SSM For Design of Nonlinear Control Systems PDF

Student Solutions Manual for
Design of Nonlinear Control Systems

with the Highest Derivative
in Feedback
World Scientific, 2004
ISBN 981-238-899-0
Valery D. Yurkevich
c 2007 by Valery D. Yurkevich

Copyright
Preface
Student Solutions Manual contains complete solutions of 20 % of Exercises from the
book Design of Nonlinear Control Systems with the Highest Derivative in Feedback,
World Scientific, 2004, (ISBN 9812388990). The manual aims to help students understand a new methodology of output controller design for nonlinear systems in presence of
unknown external disturbances and varying parameters of the plant.
The solutions manual is accompanied by Matlab-Simulink files1 for calculations and
simulations related with Exercises. The program files provide the student a possibility
to design the discussed control systems in accordance with the assigned performance
specifications of output transients, and make a comparison of simulation results.
The distinguishing feature of the discussed throughout design methodology of dynamic output feedback controllers for nonlinear systems is that two-time-scale motions
are induced in the closed-loop system. Stability conditions imposed on the fast and slow
modes, and a sufficiently large mode separation rate, can ensure that the full-order closedloop system achieves desired properties: the trajectories of the full singularly perturbed
system approximate to the trajectories of the reduced model, where the reduced model is
identical to the reference model, by that the output transient performances are as desired,
and they are insensitive to parameter variations and external disturbances.
Robustness of the closed-loop system properties is guaranteed so far as the stability
of the fast mode and the sufficiently large mode separation rate are maintained in the
closed-loop system. Consequently, the ensuring of the fast mode stability by selection of
control law parameters is the problem requiring undivided attention and that constitutes
the core of the controller design procedure.
In general, the selection of the control law structure as well as selection of controller
parameters are not unique, inasmuch as a set of constraints has to be taken into account
such as a range of variations for plant parameters and external disturbances, required
control accuracy, requirements on load disturbance rejection as well as high frequency
measurement noise rejection. Therefore, it would be much more correctly, if the student
will take up the solution presented in the manual as an example or draft version of such
solution, and then one can make a try to extend the solution by taking into account some
additional practical limitations.
Overall, the above mentioned book, along with the Student Solutions Manual, as well
as accompanying Matlab-Simulink files are an excellent learning aid for advanced study
of real-time control system designing and ones may be used in such course as Design of
Nonlinear Control Systems, where prerequisites are Linear Systems and Nonlinear
Systems. Any comments about the solutions manual (including any errors noticed) can
be sent to hyurkev@mail.rui or hyurkev@ieee.orgi with the subject heading hbook i. They
will be sincerely appreciated.
Valery D. Yurkevich
1
A set of Matlab-Simulink files for the Student Solutions Manual can be downloaded from the website
http://ac.cs.nstu.ru/yurkev/books.html.
Student Solutions Manual for Design of nonlinear control systems . . .
Contents
Exercise 1.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Exercise 1.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Exercise 2.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Exercise 2.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Exercise 3.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Exercise 3.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Exercise 4.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Exercise 5.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Exercise 5.10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Exercise 6.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Exercise 6.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Exercise 7.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Exercise 7.10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
Exercise 8.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Exercise 8.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Exercise 9.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Exercise 9.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Exercise 10.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Exercise 10.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
Exercise 11.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
Exercise 11.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
Exercise 12.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
Exercise 13.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
Auxiliary Material (The optimal coefficients based on ITAE criterion) . . . . . . . . . . . . . . . 61
Auxiliary Material (Euler polynomials) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Auxiliary Material (Describing functions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Auxiliary Material (The Laplace Transform and the Z-Transform) . . . . . . . . . . . . . . . . . . 64
Errata for the book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Chapter 1
Exercise 1.2 The behavior of a dynamical system is described by the equation
x(2) + 1.5x(1) + 0.5x + {2x2 + [x(1) ]2 }1/2 = 0.
(1)
Determine the region of such that X = 0 is an exponentially stable equilibrium point

of the given system.
Solution.
Denote x1 = x, x2 = x(1) , and X = [x1 , x2 ]T . Hence, we have
X = AX + g(X),
where
"
A=
0
1
0.5 1.5
"
0
2
(2x1 + x22 )1/2
g(X) =
Hence, g(X)|X=0 = 0, and so the perturbation g(X) is vanishing at the equilibrium point
of the linear nominal system X = AX. We can find that
kg(X)k2 = (2x21 + x22 )1/2 (2x21 + 2x22 )1/2 = 2 kXk2 .
Denote c5 = 2. Then, from the Lyapunov equation

P A + AT P = Q
with Q = I, we get
"
P =
2
1
1
1
(2)
where min (P ) = 0.382 and max (P ) = 2.618. Hence, if the inequalities

0<<
min (Q)
= 0.135
2max (P )c5
hold, then X = 0 is an exponentially stable equilibrium point of the system (1).

