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Semester/Academic year 1 2022-2023

FINAL EXAM Date 27/12/2022
Course title Nonlinear and Adaptive Control

UNIVERSITY OF TECHNOLOGY - VNUHCM Course ID 409403

FACULTY OF EEE Duration 100 mins. Question sheet code
Notes: - Students are allowed to use references, but not mobile phones and laptops

K
Problem 1: (3.5 points) Given a plant: u (t ) y (t ) 
p( p 2  a)
Design a MRAS such that the output of the plant to follow the output of a reference model which
has POT=16% and ts=3sec (5% criterion). Plot the block diagram to update the parameter t1.

Problem 2: (3.5 points) Given a discrete plant with the transfer function:
Y ( z) 2z
G( z)   3
U ( z ) z  1.6 z  0.3 z  0.5
2

Design a model reference controller such that the output of the plant follows the output of the
reference model:
Y ( z) 0.2
Gm ( z ) = m = 2
U c ( z ) z - 1.25 z + 0.45
Plot the block diagram of the designed control system.

Y (s) 1
Problem 3: (3.0 points) Given a plant:  2 G (s) 
U ( s ) s  as  b
Suppose that the parameters a and b can be measured by using sensors and can be used as
scheduling variables. Design a gain scheduling PI controller such that the closed-loop system has
a pair of complex poles with =0.8 and n=3.

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Stu.ID: .......................................... Stu. Fullname: .............................................................................................................. Page 1/1

 SOLUTION

Problem 1: (3.5 point)

K
The plant: G ( p) 
p( p 2  a)
The reference model:
POT = 16% =>   0.5
3
ts   3  n  2 (0.5 p)
n
p1n2 40
 Gm ( p )   (0.25 p)
( p  p1 )( p  2n p  n ) ( p  10)( p 2  2 p  4)
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  40 / K
- deg( Am )  deg( Bm )  deg( A)  deg( B)
       
3 0 3 0
 The conditions are satisfied (0.25 p)

Choose order of A0:

deg( A0 ) ³ 2deg( A) - deg( Am ) - deg( B + ) -1 = 6 - 3 - 0 -1 = 2
 Choose A0 = ( p + 1) 2 (0.5 p)

Choose order of R, T and S:

deg( R) = deg( A0 ) + deg( Am ) - deg( A) + deg( B+ ) = 2 + 3 - 3 + 0 = 2
deg(T ) = deg( A0 ) + deg( Bm¢ ) = 2 + 0 = 2
deg( S ) = min {deg( R),[deg( A0 ) + deg( Am ) - deg( B- )} = min {2,(2 + 3 - 0)} = 2
ì
ï R = r0 p 2 + r1 p + r2
ï
ï
ï 2
íT = t0 p + t1 p + t2 (0.5 p)
ï
ï 2
î S = s0 p + s1 p + s2
ï
ï

Without losing generality, choose r0 = 1. The MIT rules updating the parameters are follows:
dt0 é p2 ù
= -g e ê uc ú
dt ê ( p + 1) ( p + 2 p + 4) ú
2 2
ë û
dt1 é p ù
= -g e ê uc ú
dt ê
ë ( p + 1) 2
( p 2
+ 2 p + 4) úû
dt2 é 1 ù
= -g e ê uc ú
dt êë ( p + 1) ( p + 2 p + 4) úû
2 2

ds0 é p2 ù
= ge ê yú
dt ê ( p + 1) 2 ( p 2 + 2 p + 4) ú
ë û
 ds1 é p ù
= ge ê yú
dt êë ( p + 1) ( p 2 + 2 p + 4)
2 úû
(1.0 p)
ds2 é 1 ù
= ge ê yú
dt êë ( p + 1) ( p + 2 p + 4) úû
2 2

dr1 é p ù
= ge ê u ú
dt êë ( p + 1) 2 ( p 2 + 2 p + 4) úû
dr2 é 1 ù
= ge ê u ú
dt êë ( p + 1) 2 ( p 2 + 2 p + 4) úû

- The diagram to update the parameter t1: (0.5 p)

uc(t) p
( p + 1) ( p 2 + 2 + 4)
 1
2 t1
s
e(t)


Problem 2: (3.5 points)

2q
G (q ) 
q  1.6q  0.3q  0.5
3 2

0.2
Gm ( q ) = 2
q - 1.25q + 0.45
Design model reference controller:
B  q
- Write B in the form B  B  B    
B  2
Conditions for the existence of the soluition:
- Bm can be writen in the form: Bm  Bm B   Bm  Bm / B   0.2 / 2  0.1 (0.25 p)
- deg( Am )  deg( Bm )  deg( A)  deg( B)
      
2 0 3 1
 The conditions are satisfied

Choose the order of A0:

deg( A0 )  2deg( A)  deg( Am )  deg( B  )  1  6  2  1  1  2
 Chose A0  q 2 (0.25 p)

Choose the order of S and R1:

deg( R1 )  deg( A0 )  deg( Am )  deg( A)  2  2  3  1
 
deg( S )  min [deg( R1 )  deg( B  )],[deg( A0 )  deg( Am )  deg( B  )  min (1  1), (2  2  0)  2
R  r q  r
  1 02 1 (0.5 p)
 S  s0 q  s1q  s2

Diophantine equation:
AR1  B  S  A0 Am
 (q 3  1.6q 2  0.3q  0.5)( r0q  r1 )  2( s0 q 2  s1q  s2 )  q 2 (q 2  1.25q  0.45)
r0q 4  (1.6 r0  r1 )q 3  (0.3r0  1.6 r1  2 s0 )q 2  (0.5 r0  0.3r1  2s1 )q  0.5 r1  2 s2
 (0.5 p)
 q 4  1.25q 3  0.45q 2
 r0  1
1.6 r  r  1.25
 0 1

 0.3r0  1.6 r1  2 s0  0.45

0.5 r  0.3r  2 s  0
 0 1 1

0.5 r1  2 s2  0
 r0  1
 r 0.35
 1 
  s0  0.355 (0.75 p)
 s  0.3025
1
0.5 r1  2 s2  0.0875

Calculate R and T: (0.5 p)

R  R1 B   q ( q  0.35)
S  0.355q 2  0.3025q  0.0875
T  A0 Bm  0.1q 2

Control signal: (0.25 p)

0.1q2
0.355q  0.3025q  0.0875
2
u (k )  uc ( k )  y (k )
q ( q  0.35) q ( q  0.35)

Block diagram: (0.5 p)

Problem 3: (3.0 points)

KI
PI controller: GPI ( s )  K P 
s
Characteristic equation of the closed-loop system:
 1  GPI ( s )G ( s )  0
 K  1 
 1  KP  I  2 0
 s   s  as  b 
(1.0 p)
 s  s 2  as  b    K P s  K I   0
 s 3  as 2  (b  K P ) s  K I  0 (1)

Desired characteristic equation:

( s  p3 )( s 2  2 n s   n2 )  0
( s  p3 )( s 2  4.8 s  9)  0 (1.0 p)
s  (4.8  p3 ) s  (9  4.8 p3 ) s  9 p3  0
3 2
(2)

 4.8  p3  a

 9  4.8 p3  b  K P
9 p  K
 3 I

 p3  a  4.8

  K P  9  4.8( a  4.8)  b
(1.0 p)
 K  9( a  4.8)
 I