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NonlinearAdaptiveCtrl Midterm Exam Semester222 Solution

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9 views3 pages

NonlinearAdaptiveCtrl Midterm Exam Semester222 Solution

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Arc Zero
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© © All Rights Reserved
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SOLUTION

Problem 1: (2.0 points)


u u u

2V

V V V
D e e D e
D D
V V V
 2V

4V 4V D
N (M )    2  sin(2 ) , sin( )  (M  D)
M D M

Problem 2: The ON-OFF controller is a three-state relay

0.3 e
0.3

9

Frequency response of the plant:

40e-0.02 s 40e-0.02 jw
G( s) =  G ( jw ) =
s ( s + 5) jw ( jw + 5)

Describing function of the three-state relay:

4V D2 36 0.09
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 )  (2)
 N (M )

 
(1)    tan 1 ( )  0.02  
2 5

   15.7(rad / sec) (1.0 point)


Substitude   15.7 into (2):

40 1

15.7 15.72  52 N (M )

 N (M )  6.467

36 0.09
 1  2  6.467
M M

 M  1.745 (1.0 point)

Conclusion: The response of the system is an oscillation around the setpoint 10 with the fundamental
component y1 (t )  1.745sin(15.7t ) (0.5 point)

Problem 3: (2.0 points)


Choose the Lyapunov function:
1 1
V ( x) = x12 + x22
2 2
It is clear that
V ( x) > 0, "x ¹ 0
V (0) = 0 (0.5 point)
Consider V ( x ) :
V ( x) = x1 x1 + x2 x2
= x1[ - x1 +x23 ] + x2[ - x2 +x13 ]
= -x12 +x1 x23 - x22 +x2 x13 (0.5 point)
£-x12 - x22 + x1 x23 + x2 x13
= - x12 - x22 + x1 x2 x22 + x1 x2 x12
Define the set D = { x Î Â2 : x1 < 1, x2 < 1}  x12 < 1, x22 < 1 (0.5 point)
V ( x) <-x12 - x22 +2 x1 x2 = -( x1 - x2 )2 £ 0
It is clear that
V ( x) < 0, "x Î D

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

x2

D
1 1 x1

1
Problem 4: (3.0 point)
The plant is described by the state equation:
 x1  x12  sin( x2 )

 x2  1  x1  2x1u
2

y  x1
y  x1
 y  x1   x12  sin( x2 )
y  2x1x1  x2 cos( x2 )  2x1 ( x12  sin( x2 ))  ( 1  x12  2 x1u)cos( x2 )


 2x13  2x1 sin( x2 )  1  x12 cos( x2 )  2x1 cos( x2 )u
a( x)  2x3  2x sin( x )  1  x2 cos( x )
1 1 2 1 2
Denote:  (1.0 point)
b( x)  2x1 cos( x2 )
 y  a( x)  b( x).u


Sliding surface:   e  k1e in which: e(t )  yd (t )  y(t ) (0.5 point)

Sliding mode control signal:


1
u(t )   a( x)  yd  k1e  K sgn( ) (0.5 point)
b( x)
Chracteristic equation of the sliding surface:
s  k1  0
The desired characteristic equation:
s  20  0
(s  30)(s 2  16s  100)  0
s3  46s 2  580s  3000  0
 k1  20 (0.5 point)

The low pass filter:


1
GLF (s)  ,(T  0.2sec)
(Ts  1)2
The block diagram: (0.5 point)

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