The above results can be obtained by Matlab program e1 2 Lyap.m as well as the
initial value problem solution can be found by running e1 2.mdl.
Exercise 1.4 The behavior of a dynamical system is described by the equations
"
x 1
x 2
"
1 1
2 1
#"
x1
x2
(3)
Obtain and analyze the stability of the slow-motion subsystem (SMS) and the fast-motion
subsystem (FMS).
Solution.
From (3), we have
X = A()X,
where
"
A() =
1
2/
1
1/
The characteristic polynomial of the system is given by
1
3
det [sI A()] = s
+1 s+ .
By passing over in silence, we have that > 0 is the permissible region for parameter .
Hence, the system (3) is unstable for all from that region.
By introducing the new time scale t0 = t/ into the system (3), we obtain
d
x1 = [x1 x2 ],
dt0
d
x2 = 2x1 + x2 .
dt0
Take = 0. Hence, we get
d
x1 = 0, = x1 = const,
dt0
d
x2 = 2x1 + x2 .
dt0
By returning to the primary time scale t, the FMS
d
x2 = 2x1 + x2
dt
is obtained, where x1 = const. The FMS is unstable.

Next, consider an equilibrium point of the FMS, that is dx2 /dt = 0. Hence, 2x1 +x2 =
0 = x2 = 2x1 . As the result, from
d
x1 = x1 x2 ,
dt
0 = 2x1 + x2
the equation of the SMS
d
x1 = 3x1
dt
follows. The SMS is unstable too.
Finally, plot the phase portrait of the given system by means of Matlab program2
pplane.m for = 0.1 s.
2
Phase Plane Demo for Matlab by John Polking at Rice Univerisity contains the programs
dfield.m, dfsolve, pplane.m, and ppsolve.m. The programs can be downloaded from the website
http://calclab.math.tamu.edu/docs/math308/MATLAB-pplane/ as well as the instructions for use.
Chapter 2
Exercise 2.1 Construct the reference model in the form of the 2nd order differential
equation given by
T n y (n) + adn1 T n1 y (n1) + + ad1 T y (1) + y = r
(4)
in such a way that the step response parameters of the output meet the requirements
tds 6 s, d 0 %. Plot by computer simulation the output response, and determine the
steady-state error from the plot for input signals of type 0 and 1.
Solution.
Take tds = 6 s and d = 0 %, then by3
= tan
,
ln(100/ d )
d =
4
,
tds
we get d = 0 rad, d = 1, and d = n = 0.6667 rad/s. By selecting the 2 roots

s1 = s2 = 0.6667, we obtain the desired characteristic polynomial given by
s2 + 1.333s + 0.4444.
Consider the desired transfer function given by
0.4444
Gdyr (s) = 2
.
s + 1.333s + 0.4444
Hence, the reference model in the form of the type 1 system
y (2) + 1.333y (1) + 0.4444y = 0.4444r
(5)
follows. Denote e(t) = r(t) y(t).

Let r(t) be the input signal of type 0, that is, r(t) = rs 1(t), where rs = const and
rs 6= 0. Hence, r(s) = rs /s and we get
es = lim se(s)
s0
1
= lim s[1 Gdyr (s)] rs
s0
s
2
s + 1.333s
= lim 2
rs = 0.
s0 s + 1.333s + 0.4444
Let r(t) be the input signal of type 1, that is, r(t) = rv t 1(t), where rv = const and rv 6= 0.
Hence, r(s) = rv /s2 and we get
evr = es = lim se(s)
s0
1 v
r
s0
s2
s + 1.333
= lim 2
rv
s0 s + 1.333s + 0.4444
1.333 v
=
r 3rv .
0.4444
= lim s[1 Gdyr (s)]
z = tan1 (x) denotes the arctangent of x, i.e., tan(z) = x.
Run the Matlab program e2 1 Parameters.m in order to calculate the reference model
parameters. Next, run the Simulink program e2 1.mdl to get a plot for the output response
of (5). Then, from inspection of the plot, determine the steady-state error for input signals
of type 0 and 1, respectively. The simulation results are shown in Fig. 1.
Figure 1: Responses of y(t) and e(t) for input signal r(t) of type 0 and 1.
Exercise 2.3 Construct the reference model in the form of the 2nd order differential
equation as the type 1 system with the following roots of the characteristic polynomial:
s1 = 1+j, s2 = 1j. Plot by computer simulation the output response, and determine
the steady-state error from the plot for input signals of type 0, 1, and 2.
Solution.
By selecting the 2 roots s1,2 = 1 j, we obtain the desired characteristic polynomial
2
s + 2s + 2. Consider the transfer function given by
Gdyr (s) =
2
.
s2 + 2s + 2
From Gdyr (s), the reference model

y (2) + 2y (1) + 2y = 2r
(6)
follows. Denote e(t) = r(t) y(t). By the same way as in Exercise 2.1, we obtain that
esr = 0 and evr = 1. Hence, the reference model (6) is the type 1 system. Next, let us
consider the type 2 system given by
y (2) + 2y (1) + 2y = 2r(1) + 2r
(7)
= 1/2, where eacc

