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Me575 HW10

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13 views2 pages

Me575 HW10

Uploaded by

Jayesh Fasate
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ME 575 HOMEWORK SET 10 FALL 2024

OUT: 11/07/24 DUE: 11/14/24

PROBLEM #1 (30%)
Consider the cascade system shown below

in which the transfer functions of the two systems are


2( s  2) 2  s  4
G1 ( s )  , G2 ( s ) 
 s  4  s  1 ( s  2)( s  4)
Prove that, there exists an unbounded mode e4t at the output of system 1 that cannot be detected at
the output of the cascade system (i.e., the output of the system 2), and there exists an unbounded
mode e2t at the output of system 2 (i.e., the system output y ) that cannot be influenced by the
input u ,– the reason why cancellation of unstable poles/zeros is not allowed in controller design.

PROBLEM #2 (40%)
Consider the ECP emulator with rigid belt shown below:
cLTL ( s)
R(s) - bp 0  2 (s)
C(s) U ( s) s 2  a p1s
-

where bp 0  600, a p1  3 . You are required to design a PID type controller using state feedback as
follows:
(A) To have integral feedback, we introduce the integral of the error as the first state variable
t t
x1   e(t )dt    y (t )  r (t )  dt and define the other state variables as the output position
0 0

and velocity as x2  y   2 , & x3  2 . Neglecting the disturbance TL , verify that the resulting
state space model is given by
 x1  0 1 0   x1   0   1
 x   0 0    
1   x2    0  u   0  r
 2 
 x3  0 0 a p1   x3  bp 0   0 
y  0 1 0 x
(1)
Check the controllability of the system to verify that the system is completely controllable.
(B). Consider the following state feedback control law:
t
u  k r  K x  k r  k x  k x  k x  k r  k e(t ) dt  k   k 
r r 1 1 2 2 3 3 r 1 0  2 2 3 2 (2)
which is essentially a PID type controller. Using the state feedback design procedure
introduced in the lectures, determine the PID gains K   k1 k2 k3  to place two CL poles
at 20  j 20 and one at -60.
(C). Obtain the closed-loop transfer function from the filtered reference input r to the output y
when the state feedback control law (2) is used. Discuss how the gain kr affects the unit step
response.

PROBLEM #3 (30%)
Consider a SISO LTI system with a state-space model matrices of  Ap , B p , C p , 0  where
2 0  1
Ap    , B p  1 , C p   1 (1)
 3 1 
(A). Determine, if it exists, a state feedback gain matrix of K such that the closed-loop poles are
located at -4 and -5 respectively.
(B). Determine, if it exists, a state feedback gain matrix of K such that the natural modes of the
closed-loop system have the form of 1e 2t cos  3t   2 
(C). Find the range of values of  for which the system is completely observable.
(D). Choose a particular value of  that makes the system is completely observable and build an
observer having the observer errors decaying faster than e 10t .

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