1. The document provides instructions and solutions for deriving state space models and determining state feedback gains for various systems.
2. Key steps include deriving the state space model from a circuit diagram, finding state feedback gains to place closed-loop poles at desired locations, and determining observer gains for full-order state observers.
3. Solutions are provided for problems involving a mass-spring-damper system, DC motor model, dynamic systems, and designing observers for given systems.
1. The document provides instructions and solutions for deriving state space models and determining state feedback gains for various systems.
2. Key steps include deriving the state space model from a circuit diagram, finding state feedback gains to place closed-loop poles at desired locations, and determining observer gains for full-order state observers.
3. Solutions are provided for problems involving a mass-spring-damper system, DC motor model, dynamic systems, and designing observers for given systems.
1. The document provides instructions and solutions for deriving state space models and determining state feedback gains for various systems.
2. Key steps include deriving the state space model from a circuit diagram, finding state feedback gains to place closed-loop poles at desired locations, and determining observer gains for full-order state observers.
3. Solutions are provided for problems involving a mass-spring-damper system, DC motor model, dynamic systems, and designing observers for given systems.
1. The document provides instructions and solutions for deriving state space models and determining state feedback gains for various systems.
2. Key steps include deriving the state space model from a circuit diagram, finding state feedback gains to place closed-loop poles at desired locations, and determining observer gains for full-order state observers.
3. Solutions are provided for problems involving a mass-spring-damper system, DC motor model, dynamic systems, and designing observers for given systems.
1. Derive the state space model of the system shown in Figure 1. The input is i and the output is e2 . Hint: Use iL2 , e2 and iL1 as state variable so that (q1 q2 q3)T = (iL2 e2 iL1 )T
2. Find out the state feedback gain matrix K for the following system such that the closed-loop
poles are located at 0.5 and 0.6. [Ans: K = −2.4 −4.1 ]
ẋ1 −1 −1 x1 0 = + u(t) ẋ2 0 −2 x2 1
y = 1 0 x
3. The state variable model of a mass–spring–damper is given as:
ẋ 0 1 x 0 = + f (t) v̇ −10 −1 v 1
x y = 1 0 v
Assume that the design specifications require raising the damping to ζ = 0.6325. Determine the
desired feedback gains. [Ans: K = 0 3 ]
4. The state equations for a DC motor model are give as:
d ia −100 −5 ia 100 = + Va dt ω 5 −10 ω 0
(a) If the desired closed-loop characteristic polynomial is s2 +150+5000, determine the feedback
gain matrix. [Ans: K = 0.4 7.15 ]
(b) Determine the resulting feedback control law. [Ans: Va = −0.4ia − 7.15ω] 5. Consider a dynamic system described by
ẋ1 0 1 x1 0 = + u ẋ2 −2 −3 x2 1
x1 y =[ 1 0 ] . x2
By use of direct comparison method, design a full-order observer that has an undamped natural T frequency of 10 rad/s and a damping ratio of 0.5. [Ans: Ke = 7 77 ]
6. Consider the system
0 20.6 0 A= ; B= ; C= 0 1 . 1 0 1
Design a full-order state observer, assuming that the desired eigenvalues of the observer matrix 120.6 are s1 = −10, s2 = −10. [Ans: Ke = ] 20
