10.1 102 ‘An uncontrollable state space equation is given below. If possible, determine a gain ‘matrix that transforms the system such that it has eigenvalues, {-3,~3,-3,-3). Repeat for eigenvalues {~3,-3,-2,-2}. Repeat for {-2,-2,-2,-2}. If the solution is impossible, explain why. 3030 2 _|o 87 0 60) | 3 “6 3-3 2f**/-alM 0 126 0 -87} | 4 Solution: rank(ctrb(4, B))=3 > not controllable ‘Do Kalman decomposition to see what is not controllable: © 17 102 459 ap ppl[? Sol 27 4509 ja 4B 3 AB) rank = li 2093 ang | OM=D 4-76 36-6534 rank(P(:,1:3)) = 3, so first three columns are linearly independent. Let V=(PCIS)[1 0 0 Of] (rank=4), then 0 0 27-5204 1 109 0 lo va vB=B-| 01 3 ose ° 000 3 o Uncontrollable mode will always have an eigenvalue of ~3 ‘Use subsystem (4,,8,) to place other eigenvalues. For (4,,B,) , place poles at {-3, -3, -3} Using ACKER, K =[-12 mode, then K = KY"! =[0 For poles at {-3, “72 ~324). Use K=[-12 -72 -324 0} to sccount for fourth 24792 21176-16700] 2, 2}, ACKER gives -10 55-240] (use Ke[-10 -55 -240 0}),then K=RV"'=[0 20158 -14706 -13558] {2, -2, -2, -2} is NOT POSSIBLE, because of FIXED MODE at -3 ‘A two-input linear system has the following matrices: af 4] ali dl ce[l 3] D=0 Find two different state feedback gain matrices such that the poles of the closed- loop system are at s=—4 and s = ~6 Solution: Let a)» dn ] [ni cal Ke then BK. thay thy +, sna aan fs shay Vk | T+hy thy 6 0 9 tye aeae-f* 2) This gives T+ hy =0 thy <4 yy thay #7 4 hy Lt hig + hyp © Tyee dean This gives T+ hy = 24 = hy =31 4h =-10 = hy 2-6 Ay + hay = 31+ ky, = 0 = hy, =31 T+ kin + hy = 1-64 bay = kn =6 so 31-6 ‘131 6 Change the Brmarix as given above to b=[1 -1]" Then apply ouput feedhack oh the sytem. Find a range of & such thatthe closed-loop ayn asymptotically stable. i ae ower? |} Now let u=—Cikr, 30 Ae, = 4 BCk. sof SH oeSo 7 +(4-2k)s + (24k 7) need both coefficients to be positive, Therefore, 4-2k>0 ke? 2k-7>0 kok ‘Note that the BASIS of k need not be changed, because it is applied to the OUTPUT, not the STATE VECTOR. 10.3 A discrete-time system with transfer function we) __5 uz) is to be controlled through state feedback. The closed-loop pole should be placed at 2=06, and the observer should have pole z=03. Find the state feedback gain, ‘observer gain, and the closed-loop augmented state variable description of the ‘controller/observer pair. Solution: First find state-space representation: (@-3)y@)= Sule) => wk +1) ~3y(h) = Suk) (K+ 1) = 39K) + 5utk) x(k+1)=3x(+ Su, — yl) = (8) To place eigenvalue, let u(k)= Ke(K) ; then x(k+1) =3x(8) + 5K() =G+5Hx6) 345K =06 50, K=-48. For observer, eig(4— LC) = eig(3~ 1) 13,50 L=27. ‘Then the full-order observer with feedback w= K3 is: (k-+1) = (A- LOVR(H) + (B~ LD ul) + Ly() 38(K) + 5(-48)8(4) +2720) 2.8(K)+2.72(8) Re+1), Plant equation is (Kk) + 5(--485(4) x(k) + (-2.4)8(0) xk+D]_[ 3-24 7x0 (k+n] [27 21,2), 10.4 A permanent magnet DC motor with negligible armature 0 +5) ‘where 6() is the shaft angle and ¥(s) is the applied voltage. ‘So augmented system is: juctance has transfer function8) Find a state-variable representation of the system, where the two state variables are x1(1) = 0(¢), and x2(0)= (0) Solution: State variables: x(t) =6(0), x2(0) = 6(¢) . Then Ho 1 Pa) for, [10 -Ts}the mi of] ') Design full state feedback matrix K’such thatthe closed-loop transfer function of the system has damping ¢=0707 and undamped natural frequency oy =10 PDs. (ie, the characteristic polynomial has the form 3 +20,5+03), Solution: ‘Characteristic polynomial is s” +14.14s +100, and roots are For full state feedback to achieve this, use K=—place(4,B, p)=[-100 ~9.14]. ©) Find a fullhorder observer with a gain matrix L such that the observer itself has Go=05 and wy, =20 OZ... Solution: 1.07% j1.07 Place observer eigenvalues at roots of s? + 20s +400, i. p=—10+ jl0v3 Then ,_[-03 v-[23 4) Compute the transfer function of the combined system with the observer and controler. Solution: ‘The augmented system is: EH tal oe i} th L=place(4 ise 0 is) ye 325 0 425-1414, rie oe Finding the transfer function with SS2TF o@___-s0 v(s) 5? 414.145 +100 (after cancellation of common terms in numerator and denominator)10.10 An inverted pendulum on a driven cart is modeled in {15} as o 0 ° 0 2027| | 241 oj. | oO 1 ° 4 lu 0 0 736} | 899 o ° o o 0 y=} 0 010 0 0 0-45) where the state vector x=[x, 22 23 x4)" consists of, respectively, the pendulum angle, the pendulum’s angular velocity, the cart position, and the cart’s velocity. The input represents the voltage applied to the wheels on the cart 8) Design a stabilizing state feedback controller with a full-order observer and a ‘Teduced-order (1* order) observer. Compare the performance of each. Solution: The system has poles at p={0, 53001, ~44689 -83912}. Let us change the lstable modes by replacing the poles at 0 and 5.3001 with poles at {-1, -2}. The PLACE command gives usa feedback gain, K =[4.6315 0.8765 03173 1.4263]. ‘The full-order observer with p 10, -11, 12, -13} is 0ss0 0 00 7 37439 0 ~4.5044 0 12 02222 0.0434 0 -1.2089 L = place(4’,C’, p)' =| For the reduced-order observer, we can use a Kalman decomposition to get Az» =[0] and Ay =[3757 0 OJ". For (4,.-Z42) to be asymptotically stable, let T=[5 0 0),the (4x. -ZAy 18.785 , which is asymptotically stable. ) Can the system be observed through only one of the outputs? Which one? Solution: Consider the rows cy,¢> and c, one ata time rank(obsv(4,e,))=3, _rank(obsv(4,e3))= 4, rank(obsv(4,c5))=3 can observe through the second ouput by itself.