is the relative acceleration error
From (7), we obtain evr = 0 and eacc
r
r
due to the reference input r(t).
Run the Matlab program e2 3 Parameters.m to calculate the reference model parameters as well as to obtain the step response of the reference model (6). Next, run the
Simulink program e2 3.mdl in order to get a plot for the output response of (6), and then,
from inspection of the plot, determine the steady-state error for input signals of type 0,
1 and 2. Repeat that for (7). The simulation results are shown in Figs. 2 3.
Chapter 3
Figure 2: Responses of y(t) and e(t) of the system (6) for input signal r(t) of type 0, 1,
and 2.
Figure 3: Responses of y(t) and e(t) of the system (7) for input signal r(t) of type 0, 1,
and 2.
Exercise 3.1 The differential equation of a plant is given by
x(2) = x2 + |x(1) | + [1.2 cos(t)]u,
(8)
where y(t) = x(t). The reference model for x(t) is assigned by

x(2) = 1.2x(1) x + r.
(9)
r) x(n) ]
u = k0 [F (X,
(10)
0,
q x(q) + dq1 q1 x(q1) + + d1
x(1) + x = x, X(0)
=X
(11)
Consider the control law

with real differentiating filter
where k0 = 40, q = 2, = 0.1 s, d1 = 3. Determine the fast-motion subsystem (FMS)

and slow-motion subsystem (SMS) equations. Perform a numerical simulation.
Solution.
The differential equation of a plant is given by (8). Hence, n = 2 and x(n) = x(2) is
the highest derivative of the output signal. We have that the reference model for x(t) is
assigned by (9). Then, the control law with the highest derivative of the output signal in
feedback and an ideal differentiating filter is given by
u = k0 [F (x(1) , x, r) x(2) ],
where F (x(1) , x, r) = 1.2x(1) x + r. As the result, we have the control law given by
u = k0 [x(2) 1.2x(1) x + r].
Hence, the closed-loop system with the ideal differentiating filter is given by
x(2) = f (x(1) , x) + g(t)u,
u = k0 [F (x(1) , x, r) x(2) ],
where f (x(1) , x) = x2 + |x(1) | and g(t) = 1.2 cos(t). Then
x(2) = F (x(1) , x, r) +
1
[f (x(1) , x) F (x(1) , x, r)]
1 + g(t)k0
(12)
is the SMS equation.

Next, let us consider the system given by
2 x(2) + d1
x(1) + x = x,
where x(1) and x(2) can be used as the estimates of x(1) and x(2) , respectively. Hence,
this system can play a role of a real differentiating filter. Then, the closed-loop system
equations with the real differentiating filter is given by
x(2) = f (x(1) , x) + g(t)k0 [F (
x(1) , x, r) x(2) ],
2 x(2) + d1
x(1) + x = x.
(13)
Denote x(1) = x1 and x(2) = x2 . Consider the extended system given by

x(2) = f (x(1) , x) + g(t)k0 [F (
x1 , x, r) x2 ],
2 (2)
(1)
x + d1
x + x = x,
(1)
2 (2)
x1 + d1
x1 + x1 = x(1) ,
(2)
(1)
x2 + x2 = x(2) .
2 x2 + d1
Substitution of the right member of the first equation into the last one yields
x(2) = f (x(1) , x) + g(t)k0 [F (
x1 , x, r) x2 ],
2 (2)
(1)
x + d1
x + x = x,
(1)
2 (2)
x1 + d1
x1 + x1 = x(1) ,
(2)
(14)
(1)
2 x2 + d1
x2 + [1 + g(t)k0 ]
x2 = f (x(1) , x) + g(t)k0 F (
x1 , x, r).
From (14), taking = 0, we get the discussed above SMS (12). The FMS of the extended
system (14) is given by
2 x(2) + d1
x(1) + x = x,
(2)
(1)
2 x1 + d1
x1 + x1 = x(1) ,
(2)
(1)
2 x2 + d1
x2 + [1 + g(t)k0 ]
x2 = f (x(1) , x) + g(t)k0 F (
x1 , x, r)
10
where we assume that f = const, g = const. The behavior of x(2) is described by the last
differential equation, where the characteristic equation is given by 2 s2 + d1 s + = 0.
Note that = 1 + g(t)k0 , k0 = 40, d1 = 3, and = 0.1 s. Hence, max = 89, min = 9.
By taking into account (9), we obtain the degree of time-scale separation between FMS
and SMS given by 3 min / = 30.

Finally, run the Simulink program e3 1.mdl to perform a numerical simulation of the
closed-loop system (13). The simulation results are shown in Fig. 4.
Figure 4: Simulation results of the closed-loop system (13).

