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Guide Solutions

The document discusses sensitivity and complementary sensitivity functions, which are closed-loop transfer functions relating inputs and outputs in a system. It also discusses realization and stability of controllers, including full control, disturbance feedforward, and output estimation controllers. State space solutions require a single Riccati equation to be solved. The compensator is given by the product of matrices obtained by solving Riccati equations. An example proportional-integral controller is also analyzed.

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Abdulhmeed Mutalat
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7 views

Guide Solutions

The document discusses sensitivity and complementary sensitivity functions, which are closed-loop transfer functions relating inputs and outputs in a system. It also discusses realization and stability of controllers, including full control, disturbance feedforward, and output estimation controllers. State space solutions require a single Riccati equation to be solved. The compensator is given by the product of matrices obtained by solving Riccati equations. An example proportional-integral controller is also analyzed.

Uploaded by

Abdulhmeed Mutalat
Copyright
© Attribution Non-Commercial (BY-NC)
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/ 15

1/a)………………………

B) The sensitivity and complementary sensitivity functions are closed-loop


transfer functions between specified inputs and outputs in the system.

sensitivity functions S(s)= (1+K(s)G(s))-1


-1
complementary sensitivity functions T(s)= K(s)G(s) (1+K(s)G(s))

S(s)+ T(s)=I
c)

2/

a)

b)
c)

That is

d)
3/

Realization Stability controller

a)Full

Information

b)Disturbance

forward

c)Output

estimation

d) Full control
4/
c)

5/

This controller is given by


And

Where

H2 and J2 are Hamiltonian matrices given by

Driven from the Reccati equations


Respectively

a) Full control

b) Disturbance feedforward:

6/

In state space solution the transfer matrix G must be proper,and one Riccati
equation is required to be solved
7/

The compensator C=YX-1


Where X and Y are given by

and ………………(*)

obtained from

and

,
9/
P(s)=n(s) / m(s) = (s-2)/(s-1)

=(1-3λ)/(1-2 λ)

Gives n=3m/2-1/2 -2n+3m=1


Since -nx+my=1
Then x= -2 , y= 3

N(s)=(s-2)/(s+1) M(s)=(s-1)/(s+1)
X(s) =-2 Y(s) =3
ii) For zero steady state error

Thus Q(0)=-3/2

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