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NonlinearAdaptiveCtrl Midterm Exam 2nd Semester 1617 Solution

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26 views3 pages

NonlinearAdaptiveCtrl Midterm Exam 2nd Semester 1617 Solution

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Arc Zero
Copyright
© © All Rights Reserved
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HCM City University of Technology MIDTERM EXAM

Faculty of EE Engineering Second Semester, Academic year 2016-2017


Department of Automatic Control Subject: Nonlinear and Adaptive Control
---o0o--- Exam date: 17/06/2017. Exam duration: 90 min
(Students are allowed to use references but not laptops)

Problem 1: (3.0 points) Consider a nonlinear control system in the block diagram below, in which
8e-0.2 s
N(M) is a three-state relay and G ( s ) = . Calculate the amplitude and frequency of the
s( s + 2) 2
u
oscillation at the output of the system (if existing).
9
r(t)=0 e(t) u(t) y(t) 0.5 e
+ N(M) G(s)
 0.5
9
Problem 2: (3.0 points) Given a nonlinear system described by the state equation:
ì
ï x1 = x1 ( x12 + x22 - 5) - 3x1 x22
ï
í
ï 2 2 2
î x 2 = 4 x1 x2 + x2 ( x1 + x2 - 5)
ï
- Verify that x  [0;0]T is an equilibrium point
- Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 3: (4.0 points) Given a nonlinear system described by the state equation:
 x1  x2
 x   x 2  x
 2 2 3
 x   sin x  u 1  x 2
 3 1 2

y  x1
Design a feedback linearization controller such that the characteristic equation of the error
dynamics has a pair of complex roots with x = 0.8 and wn = 5 , and another root at –10. Plot the
block diagram of the designed control system.

(End)

Instructor

SOLUTION
Problem 1: (3.0 points)
Frequency response of the plant:
8e 0.2 j
G ( j ) 
j ( j  2) 2
Describing function of the three-state relay:
4Vm D2 36 0.52
N (M )  1 2  1 2
M M M M
Amplitude and frequency of the self-excited oscillation are the solutions of the equation:
1  N (M )G( j)  0
arg(G( j))   (1)

  1 (0.5 point)
 G( j)  N ( M ) (2)

 
(1)    2tan1 ( )  0.2  
2 2
   1.48(rad / sec) (1.0 point)
Substitude   1.48 into (2):
8 1

1.48(1.48  4) N ( M )
2

 N ( M )  1.145
36 0.52
 1  2  1.145
M M
 M  9.9955
  M  0.5006 (1.0 point)

Conclusion: The system has self-excited oscillation y (t )  y1 (t )  10sin1.48t (0.5 point)

Problem 2: (3.0 point)


2.1 x  [0;0]T is an equilibrium point because at this point we have:
ì
ï x1 ( x12 + x22 - 5) - 3x1 x22 = 0
ï
í 2 (0.5 point)
ï 2 2
î4 x1 x2 + x2 ( x1 + x2 - 5) = 0
ï
2.2 Chose the Lyapunov function:
3
V ( x ) = 2 x12 + x22 (0.5 point)
2
It is clear that
V ( x) > 0, "x ¹ 0
V (0) = 0 (0.5 point)
Consider V ( x ) :
V ( x) = 4 x1 x1 + 3x2 x 2
= 4 x1[x1 ( x12 + x22 - 5) - 3x1 x22 ]+3x2 [4 x12 x2 + x2 ( x12 + x22 - 5)] (0.5 point)
= (4x12 + 3x22 )( x12 + x22 - 5)
Define the set D = { x Î Â 2 : x12 + x22 < 5} (0.5 point)
It is clear that
V ( x) < 0, "x Î D \ {0}

Conclusion: The system is locally asymtotically stable at the equilibirum point. (0.5 point)

Problem 3: (4.0 point)


The plant is described by the state equation:
 x1  x2
 x   x 2  x
 2 2 3
 x   sin x  u 1  x 2
 3 1 2

y  x1
 y  x1  x2
 y  x2   x22  x3

y  2 x2 x2  x3


  2 x2 ( x22  x3 )  ( sin x1  u 1  x22 ) (1.0 point)


 2 x2 ( x22  x3 )  sin x1  1  x22 u
     
a( x ) b( x)

Feedback linearization control law:


1
u(t )   a( x)  v(t ) (0.5 point)
b( x)
in which: v(t )  
yd (t )  k1
e(t )  k2 e(t )  k3e(t ) (0.5 point)
e(t )  yd (t )  y(t )
Chracteristic equation of the error:
s3  k1s2  k2 s  k3  0
The desired characteristic equation:
( s  10)( s2  2n s  n2 )  0
( s  10)( s2  8s  25)  0
s3  18s2  105s  250  0
k1  18

 k2  105 (1.0 point)
k  250
 3

The low pass filter:


1
GLF ( s)  (0.5 point)
(0.1s  1)3
The block diagram: (0.5 point)

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