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NonlinearAdaptiveCtrl Final Exam 1st Semester 2021 Solution

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NonlinearAdaptiveCtrl Final Exam 1st Semester 2021 Solution

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Arc Zero
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(Date)

Lecturer: (Date) 15/09/2020 Approved by:


(Signature, Position & Fullname)
(Signature & Fullname) Huỳnh Thái Hoàng
(The above part must be hidden when copying for exam)

Semester/Academic year 1 2020-2021


FINAL EXAM Date 12/01/2021
Course title Nonlinear and Adaptive Control

UNIVERSITY OF TECHNOLOGY - VNUHCM Course ID 409403


FACULTY OF EEE Duration 90 mins. Question sheet code
Notes: - Students are allowed to use references, but not mobile phones and laptops

Problem 1: (L.O.1.7) (3.0 points) Given a nonlinear system described by the state equation:
 x1  2x1  x2

 x  x  3
 2 2
 x3
 x3   x1x2  u
y  x1
Design a sliding mode controller such that the characteristic equation of the sliding surface has a pair of
complex roots with  = 0.7 and n = 10. Plot the block diagram of the designed control system.
5( p  1)
Problem 2: (L.O.2.1) (3.0 points) Given a plant: y (t )  u (t )
( p  3) 2
Design a model reference controller such that the output of the plant to follow the output of a reference
model:
100
y (t )  2 u (t )
p  14 p  100
Plot the block diagram of the designed control system.

Problem 3: (L.O.2.4) (4.0 points) Given a discrete plant with the transfer function:
Y ( z) Kz
G( z)   2
U ( z) z  a
Design a self-tuning model reference controller such that the output of the plant follows the output of the
reference model:
Ym ( z ) 0.09 z + 0.06
Gm ( z ) = = 2
U c ( z ) z - 1.21z + 0.36
Write the expression to calculate the control signal u(k) in the time domain.

--- END ---

Stu.ID: .......................................... Stu. Fullname: .............................................................................................................. Page 1/1


SOLUTION
Problem 1:

- Taking the derivative of the output:


y  x1  2 x1  x2
3 3
y  2 x1  x2  2( 2 x1  x2 )  x2 
  4 x1  x2 
x3 x3
3x 3 3
y  4 x1  x2  23  4( 2 x1  x2 )  x2   2 (  x1 x2  u )

x3 x3 x3
3 3x1 x2 3
 8 x1  3x2   2  2 u  a( x)  b( x).u
x3 x3 x3
 3 3 x1 x2
 a( x)  8 x1  3 x2  x  x 2
 3 3
  (1.0 p)
b( x)   3
 x32
- Sliding surface:
  e  k1e  k2e , trong đó e  yđ  y (0.25 p)
- Characteristic equation of the sliding surface:
s 2  k1s  k2  0
- Desired characteristic equation:
s 2  2n s  n2  s 2  14 s  100  0
k1  14
 (0.5 p)
k2  100
- Sliding mode control signal:
1
u  a( x)  yd  14e  100e  Ksign( ) (0.5 p)
b( x)
- Chose K = 100
- Low pass filter
1 1
GLF ( s )   (0.25p)
(Ts  1) 3
(0.1s  1)3

- Block diagram (0.5 p)

Problem 2 (3.5p): Design model reference controller


 B   ( p  1)
- Write B in the form B  B  B    
B  5
Conditions for the existence of the soluition:
- Bm can be writen in the form: Bm  Bm B   Bm  Bm / B   100 / 5  20 (0.25 p)
- deg( Am )  deg( Bm )  deg( A)  deg( B)
      
2 0 2 1

 The conditions are satisfied


Chose the order of A0:
deg( A0 )  2deg( A)  deg( Am )  deg( B  )  1  4  2  1  1  0
 Chọn A0  1 (0.5 p)
Chose the order of S and R1:
deg( R1 )  deg( A0 )  deg( Am )  deg( A)  0  2  2  0
 
deg( S )  min [deg( R1 )  deg( B  )],[deg( A0 )  deg( Am )  deg( B  )  min (0  1), (0  2  0)  1
 R1  r0
  (0.5 p)
 S  s0 p  s1
Diophantine equation:
AR1  B  S  A0 Am
 ( p  3) 2 r0  5( s0 p  s1 )  ( p 2  14 p  100)
 r0 p 2  (6 r0  5 s0 ) p  9 r0  5 s1  p 2  14 p  100 (0.5 p)
 r0  1  r0  1
 
