(Date)

Lecturer: (Date) 20/10/2023 Approved by:

(Signature, Position & Fullname)
(Signature & Fullname) Huỳnh Thái Hoàng
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Semester/Academic year 1 2023-2024

Mid-term Exam
Date 26/10/2023
Course title Nonlinear and Adaptive Control

UNIVERSITY OF TECHNOLOGY - VNUHCM Course ID EE4443

FACULTY OF EEE Duration 75 mins. Question sheet code
Notes: - Students are allowed to use references, but not mobile phones and laptops

Problem 1: (2.5 points) Given a nonlinear u

element which has the input-output relationship
2V
as beside. Plot the output of the nonlinear
V
element when applying a sinusoidal signal which
D e
has amplitude lager then D to its input. Then −D
calculate the describing function of the nonlinear −V
element (using definition formula). −2V

Problem 2: (2.5 points) Consider an ON-OFF control system in the block diagram below, in which
1000
G (s)  and the ON-OFF controller is described as below:
s ( s  8)3
r(t) e(t) u(t) y(t)
- If e(t )  0.2 then u (t )  12.0 G(s)
+− N(M)
- If 0.2  e(t )  0.2 then u (t )  0
- If e(t )  0.2 then u (t )  12.0

Plot the input-output relationship of the ON-OFF controller and analyze the self-excited oscillation that
could occur at the output of the system.

Problem 2: (2.5 points) Given a nonlinear system described by the state equation:
 1
 x1 = −3x1 + x2
 2 + sin 2 3t
 x2 = 0.5 x1 − x2 − 2 x23
Analyze the stability of the system at the equilibrium point x = [0;0]T

Problem 4: (2.5 points) Given a nonlinear system described by the state equation:
 x1 = sin( x1 ) + x1 x2

 1
 x2 = x2 + 1 + x 2 u
2

 1

y = x1
Design a feedback linearization controller such that the characteristic equation of the error dynamics has
all root(s) at −30. Plot the block diagram of the designed control system.

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 SOLUTION

Problem 1: (2.5 point)

- Plot the input-output signal: (1.0 point)
- Calculate A1 (1.0 point)
- Calculate N(M) (0.5 point)
4V 4V D
Result: N ( M ) = + [ 2α + sin(2α )] , sin(α ) = (M > D)
πM πD M

Problem 2: (2.5 point)

The ON-OFF controller is a three-state relay (0.5 point)

u

12

−0.2 e
0.2

− 12

Frequency response of the plant:

1000 1000
G (s)  ⇒ G ( j ) 
s ( s  5)3 j ( j  8)3

Describing function of the three-state relay:

4V D2 0.04
N (M ) = 1 − 2 = 48 1 − 2
πM M M

Amplitude and frequency of the self-excited oscillation are the solutions of the equation:

1 + N ( M )G ( jω ) = 0

arg(G ( jω )) = −π (1)

⇒  1 (0.5 point)
 G ( jω ) = N ( M ) ( 2)


π ω
(1) ⇒ − − 3tan −1 ( ) = −π
2 8

⇒ ω = 4.618(rad / sec) (0.5 point)

Substitude ω = 4.618 into (2):

1000 1
=
4.618 ( 4.6182 + 82 ) 3 N (M )
 ⇒ N ( M ) = 3.64

48 0.04
⇒ 1 − 2 = 3.64
πM M

⇒ M = 4.192 (0.5 point)

Conclusion: The oscillation at the ouput of the system is:

y (t ) ≈ y1 (t ) = 4.192sin(4.618t ) (0.5 point)

Problem 3: (2.5 points)

Choose the Lyapunov function:
1 1
V ( x )  x12  x22
2 2
It is clear that
V ( x )  0, x  0
V (0)  0 (0.5 point)
Consider V ( x ) :
V ( x )  x1 x1  x2 x 2
 1 
 x1 x1  x2   x2 0.5 x1  x2  2 x23 
 2  sin 3t 
2

 1 
 x12 +   0.5 x1 x2  x22  2 x24 (1.0 point)
 2  sin 2 3t 
 x12  x22 + x1 x2  2 x24
2
5 1  1 1 
=  x12  x22   x1  x2   2 x24
2 2 
 2 2 
It is clear that
V ( x )  0, x  0 (0.5 point)

⇒ The system is globally asymptotically stable at the equilibirum point x = [0;0]T (0.5 point)

Problem 4: (2.5 point)

The plant is described by the state equation:

 x1 = sin( x1 ) + x1 x2

 1
 x2 = x2 + 1 + x 2 u
2

 1

y = x1

⇒ y = x1 = sin( x1 ) + x1 x2

 1 
⇒ y = (sin( x1 ) + x1 x2 )(cos( x1 ) + x2 ) + x1  x22 + u
2 
 1 + x1 
⇒ y = a( x) + b( x).u

In which:

a( x) = (sin( x1 ) + x1 x2 )(cos( x1 ) + x2 ) + x1 x22

x1 (1.0 point)
b( x ) = u
1 + x12

Asumption: b( x) ≠ 0 ⇒ x1 ≠ 0

Feedback linearization control law:

1
u (t ) = [− a( x) + v(t )] (0.25 point)
b( x )

in which: v(t ) = 
yd (t ) + k1e(t ) + k2e(t ) (0.25 point)

e(t ) = y d (t ) − y (t )

Chracteristic equation of the error:

s 2 + k1s + k2 = 0

The desired characteristic equation:

( s + 30) 2 = 0

s 2 + 60s + 900 = 0

k1 = 60
⇒  (0.5 point)
k2 = 900

The low pass filter:

1
GLF ( s ) = (0.25 point)
(0.1s + 1) 2

The block diagram: (0.25 point)