Exercise 3.2 A system is given by (8). Consider the control law in the form of (10) with
the desired dynamics given by (9) and the real differentiating filter (11), where k0 = 40
and q = 2. Determine the parameters and d1 of (11) such that the damping ratio
exceeds 0.5 in the FMS and the degree of time-scale separation between FMS and SMS
exceeds 10. Compare with simulation results.
Solution.
By following through solution of Exercise 3.1, we get the closed-loop system equations,
SMS and FMS equations as well, where
2 s2 + d1 s + = 0
(15)
is the characteristic equation of the FMS for x(2) where

= 1 + g(t)k0 , g(t) = 1.2 cos(t), k0 = 40, max = 89, min = 9.
If d21 4 < 0 when = max , then from (15) we obtain
q
|d21 4|
d1
d1
s1,2 =
j
= F M S = =
2
2
2
d1
, Fmin
= 0.5 = d1 = 9.4340.
Fmin
=
MS
MS
2 max
Next, let us find estimates for based on different notions for degree of time-scale separation between FMS and SMS in the closed-loop system. Let us take = min , then
2 s2 + d1 s + min = s2 +
1 F MS
1 F MS
a1 s + 2 a0
F MS
where a1
F MS
= d1 , a0
11
= min = 9, and the state matrix of the FMS is given by

"
A22 =
AF M S = 1 A22 ,
#
#
"
0
1
0
1
.
=
9 9.4340
min d1
Since d21 4min > 0, then from (15) we obtain

q
d1
s1 =
+
2
d21 4min
d1
s2 =
d21 4min
2
Hence, Fmin
= |s1 |.
MS
From the reference model, we get
"
AS =
0
1
1 1.2
is the state matrix of the SMS, where

s2 + 1.2s + 1 = 0
is the characteristic equation of the SMS. Hence, we obtain
max = 0.6,
s1,2 = 0.6 j0.8 = SM
S
SM S
SM S
(a0
)1/2 = 1.
By solving the Lyapunov equations

PF A22 + AT22 PF = QF ,
PS AS + ATS PS = QS ,
where QF = I and QS = I, we obtain
"
PF =
1.0541 0.0556
0.0556 0.0589
"
PS =
1.4333
0.5
0.5
0.8333
Hence,
max (PF ) = 1.0572, min (PF ) = 0.0558,
max (PS ) = 1.7164, min (PS ) = 0.5502.
Finally, we get the following estimates for based on the various notions for degree of
time-scale separation between FMS and SMS in the closed-loop system, that are:
min (PS )
, 1 = 10 = = 0.052,
max (PF )
Fmin
d1
MS
2 = max
=
max , 2 = 10 = = 0.1795,
SM S
2SM
S
F M S 1/2
min
(a0 )
3 =
, 3 = 10 = = 0.3.
SM S 1/2 =
(a0 )
1 =
12
Figure 5: Simulation results of the closed-loop system (13) for d1 = 9.4340 and = 0.052
s.
Run the Matlab program e3 2 Parameters.m to calculate d1 and the above estimates for
based on such criteria as 1 , 2 , and 3 . Next, run the Simulink program e3 2.mdl, to
get the step response of the closed-loop system for d1 = 9.4340 and = 0.052 s. The
simulation results are shown in Fig. 5.
Chapter 4
Exercise 4.2 The differential equation of a plant is
x(2) = x + x|x(1) | + {2 + sin(t)}u,
(16)
while that of the reference model is

x(2) = 3.2x(1) x + 3.2r(1) + r.
Construct the control law in the form of
q u(q) + dq1 q1 u(q1) + + d1 u(1) + d0 u
k0
= n {T n x(n) adn1 T n1 x(n1) ad1 T x(1) x
T
+ bd r() + bd1 1 r(1) + + bd1 r(1) + r}.
(17)
where q = 3. Determine the FMS and SMS equations from the closed-loop system equations.
Solution.
From (16), we have n = 2 and x(2) is the highest derivative of the output signal, where
x(2) = f (x(1) , x) + g(t)u
and f (x(1) , x) = x + x|x(1) | and g(t) = 2 + sin(t).
The reference model is given by x(2) = F (x(1) , x, r(1) , r), where
F (x(1) , x, r) = 3.2x(1) x + 3.2r(1) + r.
Take q = 3 and consider the control law given by
3 u(3) + d2 2 u(2) + d1 u(1) + d0 u = k0 {F (x(1) , x, r(1) , r) x(2) },
(18)
13
that is
3 u(3) + d2 2 u(2) + d1 u(1) + d0 u = k0 {x(2) 3.2x(1) x + 3.2r(1) + r}.
Then, the closed-loop system equations are given by
x(2) = f (x(1) , x) + g(t)u,
3 u(3) + d2 2 u(2) + d1 u(1) + d0 u = k0 {F (x(1) , x, r(1) , r) x(2) }.
Denote x1 = x, x2 = x(1) , u1 = u, u2 = u(1) , and u3 = 2 u(2) . From the above closed-loop
system equations, we obtain
d
x1
dt
d
x2
dt
d
u1
dt
d
u2
dt
d
u3
dt
= x2 ,
= f (x1 , x2 ) + g(t)u1 ,
= u2 ,
= u3 ,
(
= d0 u1 d1 u2 d2 u3 + k0
d
F (x2 , x1 , r , r) x2 .
dt
(1)
Substitution of the right member of the second equation into the last one yields the
closed-loop system equations in the following form:
d
x1
dt
d
x2
dt
d
u1
dt
d
u2
dt
d
u3
dt
= x2 ,
= f (x1 , x2 ) + g(t)u1 ,
= u2 ,
= u3 ,
(19)
= {d0 + k0 g(t)}u1 d1 u2 d2 u3
n
+k0 F (x2 , x1 , r(1) , r) f (x1 , x2 ) .

