and plot the states and input signals.
(d) Change the initial states (δ(0), δ̇(0), and Eq (0)) and show that the states (δ, δ̇, and Eq )
can converge to different equilibrium points.
(e) Increase τ gradually so that Ėq → 0. Show that assuming Eq to be constant reduces the
model to a pendulum equation.

3. (10 pt) For the following phase-locked loop described by

ÿ + [a + b cos(y)] ẏ + c sin y = 0 (5)

show the following:

• The state space representation using x1 = y and x2 = ẏ.


• Examine whether (0, 0) is a stable equilibrium point if a ≥ b ≥ 0.

4. (20 pt) For each of the following systems, find all equilibrium points and determine the type of
each isolated equilibrium show the following:

(a) ẋ1 = −x1 + 2x31 + x2 , ẋ2 = −x1 − x2


(b) ẋ1 = x1 + x1 x2 , ẋ2 = −x2 + x22 + x1 x2 − x31
(c) ẋ1 = [1 − x1 − 2h(x)]x1 , ẋ2 = [2 − h(x)]x2 , where h(x) = x2 /(1 + x1 )
(d) ẋ1 = x2 , ẋ2 = −x1 + x2 (1 − x21 + 0.1x41 )
(e) ẋ1 = −x31 + x2 , ẋ2 = x1 − x32

Pg. 1 (201900085-WA1)
Assignment Week 1 Nonlinear Control 2021 - 201900085

5. (10 pt) For each of the systems in question (4), draw the phase portraits and show that the
results of questions (4) and (5) are in agreement.

6. (10 pt) A system with open-loop dynamics given by

mθ̈ + bθ̇2 + cθ̇ = τ,

is controlled with the control law

τ = m[θ̈d + kd ė + kp e] + sin(θ).

Give the differential equation that characterizes the closed-loop action of the system.

7. (20 pt) Consider the PD control law with desired gravity compensation for the pendulum de-
scribed by the equation
J q̈ + mgl sin(q) = τ. (6)
[ ]T [ ]T
The equilibria of the closed-loop equation are e q̇ = e 0 where e is the solution of

kp e + mgl [sin(qd ) − sin(qd − e)] = 0. (7)

(a) Simulate the system in closed-loop with the following numerical values: J = 1, m = 1,
l = 1, g = 10, kp = 1/4, kd = 1, and with the initial conditions: q(0) = π/8 and q̇(0) = 0.
For the desired angular position qd = π/2, verify by simulation that lim q(t) ̸= qd .
t→∞
(b) Obtain by simulation the value of lim q(t).
t→∞
(c) Show by simulation that e satisfies

2mgl
| e |≤ . (8)
kp

# points
Assignment grade: 1 + 9 max. # points

Pg. 2 (201900085-WA1)

You might also like