HCM City University of Technology FINAL EXAM

Faculty of EE Engineering Second Semester, Academic year 2018-2019

Department of Automatic Control Subject: Nonlinear and Adaptive Control
---o0o--- Exam date: 24/07/2019. Exam duration: 90 min
(Students are allowed to use references but not laptops)

Problem 1: (3.5 points) Given a discrete plant with the transfer function:
Y ( z) 0.3 z  0.2
G( z)   2
U ( z ) z  0.7 z  0.12
Design a model reference controller (MRC) such that the output of the plant follows the output of
the reference model:
Ym ( z ) 0.8
Gm ( z ) = =
U c ( z ) z - 0.2
Write the formula to calculate the control signal in the time domain.

K
Problem 2: (3.5 points) Given a plant: y (t )  u (t )
( p  a )( p  b )
in which K, a and b are unknown positive parameters.

Design a MRAS to control the output of the plant to follow the output of the following reference
model satisfying POT  8% and ts  2 (sec) (2% criterion). Draw the block diagram to update the
parameter s1.

Problem 3: (3.0 points) Given a continuos plant with the transfer function:
Y ( s) K
G (s)  
U (s) s  a
Assume that the parameters (K and a) can be measured by using sensors. Design a PI gain
scheduling controller the closed loop system will have a pair of complex poles with
  0.75, n  4

(End)

Department Head Instructor

 SOLUTION

Problem 1:

Design model reference controller:

B  z  2 / 3
- Write B in the form B  B  B    
 B  0.3
Conditions for the existence of the solution:
- Bm can be writen in the form: Bm  Bm B   Bm  Bm / B   0.8 / 0.3  8 / 3 (0.5 p)
- deg( Am )  deg( Bm )  deg( A)  deg( B)
 

  
 
1 0 2 1
 The conditions are satisfied

Chose the order of A0:

deg( A0 )  2deg( A)  deg( Am )  deg( B  )  1  4  1  1  1  1
 Chọn A0  q  a1 , a1  1 (0.5 p)

Chose the order of S and R1:

deg( R1 )  deg( A0 )  deg( Am )  deg( A)  1  1  2  0
 
deg( S )  min [deg( R1 )  deg( B  )],[deg( A0 )  deg( Am )  deg( B  )  min (0  1), (0  1  0)  1
 R1  r0
 (0.5 p)
 S  s0 q  s1

Diophantine equation:

AR1  B  S  A0 Am
 (q 2  0.7 q  0.12)r0  0.3( s0 q  s1 )  ( q  a1 )(q  0.2)
 r0 q 2  (0.3s0  0.7 r0 )q  (0.12r0  0.3s1 )  q 2  (a1  0.2)q  0.2a1 (0.5 p)
 r0  1

 0.3s0  0.7 r0  a1  0.2
0.12r  0.3s  0.2a
 0 1 1

 r0  1

  s0  ( a1  0.5) / 0.3 (0.5 p)
 s  ( 0.2a  0.12) / 0.3
1 1

If chose a1 = 0
 r0  1

  s0  5 / 3
 s  0.4
1

Calculate R and T: (0.5 p)

R  R1 B   q  2 / 3
 T  A0 Bm  8q / 3

The control signal (0.5 p)

Ru ( k )  Tuc ( k )  Sy ( k )
 ( q  2 / 3)u ( k )  8q / 3uc ( k )  (5q / 3  0.4) y ( k )
 (1  (2 / 3) q 1 )u ( k )  8 / 3uc ( k )  (5 / 3  0.4q 1 ) y ( k )
 u ( k )  2 / 3u ( k  1)  8 / 3uc ( k )  5 / 3 y ( k )  0.4 y ( k  1)

Note:
If chose a1 = 0.5
 r0  1

  s0  10 / 3
 s  11 / 15
1

Problem 2:

K
The plant: G ( p) 
( p  a )( p  b)
The reference model:
  
POT  exp   .100%  8%    0.627
 1  2 
 
4
ts   2  n  3.19 (0.75 p)
n
n2 10.19
 Gm ( p )   2
p  2n p  n p  4 p  10.19
2 2

B  1
Write B in the form B  B  B    
B  K
Conditions for the existence of the solution:
- Bm can be written in the form: Bm  Bm B   Bm  10.19 / K
- deg( Am )  deg( Bm )  deg( A)  deg( B)
      
2 0 2 0
 The conditions are satisfied (0.5 p)

Choose order of A0:

deg( A0 ) ³ 2deg( A) - deg( Am ) - deg( B + ) -1 = 4 - 2 - 0 -1 = 1
 Choose A0 = p + 1 (0.25 p)

Choose order of R, T and S:

deg( R) = deg( A0 ) + deg( Am ) - deg( A) + deg( B+ ) = 1 + 2 - 2 + 0 = 1
deg(T ) = deg( A0 ) + deg( Bm¢ ) = 1 + 0 = 1
deg( S ) = min {deg( R ),[deg( A0 ) + deg( Am ) - deg( B- )} = min {1,(1 + 2 - 0)} = 1
ì
ï R = r0 p + r1
ï
ï
 íT = t0 p + t1 (0.5 p)
ï
ï
î S = s0 p + s1
ï
ï

Without losing generality, choose r0 = 1. The MIT rules updating the parameters are follows:
dt0 é p ù
= -g e ê u ú
dt êë ( p + 1)( p 2 + 4 p + 10.19) úû
c

dt1 é 1 ù
= -g e ê u ú
dt êë ( p + 1)( p 2 + 4 p + 10.19) úû c

ds0 é p ù
= ge ê y ú
dt êë ( p + 1)( p 2 + 4 p + 10.19) úû
ds1 é 1 ù
= ge ê yú (1.0 p)
dt êë ( p + 1)( p + 4 p + 10.19) úû
2

dr1 é 1 ù
= ge ê uú
dt êë ( p + 1)( p + 4 p + 10.19) úû
2

- The diagram to update the parameter s1: (0.5 p)

y (t) 1
( s  1)( s  4 s  10.19)
 1
2 s1
s
e(t)


Problem 3:
Design gain scheduling controller, assume that K and a can be measured
K
The PI controller: GPI ( s )  K P  I
s
The closed-loop characteristic equation:
 K  K 
1  GPI ( s )G ( s )  1   K P  I   0
 s  s  a 
s 2  (a  K  K P ) s  K  K I  0 (1.0 p)
The desired characteristic equation:
s 2  2n s  n2  0
 s 2  6 s  16  0 (1.0 p)
Balancing the equations, we have:
a  K  K P  6

 K  K I  16
 K  (6  a ) / K
 P (1.0 p)
 K I  16 / K