In order to find the FMS equations, let us introduce the new fast time scale t0 = t/ into
the closed-loop system equations given by (19). We obtain
d
x1 = x2 ,
dt0
d
x2 = {f (x1 , x2 ) + g(t)u1 },
dt0
d
u1 = u2 ,
dt0
14
d
u2 = u3 ,
dt0
d
u3 = {d0 + k0 g(t)}u1 d1 u2 d2 u3
dt0
n
o
+k0 F (x2 , x1 , r(1) , r) f (x1 , x2 ) .
If 0, then we get the FMS equations in the new time scale t0 , that is
d
x1
dt0
d
x2
dt0
d
u1
dt0
d
u2
dt0
d
u3
dt0
= 0,
= 0,
= u2 ,
= u3 ,
= {d0 + k0 g(t)}u1 d1 u2 d2 u3
n
+k0 F (x2 , x1 , r(1) , r) f (x1 , x2 ) .

Then, returning to the primary time scale t = t0 , we obtain the following FMS equations:
x1
d
u1
dt
d
u2
dt
d
u3
dt
= const,
x2 = const,
= u2 ,
= u3 ,
(20)
= {d0 + k0 g(t)}u1 d1 u2 d2 u3
n
+k0 F (x2 , x1 , r(1) , r) f (x1 , x2 ) .

These equations may be rewritten as
3 u(3) + d2 2 u(2) + d1 u(1) + {d0 + k0 g(t)}u
= k0 {F (x2 , x1 , r(1) , r) f (x1 , x2 )},
(21)
where x1 = const, x2 = const, and g(t) = const during the transients in the FMS (21).
Next, by letting 0 in (19), we find the SMS equations in the following form:
x 1 = x2 ,
x 2 = F (x2 , x1 , r(1) , r)
d0
+
{f (x1 , x2 ) F (x2 , x1 , r(1) , r)}.
d0 + k0 g(t)
(22)
15
At the same time, we can find the above SMS by some another way. Suppose the
FMS (20) is stable. Taking 0 in (21) we get u(t) = us (t), where us (t) is a steady
state (more precisely, quasi-steady state) of the FMS (20) and
us =
k0
{F (x2 , x1 , r(1) , r) f (x1 , x2 )}.
d0 + k0 g(t)
Substitution of us into (18) yields the SMS equation given by

x(2) = F (x(1) , x, r(1) , r)
d0
+
{f (x, x(1) ) F (x(1) , x, r(1) , r)},
d0 + k0 g(t)
which is the same as (22).
Chapter 5
Exercise 5.1 The differential equation of a plant model is given by
x(2) = x + x|x(1) | + {1.5 + sin(t)}u.
(23)
Assume that the specified region is given by the inequalities |x(t)| 2, |x(1) (t)| 10, and
|r(t)| 1, where t [0, ). The reference model for x(t) is chosen as x(2) = 2x(1) x+r.
Determine the parameters of control law to meet the requirements: F = 0.05, r = 0.02,
F M S 0.5, 3 20, q = 2. Compare simulation results with the assignment. Note that
3 is the degree of time-scale separation between stable fast and slow motions defined by
F MS
(a
)1/m
3 = 0 SM S 1/n .
(a0 )
Solution.
Consider the system given by (23). Then n = 2 and x(2) = f (x(1) , x) + g(t)u, where
(1)
f (x , x) = x + x|x(1) | and g(t) = 1.5 + sin(t).
We have n = 2 and x(2) is the highest derivative of the output signal. The reference
model is given by x(2) = F (x(1) , x, r), where F (x(1) , x, r) = 2x(1) x + r. As far as
the requirement on the high frequency sensor noise attenuation is not specified, then take
q = n = 2. Therefore, consider the control law given by
2 u(2) + d1 u(1) + d0 u = k0 {F (x(1) , x, r) x(2) },
(24)
2 u(2) + d1 u(1) + d0 u = k0 {x(2) 2x(1) x + r}.
(25)
that is
Consider the closed-loop system equations given by
x(2) = f (x(1) , x) + g(t)u,
2 u(2) + d1 u(1) + d0 u = k0 {F (x(1) , x, r) x(2) }.
(26)
(27)
16
From the above closed-loop system equations, we get the FMS given by
2 u(2) +d1 u(1) +[d0 + k0 g]u = k0 {F (x(1) , x, r)f (x(1) , x)},
(28)
where F = const, f = const, and g = const during the transients in (28), as well as the
SMS given by
x(2) = F (x(1) , x, r) +
d0
{f (x(1) , x) F (x(1) , x, r)}.
d0 + k0 g(t)
(29)
We have that the region of x, x(1) , r is specified by the inequalities |x(t)| 2, |x(1) (t)| 10,
|r(t)| 1. Hence, we obtain
fmax = |x + x|x(1) ||max = 2 + 2 10 = 22,
Fmax = | 2x(1) x + r|max = 2 10 + 2 + 1 = 23,
gmin = 0.5, gmax = 2.5,
F
emax = F Fmax = 0.05 23 = 1.15.
We have g(t) > 0 t. Hence, take k0 > 0. We have r = 0.02 6= 0. Hence, take d0 = 1.
From the requirement |eF (us )| eFmax = 1.15, we obtain
|k0 |
max |F (X, R) f (X, w)|
d0 X,R,w
gmin
eFmax
1 23 + 22
1 90.
=
0.5
1.15
Consider a steady state of the SMS, that is x(2) = x(1) = 0. Hence, we obtain
d0
{f (x(1) , x) F (x(1) , x, r)} =
d0 + k0 g
(2)
(1)
x
x + r}
|{z} = |2x {z
x(2) = F (x(1) , x, r) +
=0
=es
d0
+
{x + x|x(1) | {2x(1){z x + r}}} =
d0 + k0 g | {z } |
s
=e
=xs =res
es =
d0
r.
k0 g d0
From the requirement
d0
d0 rmax
|e |
r
esmax = r rmax = 0.02,
k0 g d0
k0 gmin d0
s
we obtain
"
1
d0 rmax
11
1
|k0 |
d0
=
1
= 98.
s
emax
gmin
0.02
0.5
17
Let us take k0 = 100.

