Scribd
Upload
103 views2 pages

Optimal Control For Linear Systems: Spring 2010 Final Exam

This document contains 3 problems from an optimal control exam. Problem 1 asks to find a stable factorization and state feedback for a linear system. Problem 2 asks to derive and solve a Riccati equation to find an optimal feedback control law that minimizes a performance index for a mechanical system with disturbance. Problem 3 asks to find a stabilizing feedback controller for a system and describe how to compute the closed loop H2 norm using the solution to a Lyapunov equation.

Uploaded by

Yang Zhang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
103 views2 pages

Optimal Control For Linear Systems: Spring 2010 Final Exam

This document contains 3 problems from an optimal control exam. Problem 1 asks to find a stable factorization and state feedback for a linear system. Problem 2 asks to derive and solve a Riccati equation to find an optimal feedback control law that minimizes a performance index for a mechanical system with disturbance. Problem 3 asks to find a stabilizing feedback controller for a system and describe how to compute the closed loop H2 norm using the solution to a Lyapunov equation.

Uploaded by

Yang Zhang
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 2

Optimal Control for Linear Systems:

Spring 2010
FINAL
EXAM
Problem 1.
(s 1)
. Find a stable co(s + 2)(s 3)
n(s)
prime factorization G(s) =
and x(), y() RH
m(s)
such that x(s) n(s) + y(s) m(s) = 1 .

(30 pts)

Let G(s) =

[Hints: If you would like to use a state-space method with the observer
canonical form, then F = [6, 2] is a stabilizing feedback gain

and L = [4, 8]T is a stabilizing observer gain. In case you prefer


the direct approach, you might try to search for a constant x(s) and
a first-order biproper y(s) .]

Problem 2.
Consider the simple mechanical model
d2 s
= u + w,
dt2

s(0) = 1,


ds
= 1
dt t=0

with an impulse-like disturbance w = 1 (t) .

The goal is to design a stabilizing force u, under assumption that both the position s and the velocity ds
dt are
measurable, that minimizes the performance index
Z

> 0.
s2 + u2 dt,
{u} =
0

Proceed as follows.
1. (15 pts) Derive the appropriate Riccati
equation
as

ds T
suming that the state vector is x = s, dt .
 1

1
2 4 2
2. (15 pts) Show that P =
is the
1
3
2
2 4
stabilizing solution of this Riccati equation.
3. (10 pts) Find the optimal feedback control law.
What happens with the poles and with the control signal in the optimal closed-loop system when is getting smaller?
4. (10 pts) Compute the minimal (optimal) value of the
performance index for = 4 .

Problem 3.
Consider the system
d2 y
= u + w,
dt2
1. (10 pts) Using any approach you like, find a stabilizing
feedback controller u = K() y that achieves y 0
as t 0 in the case when w 0 .

2. (10 pts) Find the matrix coefficients of a Lyapunov


equation, solution of which can be used for computing
the H2 -norm of the closed-loop system.
Describe how you would proceed assuming that this
solution is found.

You might also like