HCM City University of Technology FINAL EXAM

Faculty of EE Engineering Second Semester, Academic year 2017-2018

Department of Automatic Control Subject: Nonlinear and Adaptive Control
---o0o--- Exam date: 04/07/2018. Exam duration: 90 min
(Students are allowed to use references but not laptops)

Problem 1: (3.0 points) Given a nonlinear system described by the state equation:
 x1  x2

 x32
 2x  10 
 x1
 x3  3x3  u
y  x1
The objective is to control the output y(t) of the system to follow a reference signal yd(t). Design a
sliding mode controller such that the characteristic equation of the sliding surface has all the root(s)
at –4. Plot the block diagram of the designed control system.
K ( p  a)
Problem 2: (3.5 points) Given a plant: y (t )  u (t )
( p  b) 2
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:
36
y m (t )  u c (t )
( p  6) 2
Draw the block diagram to update the parameter s0.

Problem 3: (3.5 points) Given a discrete plant with the transfer function:
Y (z) K
G( z)   2
U ( z ) z  a1 z  a2
Design a self tuning regulator (STR) such that the output of the plant follows the output of the
reference model:
Ym ( z ) 0.2
Gm ( z ) = = 2
U c ( z ) z - 1.2 z + 0.4
Write the expression to calculate the control signal u(k) in the time domain. Draw the block diagram
of the designed control system.

(End)

Department Head Instructor

 SOLUTION

Problem 1:

- Taking the derivative of the output:

 x1  x2

 x32
 x2  10 
 x1
 x3  3x3  u
y  x1

y  x1  x2
x32
y  x2  10 

x1
2 x3 x3 x1  x32 x1 2 x3 (3 x3  u ) x1  x32 x2
y 
 
x12 x12
x32 (6 x1  x2 ) 2 x3
  u
x12 x1

 x32 (6 x1  x2 )
 a ( x) 
 x12
  (1.0 p)
b( x)   2 x3
 x1
- Sliding surface:
  
e  k1e  k2 e , trong đó e  yđ  y (0.25 p)
- Characteristic equation of the sliding surface:
s 2  k1s  k2  0
- Desired characteristic equation:
( s  4) 2  s 2  8s  16  0
k  8
 1 (0.5 p)
k2  16
- Sliding mode control signal:
1
u  a( x)  yđ  8e  16e  Ksign( ) (0.5 p)
b( x )
- Chose K = 50
- Low pass filter
1 1
GLF ( s )   (0.25đp)
(Ts  1) 3
(0.1s  1)3

- Block diagram (0.5 p)

Problem 2:

K ( p  a)
The plant: G ( p) 
( p  b) 2
36
The reference model: Gm ( p ) 
( p  6) 2

 B   ( p  a)
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  36 / K
- deg( Am )  deg( Bm )  deg( A)  deg( B)
      
2 0 2 1
 The conditions are satisfied (0.5 p)

Choose order of A0:

deg( A0 ) ³ 2deg( A) - deg( Am ) - deg( B + ) -1 = 4 - 2 -1 -1 = 0
 Choose A0 = 1 (0.5 p)

Choose order of R, T and S:

deg( R) = deg( A0 ) + deg( Am ) - deg( A) + deg( B+ ) = 0 + 2 - 2 + 1 = 1
deg(T ) = deg( A0 ) + deg( Bm¢ ) = 0 + 0 = 0
deg( S ) = min {deg( R ),[deg( A0 ) + deg( Am ) - deg( B- )} = min {1,(0 + 2 -1)} = 1
ì R = r0 p + r1
ï
ï
ï
 íT = t0 (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 1 ù
= -g e ê uc ú
dt êë ( p + 6) 2 úû
ds0 é p ù
= ge ê yú
dt êë ( p + 6) úû2

ds1 é 1 ù
= ge ê yú (1.5 p)
dt êë ( p + 6) úû
2

dr1 é 1 ù
= ge ê uú
dt êë ( p + 6) úû
2

- The diagram to update the parameter s0: (0.5 p)

 y (t) s
( s  6) 2
 1
s
s0

e(t)


Problem 3:
Y (z) K
G( z)  
U ( z ) z 2  a1 z  a2
Parameter estimation:
Y ( z) K Kz 2
G( z)   2 
U ( z ) z  a1 z  a2 1  a1 z 1  a2 z 2
1  a1 z 1  a2 z 2Y ( z )  Kz 2U ( z )
y ( k )   a1 y ( k  1)  a2 y ( k  2)  Ku ( k  2)
 y ( k )   T ( k )
In which:
 ( k )    y ( k  1)  y ( k  2) u ( k  2) 
T
(0.5 p)
   a1 a2 K
T

The recursive parameter estimation algorithm:

ˆ(k )  ˆ(k  1)  L(k ) (k )
 (k )  y (k )   T (k )ˆ(k  1)
P(k  1) (k )
L(k ) 
   T (k ) P(k  1) (k )
1 P(k  1) (k ) T (k ) P(k  1) 
P (k )   P(k  1) 
    T (k ) P (k  1) (k ) 
T
 ˆ   aˆ1 aˆ 2 Kˆ 
Initial conditions: P(0) = I3×3 ; (0.5p)
ˆ(0)  rand (3,1)

Ym ( z ) 0.2
Gm ( z ) = = 2
U c ( z ) z - 1.2 z + 0.4
Self tuning model reference controller:

Design model reference controller:

 B   1
 
- Write B in the form B  B B   
 B  Kˆ
Conditions for the existence of the soluition:
- Bm can be writen in the form: Bm  Bm B   Bm  Bm / B   0.2 / Kˆ (0.25 p)
 - deg( Am )  deg( Bm )  deg( A)  deg( B)
      
2 0 2 0
 The conditions are satisfied

Chose the order of A0:

deg( A0 )  2deg( A)  deg( Am )  deg( B  )  1  4  2  0  1  1
 Chose A0  q  q0 , q0  1 (0.5 p)

Chose the order of S and R1:

deg( R1 )  deg( A0 )  deg( Am )  deg( A)  1  2  2  1
 
deg( S )  min [deg( R1 )  deg( B  )],[deg( A0 )  deg( Am )  deg( B  )  min (1  0), (1  2  0)  1
 R1  r0 q  r1
 (0.25 p)
 S  s0 q  s1

Diophantine equation:

AR1  B  S  A0 Am
 (q 2  aˆ1q  aˆ2 )(r0 q  r1 )  Kˆ ( s0 q  s1 )  (q  q0 )(q 2  1.2q  0.4)
 ˆ )q  ( Ks
r0 q 3  (r1  aˆ1r0 )q 2  (aˆ1r1  aˆ2 r0  Ks ˆ  aˆ r )  q 3  (q  1.2)q 2  (0.4  1.2q )q  0.4q
0 1 2 1 0 0 0

(0.5 p)
 r0  1
 r  aˆ r  q  1.2
1 10 0
  ˆ
 aˆ1r1  aˆ2 r0  Ks0  0.4  1.2q0
 Ksˆ
 1  aˆ2 r1  0.4q0
 r0  1
 r  q  1.2  aˆ
1 0 1
  ˆ
(0.5 p)
 s0  [0.4  1.2q0  aˆ1 ( q0  1.2  aˆ1 )  aˆ2 ] / K
 ˆ
 s1  [0.4q0  aˆ2 ( q0  1.2  aˆ1 )] / K

Calculate R and T: (0.5 p)


R  R1 B  q  aˆ1
T  A0 Bm  0.2( q  0.5) / Kˆ