From the SMS and reference model equations, it follows that
s2 + 2s + 1 = 0
SM S
is the characteristic equation of the SMS, where a0
= 1, and
2 s2 + d1 s + d0 + k0 g = 0
is the characteristic equation of the FMS. Hence, we obtain
q
F M S 1/2
d0 + k0 gmin
(a0 )
d0 + k0 g
=
3min = 20
3 =
SM S
SM S
SM S
(a0 )1/2
(a0 )1/2
(a0 )1/2
q
d0 + k0 gmin
1 + 100 0.5
=
=
0.3571 s.
SM S 1/2
min
20 1
3 (a0 )
From the characteristic equation of the FMS, we get
q
F MS
s1,2
d21 4(d0 + k0 g)
d1
j
= j,
=
2
2
where we assume that d21 4(d0 + k0 g) < 0 when g = gmax . Hence, we can find
q
F M S = cos(F M S ) = ||/ 2 + 2
d1
=
Fmin
= 0.5 =
MS
2 d0 + k0 g
q
d0 + k0 gmax
d1 2Fmin
MS
= 2 0.5 1 + 100 2.5 15.84.

Take = 0.3 s and d1 = 16.
Control law implementation. The discussed control law (25) can be rewritten in the
form given by
d1 (1) d0
u + 2u
d
k0 a
k0
k0
k0
= 2 x(2) 2 1 x(1) 2 2 x + 2 2 r =
T
T
T
(2)
(1)
(2)
(1)
u + a1 u + a0 u = b2 x + b1 x + b0 x + c0 r
u(2) +
where
a1 =
b2 =
k0
,
2
d1
,
a0 =
d0
,
2
k0 ad1
k0
, b0 = 2 2 ,
2
T
T
k0
c0 = 2 2 .
T
b1 =
(30)
18
Then, in order to find the block diagram of the discussed control law, from (30), we get
u(2) b2 x(2) + a1 u(1) b1 x(1)
= a0 u + b0 x + c0 r =
|
{z
=u 2
u(1) b2 x(1) + a1 u b1 x = u2 =
u(1) b2 x(1) = u
a1{zu + b1 x} =
|2
=u 1
u = u1 + b2 x.
Hence, we obtain the equations of the controller given by
u 1 = u2 a1 u + b1 x,
u 2 = a0 u + b0 x + c0 r.
u = u1 + b2 x.
(31)
From (31), we obtain the block diagram of the controller as shown in Fig. 6.
Figure 6: Block diagram of (30) represented in the form (31).

In conclusion, run the Matlab program e5 1 Parameters.m to calculate the controller
parameters. Next, run the Simulink program e5 1.mdl, to get the step response of the
closed-loop system.4 It can be verified that the simulation results confirm the analytical
calculations. The simulation results are shown in Fig. 7.
Note that the control law (25) may be expressed in terms of transfer functions as
u(s) =
k0 (s2 + 2s + 1)
k0
r(s)
x(s).
2 s2 + d1 s + d0
2 s2 + d1 s + d0
(32)
Take d0 = 0, then from (32) the conventional PID controller with low-pass filtering
u(s) =
1
1
k 2x(s) + [r(s) x(s)] sx(s)
LP F s + 1
s
results, where the low-pass filter (LPF) is given by 1/(LP F s + 1) and

