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Assignment3

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Assignment3

abc

Uploaded by

kinzashameen
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment 3

Due Date: 25st Jan 2025

System for Problems 1-6


𝑧(𝑘 + 1) = 3𝑧(𝑘) − 1𝑥(𝑘) + 𝑢(𝑘)
𝑥(𝑘 + 1) = 𝑧(𝑘)

𝑦(𝑘) = 𝑧(𝑘)

T=15ms

1. Find a compensator transfer function with prediction estimator which have following
dynamics
i) Closed loop controller poles at 𝑧 , = 0.25 ± 𝑗0.25
ii) Closed loop estimator poles at 𝑧 , = 0.5 ± 𝑗0.5
2. Find
(a) an current estimator gain matrix for the system with closed loop poles at
(b) 𝑧 , = 0.5 ± 𝑗0.5
(c) a reduced order estimator with pole at 0.3
3. The output has sensor delay of 40 ms
i) Write State Space Equations with sensor delays
ii) How many states of system from 8a are controllable? Which states are not affected by
input?
0.31
4. A constant 𝑤(𝑘) disturbance is acting on a system and affecting both states as 𝑤(𝑘)
0.4
5. What changes have to be done in previous designs and why?
6. What happens to controllability and observability of augmented system & why?
System for Q7 - 10
𝑥(𝑘 + 1) = 𝑧(𝑘)
𝑧(𝑘 + 1) = −0.4𝑥(𝑘) − 𝑧(𝑘) + 𝑢(𝑘)

𝑦(𝑘) = 2 ∙ 𝑧(𝑘)

𝑥(0) = 0 𝑧(0) = 1

T=5 ms

7. Controller Design
a. Design a Control law with close loop poles at 𝑧 , = 0.5 ± 𝑗0.5
b. Find 𝑦(3) using this control law

8. Estimator Design
c. Design a prediction estimator for poles at 𝑧 , = 0.25 ± 𝑗0.25
d. Find Current estimator for the problem
e. Find a reduced order estimator for the original system with pole at z = 0.1
f. Find compensator equation using predictor estimator
g. Write state space equations of a closed loop feedback system using controller
and estimator
h. Find 𝑥(3), 𝑧(3), 𝑥 (3), 𝑧 (3), 𝑦(3), 𝑢(3) by solving closed loop system

9. Delays & Disturbances


i. A constant w(k) disturbance is acting on a system and affecting both states as
0.1
Γ = , write system equations and find y(3) for this augmented system
0.2
using same control law
j. Write state space equations with the output sensor delay of 12 ms and
disturbance
k. Find output of the system at k=3 after sensor delay
l. What will be the order of compensator, which matrix will change and which
will remain unchanged in the compensator design after disturbance?

10. Find equations for N , N , and N and draw a block diagram of system
System for Q11 – 13

5∙𝑧
𝐻(𝑧) =
(1 − 𝑧 )(𝑧 − 2)(1 − (4𝑧) )

T=100ms
11. Find ℎ(𝑘), {write ℎ(𝑘) as an equation }, ℎ(0) and ℎ(∞)

Hint {simplify H(z) as sum of two terms and use inversion integral }

12. Formulate a closed loop design of a system by following steps


a. Formulate a state space representation of the system
b. Design a Control law with stable close loop poles from z = {0.25, 0.5 +
0.5j, 1.5}
c. Design a prediction estimator from poles z = {0.1, 0.1 + 0.1j, 1.2}
d. Solve the difference equation and find 𝑦(3), 𝑢(3), 𝑥(4)
e. Find compensator equation using predictor estimator
f. Find Current estimator for the problem

13. Delays & Disturbances


g. A sinusoidal 𝑤(k) disturbance is acting on a system and affecting the states as
0.1
Γ = 0.2 , write system equations
0.3
h. Write state space equations with the output sensor delay of 225 ms.

14. Problem 8.3

15. Problem 8.7

16. Problem 8.21

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