 6 r0  5 s0  14   s0  1.6
9 r  5 s  100  s  18.2
 0 1 1
 1
R  1
  (0.5 p)
 S  1.6 p  18.2

Calculate R and T:
R  R1 B   ( p  1)
T  A0 Bm  20 (0.5 p)

Conclusion: The MRC controller is:


20 1.6 p  18.2
u (t )  u c (t )  y (t ) (0.25 p)
( p  1) ( p  1)

Block diagram of the designed control system: (0.5 p)

Problem 3: (L.O.2.4) (4.0 points) Given a discrete plant with the transfer function:
Y ( z) Kz
G( z)  
U ( z) z 2  a
Design a self-tuning model reference controller such that the output of the plant follows the output of the
reference model:
Ym ( z ) 0.09 z + 0.06
Gm ( z ) = = 2
U c ( z ) z - 1.21z + 0.36
Write the expression to calculate the control signal u(k) in the time domain.
Problem 3: (4.0p)
Y ( z) Kz
G( z)   2
U ( z) z  a
Parameter estimation:
Y ( z) Kz Kz 1
G( z)   2 
U ( z ) z  a 1  az 2
(1  az 2 )Y ( z )  Kz 1U ( z )
y ( k )   ay ( k  2)  Ku ( k  1)
 y ( k )   T ( k )
In which:
 ( k )    y ( k  2) u ( k  1) 
T
(0.5 p)
  a K 
T

The recursive parameter estimation algorithm:


ˆ(k )  ˆ(k  1)  L(k ) (k )
 (k )  y (k )   T (k )ˆ(k  1)
P(k  1) (k )
L(k ) 
   T (k ) P(k  1) (k )
1 P(k  1) (k ) T (k ) P(k  1) 
P (k )   P(k  1) 
    T (k ) P (k  1) (k ) 
T
 ˆ   aˆ Kˆ 
Initial conditions: P(0) = I2×2 ; (0.5p)
ˆ(0)  rand (2,1)

Self tuning model reference controller:


Ym ( z ) 0.09 z + 0.06
Gm ( z ) = = 2
U c ( z ) z - 1.21z + 0.36
Design model reference controller:
 B  q

- Write B in the form B  B  B   


 B  Kˆ

Conditions for the existence of the soluition:


- Bm can be writen in the form: Bm  Bm B   Bm  Bm / B   (0.09 q  0.06) / Kˆ (0.25 p)
- deg( Am )  deg( Bm )  deg( A)  deg( B)
      
2 1 2 1
 The conditions are satisfied

Chose the order of A0:


deg( A0 )  2deg( A)  deg( Am )  deg( B  )  1  4  2  1  1  0
 Chose A0  1 (0.25 p)

Chose the order of S and R1:


deg( R1 )  deg( A0 )  deg( Am )  deg( A)  0  2  2  0
 
deg( S )  min [deg( R1 )  deg( B  )],[deg( A0 )  deg( Am )  deg( B  )  min (0  1), (0  2  0)  1
R  r
 1 0 (0.5 p)
 S  s0 q  s1
Diophantine equation:

AR1  B  S  A0 Am
 (q 2  aˆ )r  Kˆ ( s q  s )  q 2  1.21q  0.36
0 0 1

 ˆ q  (ar
r0 q  Ks
2 ˆ )  q 2  1.21q  0.36
ˆ 0  Ks
0 1

(0.5 p)
r0  1
ˆ
  Ks0  1.21
 ˆ  0.36
ˆ 0  Ks
ar 1

r0  1

  s0  1.21 / Kˆ (0.5 p)
 ˆ
 s1  (0.36  aˆ ) / K

Calculate R and T: (0.5 p)


R  R1 B   q
T  A0 Bm  (0.09 q  0.06) / Kˆ  t0 q  t1

Control signal: (0.5 p)


qu ( k )  (t0 q  t1 )uc ( k )  ( s0 q  s1 ) y ( k )
 u ( k )  (t0  t1q 1 )uc ( k )  ( s0  s1q 1 ) y ( k )
 u ( k )  t0uc ( k )  t1uc ( k  1)  s0 y ( k )  s1 y ( k  1)

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