k=
k0
,
d1
LP F =
.
d1
4
Throughout the simulation the following solver options are used: variable-step, ode113(Adams),
relative tolerance equals 1e-6.
19
Figure 7: Simulation results of the closed-loop system given by (23) and (31) for k0 = 100,
d1 = 15, d0 = 1 and = 0.3 s.
Exercise 5.10 The differential equation of a plant model is given by
x(2) = 2x(1) + x + 2u,
(33)
where y(t) = x(t). Determine the parameters of the control law such that r = 0, tds 1
s, d 10 %, F M S 0.3, and 3 10. The additional requirement
|Guns (j)| uns (),
ns
min
(34)
ns
= 103 rad/s. Compare simulation
should be provided such that uns () = 103 and min
results with the assignment.
Solution.
Reference model. From (33), we have x(2) = f (x, x(1) )+gu, where f (x, x(1) ) = 2x(1) +x
and g = gmin = gmax = 2. We have n = 2 and x(2) is the highest derivative of the output
signal. Hence, consider the reference model given by
x(2) = F (x(1) , x, r).

Take tds = 1 s, d = 10 %, then by
= tan
,
ln(100/ d )
d =
4
,
tds
we get d = 0.9383 rad, d = 0.5912, d = 4 rad/s and n = 6.7664 rad/s. By selecting

the 2 roots s1,2 = 4 j5.4575, where Re(s1,2 ) = d = n cos(d ) and |Im(s1,2 )| =
n sin(d ), we obtain the desired characteristic polynomial s2 + 8s + 45.78. Hence, the
desired transfer function is given by
Gdxr (s) =
s2
45.78
+ 8s + 45.78
and, from the above, the reference model in the form of the type 1 system
x(2) = 8x(1) 45.78x + 45.78r
follows.
(35)
20
Control law of the 2-nd order. At the beginning, let us take q = 2. Therefore, the
control law will be constructed in the form (24), where the reference model is given by
(35). Hence, the control law is
2 u(2) + d1 u(1) + d0 u
= k0 {x(2) 8x(1) 45.78x + 45.78r}.
(36)
The closed-loop system equations are given by (26)(27). Hence, the FMS and SMS
equations are given by (28) and (29), respectively.
Selection of control law parameters, when q = 2. The control law parameters k0 , d0 , d1 ,
can be selected by following through solution of Exercise 5.1, if d0 = 1.
Let us consider a simplified version for the gain k0 selection. In order to provide the
requirement r = 0, take d0 = 0. Then the gain k0 can be selected such that k0 gmin = 10.
Hence, we get k0 = 5.
From (28), (29), and (35), we have that
s2 + 8s + 45.78 = 0
SM S
is the characteristic equation of the SMS, where a0
= 45.78, and
2 s2 + d1 s + d0 + k0 g = 0
is the characteristic equation of the FMS. Hence, we obtain
q
F MS
d0 + k0 gmin
(a0 )1/2
d0 + k0 g
3 =
=
3min = 10
SM S
SM S
SM S
(a0 )1/2
(a0 )1/2
(a0 )1/2
q
d0 + k0 gmin
0+52
=
=
0.04673 s.
SM S 1/2
min
10 6.766
3 (a0 )

q
F MS
s1,2
d21 4(d0 + k0 g)
d1
=
j
= j,
2
2
where we assume that the FMS is underdamped-stable, that is

d21 4(d0 + k0 g) < 0
when g = gmax . Hence, we can find
q
F M S = cos(F M S ) = ||/ 2 + 2
d1
=
Fmin
= 0.3 =
MS
2 d 0 + k0 g
q
min
d1 2F M S d0 + k0 gmax = 2 0.3 0 + 5 2 1.8974.
21
High-frequency sensor noise attenuation, when q = 2. Let us replace x(t) by y(t) =

x(t) + ns (t). Then, from the above, we can obtain that
Ad (s)
DF M S (s)
(1/45.78)s2 + (8/45.78)s + 1
5 45.78
=
2
d0 + k0 g [ /(d0 + k0 g)]s2 + [d1 /(d0 + k0 g)]s + 1
Guns (s) = kuns
is the input sensitivity function with respect to noise for high frequencies, where the requirement on high-frequency sensor noise attenuation is given by the following inequality:
ns
min
= 103 rad/s.
(37)
ns
Take = 0.04673 s and d1 = 1.8974, then |Guns (jmin
)| 2208 (where 20 lg 2208
66.88 dB), or, for the sake of simplicity, we can find the limit given by
|Guns (j)| uns = 103 ,
lim |Guns (j)| =
|k0 |
2289,
q
where 20 lg 2289 67.19 dB. Hence, the requirement (37) on high-frequency sensor noise
attenuation doesnt hold. The Bode plots of Guns (j) and Guf (j) are shown in Fig. 8.
Figure 8: The Bode plots of Guns (j) and Guf (j).

