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Question 1 (a). (b).

State the advantages and disadvantages of modeling dynamical systems in the form of transfer function and state space. state equations. Then, find the systems transfer function. [6 marks] [4 marks] A system is represented by a block diagram as shown in Figure Q1b. Write the systems

U(s)

+ -

1/s

+ a X1 + K

1/s

X2

Y(s)

Figure Q1b (c). Obtain a state space model for the multi-input multi-output (MIMO) system given in Figure Q1c. v1(t) and v2(t) are the inputs and vR1(t), vR2(t) and vR3(t) which are voltages across R1, R2 and R3 are the outputs respectively. Let the system states be x(t)=[iL1 iL2 vC3]T. [15 marks]

Figure Q1c

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Question 2 (a). The state equation of a system with Eigen values of -2, -5 and -5 are given in the Controllable Canonical Form as follows :-

Obtain the state and output equation of the system either in Diagonal or Jordan Canonical form [12 marks]

(b).

Consider the following system with two state equations y1 and y2 and two inputs u1 and u2:

and

, two output equations

Convert the above equations in state space matrix representation and determine the system transfer functions. [13 marks]

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Question 3 a)

Consider the following state equation and output equation:

Show that the state equation can be transformed into the following form by use of a proper transformation matrix:

[11 marks] Then obtain the output y(t) in terms of z1(t), z2(t) and z3(t). [2 marks] b) Given the state and output equation of an electrical system as follow where u(t) is the step function occurring at t = 0, or u(t)=1(t). The initial condition value is x(0) = [0 0]T.

(i) (ii) (iii) (iv)

Find the state transition matrix, (t) Find the inverse state transition matrix -1(t) Obtain the state transition equation and sketch the time response, x(t). Obtain the output equation and sketch the time response, y(t). [12 marks]

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Question 4

A chemical process can be simplified by using the following state space equations

a)

Design a linear state feedback controller u(t) = -Kx(t) such that the closed-loop system will have all its eigen values equal to -1. [11 marks]

b)

What is the purpose of an observer and why is one needed in some control system? [3 marks]

c)

If a supplementary observer is needed for the system, design a full order observer such that all the eigen values of the observer are at -0.1. [11 marks]

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Question 5 a) Given the plant in state and output equation as follow:

What relationship exists between b1 and b2 to make the system uncontrollable? [5 marks] b) Given the plant in state space representation as follow :

What relationship must exist between C1 and C2 in order for the system to be unobservable? [5 marks] c) Given the plant

Design an integral controller to yield a 10% overshoot, 2 second peak time and zero steady state error for a step input. [15 marks]

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Question 6 a) b) Give the definition of optimal control system. [5 marks] Given a system described by the dynamic equation

Determine the optimum control input u(t) = [k1 1] x(t) = Kx(t) that will minimize the following performance index

[20 marks]

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Answer and marks schema Answer Q1 a) transfer function advantages: rapidly provides stability and transient response information

transfer function disadvantages: can be applied only to linear time invariant systems and restricted to single input and single output systems

1
state space advantages: can be used to model nonlinear system, applicable to time varying systems, applicable to multi input and multi output systems and easily tackled by digital computer.

1 1

State space disadvantages: does not directly provide stability and transient response information.

b)

state space equation

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Transfer function equation

Using Kirchoffs voltage law: Loop 1:

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Loop 2:

Current Kirchoff Law:

Outputs:

3
State space equation:

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Answer Q2 (a). controller canonical form,

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3
The state and output equation for Jordan Canonical form;

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(b). state space matrix representation,

4
The transfer function matrix,

5
Hence,

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Answer Q3 a) Define,

Define the transformation matrix P,

1
Transformation the state and output equation

In this problem it is specified that,

 Simplified,

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Solve for all P values,

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b) state transition matrix,

1
The response to the unit step input is then obtained as,

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X11 response

X21 response

1
the output equation is,

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Answer Q4 a) Find the controllability

State variable feedback,

Closed loop system matrix,

Closed loop characteristic equation,

The desired closed loop characteristic equation,

2
Compare equation (1) and (2),

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c) purpose of an observer: to estimate the state of the system reasons of using an observer: (i). some state cannot be measured due to unavailability of sensors (ii). Some states is difficult to access (iii). Some state is too costly to measure by sensor d) find the observability

3
Observer gain,

Observer closed loop system matrix,

Observer characteristic equation,

The desired characteristic equation of the observer,

2
Compare equation (3) and (4),

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Answer Q5 a) Relationship exists between b1 and b2 to make the system uncontrollable

Controllability matrix,

To make the system uncontrollable

The controllability matrix has a zero determinant if b2 = b1 b) Relationship must exist between C1 and C2 in order for the system to be unobservable

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c)

Response before integral control shows steady state error exist as shown below,

Transfer function,

2
Damping ratio,

1
Un-damped natural frequency,

1
The characteristic equation,

1
Adding a pole at -4, which corresponds to the original systems zero location, yields the resulting desired characteristic equation,

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Now the state equation becomes,

3
Thus the state equation becomes,

Find the characteristic equation of this system,

Equating the above polynomial with the desired characteristic equation,

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Solving the K,

3
Response after integral design,

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Answer Q6 Identify matrix and feedback,

The closed loop system,

Feedback u,

5
Thus the performance index,

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Performance index,

Matrix H,

Solve for P11, P12 and P22

Jmin occurs when dJ/dk1 = 0