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Nonlinear (Design) Assignment

The document contains 3 problems related to nonlinear control systems. Problem 1 involves designing a feedback linearization controller to place the poles of a nonlinear system. Problem 2 involves linearizing a system and designing a state feedback controller to stabilize it. Problem 3 involves designing a sliding mode controller for the same system as in Problem 2 to track trajectories with and without smoothing and saturation.

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63 views1 page

Nonlinear (Design) Assignment

The document contains 3 problems related to nonlinear control systems. Problem 1 involves designing a feedback linearization controller to place the poles of a nonlinear system. Problem 2 involves linearizing a system and designing a state feedback controller to stabilize it. Problem 3 involves designing a sliding mode controller for the same system as in Problem 2 to track trajectories with and without smoothing and saturation.

Uploaded by

omar nasser
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Cairo University M.Sc.

Automatic Control
Faculty of Engineering EPM640 2019-2020
Electrical Power Eng. Dept. Nonlinear Control Systems

Assignment 3
Problem 1
Consider the system,

−𝑥1 + 𝑒 2𝑥2 𝑢
𝑋̇ = [ 2𝑥1 𝑥2 + sin(𝑥2 ) + 𝑢 ], 𝑦 = 𝑥3
2𝑥2

Design a Feedback linearization to place the system poles at −2, −3, −4. Simulate the controller
10 0
using MATLAB for different initial conditions (𝑋(0) = [ 0 ] , 𝑋 (0) = [ 0 ])
0 10
Plot the system original states and the transformed states with time. Comment on the system
performance.
Problem 2
Consider the system given as,
𝑥̈ (𝑡) = 𝑎(𝑡) 𝑥̇ 3 𝐶𝑜𝑠(3𝑥 ) + 𝑢(𝑡)
where 𝑎(𝑡) is an unknown time-varying parameter satisfies that 1 ≤ 𝑎(𝑡) ≤ 2. For simulation use
𝑎(𝑡) = 1.5 + 0.5𝑠𝑖𝑛(5𝑡)
Using Lyapunov Linearization, find the linearized state space representation. Find a state feedback
controller to stabilize the equilibrium point (the origin) and place the poles at −2, −3 .
Using MATLAB, simulate the controller. Test the region of attraction using initial condition for 𝑥̇ from
−5 to 5 with a step of 1. Plot the system states of the closed loop system and comment on your answers.
Problem 3
For the same system in problem 2, design a Sliding-Mode control for the system with dynamics of the
sliding surface at  = 2 ,
i) Using MATLAB, simulate the controller for different initial conditions (𝑥 ∈
[−10,10] , 𝑥̇ ∈ [−10,10] , use a step of 1). The desired trajectory is 𝑥𝑑 = 3. Plot the system
states on a phase plane. Comment on the system response.
ii) For the same trajectory, smooth the control action and use saturation zone of 0.1. Plot the
system states and compare your results with (i).
iii) For initial condition of 𝑥 = 5 , 𝑥̇ = 3, design and simulate the controller for sufficient time
to track 𝑥𝑑 = sin(𝑡). Plot 𝑆 verses time, the system states, and the phase plane. Comment
on your answer. (use saturation zone of 0.1).

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