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EE 650A - Assignment 8 (2020-21-I)

This document contains three questions regarding control systems. Question 1 describes a 3D system and asks about its controllability, observability, representation in controller and observer canonical forms, open-loop poles, state feedback control design, and observer design. Question 2 describes another 3D system and asks similar questions. Question 3 describes a double integrator system and asks about its state space representation, controllability and observability, open-loop poles, state feedback control design using two different methods, and linear quadratic regulator design using two different cost functions and pole placement criteria.

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Pradeep Kumar
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54 views2 pages

EE 650A - Assignment 8 (2020-21-I)

This document contains three questions regarding control systems. Question 1 describes a 3D system and asks about its controllability, observability, representation in controller and observer canonical forms, open-loop poles, state feedback control design, and observer design. Question 2 describes another 3D system and asks similar questions. Question 3 describes a double integrator system and asks about its state space representation, controllability and observability, open-loop poles, state feedback control design using two different methods, and linear quadratic regulator design using two different cost functions and pole placement criteria.

Uploaded by

Pradeep Kumar
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
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EE 650A - Assignment 8 (2020-21-I)

Q1.
Consider a system described by following state equations :

ẋ = Ax + Bu y = Cx
   
1 1 1 0
where the system matrices are A = 0 −1 0, B = 1, C = [1 1 0].
0 0 1 1

A. State on the controllability and observability of the system.

B. Represent the system in CCF and OCF form.

C. Where are the open-loop poles of the system? Is the system stable?

D. Design a state-feedback controller to place the closed loop poles at -2, -2, and -2. Use Bass-Gura approach.

E. A state estimator is given by

x̂˙ = Ax̂ + Bu + L(y − ŷ), ŷ = C x̂

Design the estimator gain L to place the closed loop poles of estimator error dynamics at -10, -8, and -15.
Use Ackermanns formula.

Q2.
Consider a system described by following state equations :

ẋ = Ax + Bu y = Cx
   
1 1 1 1
where the system matrices are A = 0 −1 0, B = 0, C = [0 1 1].
0 0 1 1

A. State on the controllability and observability of the system.

B. Design a state-feedback controller to place the closed loop poles at -1, -2, and -3.

C. Decompose the system into observable and unobservable states.

Q3.
Consider the following double integrator system:

r̈ = u

where r̈ is acceleration of a vehicle and u is the control action.

A. Express the system in state space form where [r, ṙ]T are two states and r is the output.

1
B. Is the system controllable and (or) observable?

C. Determine the open-loop poles. Is the system stable?

D. Design a state-feedback controller to place closed loop poles at -1, and -2. Use coefficient match method.

E. Assume the cost function


1
Z ∞
J= (xT Qx + uT Ru)dt
2 0
 
1 0
where Q = , R = 1. Design a LQR controller to stabilize the system.
0 1

F. Design a LQR controller to have the poles of the closed loop system such that Re(λCL ) < −5, where λCL
is the eigenvalue of the closed loop system. Choose the cost function as

1 ∞ 10t T
Z
J= e (x Qx + uT Ru)dt
2 0
 
1 0
where Q = , R = 1.
0 0.1

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