Note, the same conclusion can be obtained by inspection the Bode amplitude plot of
Guf (j), where
1
,
DF M S (s)
k0
kuf =
,
d 0 + k0 g
2
d1
DF M S (s) =
s2 +
s + 1.
d0 + k0 g
d0 + k0 g
Guf (s) = kuf
22
Hence, we get
ns
ns
Luf (min
) = 20 lg |Guf (jmin
)| 53 dB
and
HF A
ns
ns
Lmax (min
= 60 dB,
) = 20 lg ns 20[n + ] lg min
where = 0. Hence, the requirement for high-frequency sensor noise attenuation
HF A
ns
ns
Luf (min
) Lmax (min
)
doesnt hold.
Run the Matlab program e5 10 A Parameters.m to calculate the reference model
parameters, Bode plots of Guns (j) and Guf (j), as well as parameters of the controller
given by (36), where q = 2. Next, run the Simulink program e5 10 a.mdl, to get a step
response as well as ramp response (by using Switch 1) of the closed-loop system. The
simulation results are shown in Fig. 9.
Figure 9: Simulation results of the closed-loop system (33), (36) for k0 = 5, d0 = 0,

d1 = 1.8974, and = 0.04673 s, where y(t) = x(t).
Note that, by Switch 2, the type of the reference model can be changed from 1 to 2
in the program e5 10 a.mdl.
By Switch 3, add the hign frequiency sensor noise ns (t) to the output y(t) = x(t) +
ns (t), where ns (t) = 103 sin(103 t). The simulation results are shown in Fig. 10.
d1 = 1.8974, and = 0.04673 s in the presence of the noise ns (t), where y(t) = x(t)+ns (t).
Control law of the 3-rd order. In order to provide the requirement for high-frequency
sensor noise attenuation given by (37), let us take q = 3 and consider the control law
given by
3 u(3) + d2 2 u(2) + d1 u(1) + d0 u = k0 {F (y (1) , y, r) y (2) },
23
where y(t) = x(t) + ns (t) and the reference model is the same as (35). Hence, the control
law can be rewritten as
3 u(3) +d2 2 u(2) +d1 u(1) +d0 u = k0 {y (2)
ad1 y (1)
ad0 y+
ad0 r},
(38)
where
a
d1 = 8,
a
d0 = 45.78.
Note that the control law (38) may be expressed in terms of transfer functions as
u(s) =
k0 (s2 + a
d1 s + a
d0 )
k0 a
d0
r(s)
x(s).
3 s3 + d2 2 s2 + d1 s + d0
3 s3 + d2 2 s2 + d1 s + d0
(39)
Take d0 = 0, then from (39) the conventional PID controller with low-pass filtering
(
a
d
u(s) = 2 2
k
ad1 x(s) + 0 [r(s) x(s)] sx(s)
lpf s + aLP F LP F s + 1
s
1
2
results, where the low-pass filter is given by 1/(LP
s2 + aLP F LP F s + 1) and
F
k=
k0
,
d1
LP F = ,
d1
aLP F LP F =
d2
.
d1
The FMS characteristic polynomial in the closed-loop system is given by

3 s3 + d2 2 s2 + d1 s + d0 + k0 g.
Let us consider the selection of the control law parameters based on Bode amplitude plot
of the closed-loop FMS given by
Luf () = 20 lg |Guf (j)|,
where
k0
,
DF M S (s)
d0 + k0 g
3
d2 2 2
d1
3
DF M S (s) =
s +
s +
s + 1.
d0 + k0 g
d0 + k0 g
d 0 + k0 g
Guf (s) = kuf
kuf =
(40)
By the same way as was shown above, take d0 = 0 and k0 = 5. Hence, kuf = 0.5. Then,
let us perform Gduf (s) in the corner frequency factored form given by
Gduf (s) = kuf
[T12 s2
1
.
+ 21 T1 s + 1][T2 s + 1]
Then, the roots of quadratic factor

T12 s2 + 21 T1 s + 1
(41)
24
are the dominant poles of Gduf (s), where the damping ratio 1 is selected such that
1 = Fmin
= 0.3.
MS
Take tds tds,SM S and tds,F M S = tds /, where = 10. Then, we can obtain
4
tds,F M S
4
1 tds
4 10
1
= 0.0075 s.
133 = T1 =
1 1
1
Let us calculate a lower bound for T2 from the condition

HF A
ns
ns
Lduf (min
) = Lmax (min
),
where
HF A
ns
ns
) = 20 lg ns 20[n + ] lg min
Lmax (min
= 20 lg 103 20[2 + 0] lg 103 = 60 dB.
ns
)n+ = 103 . Hence, we get
Denote L = ns /(min
ns
|Gduf (jmin
, T2min )| = L =
kuf
= L =
ns
ns
2 ns
+ 1]|
]][jT2min min
|[1 T1 [min ]2 + j21 T1 [min
1/2
[kuf /L]2
T2min = ns
1
ns
ns
)2
]2 )2 + (21 T1 min
min (1 [T1 min
1
"
=
#1/2
1
[0.5/103 ]2
T2min = 3
1
10 (1[0.0075103 ]2 )2 +(20.30.0075103 )2
0.009 s.
The time constant T2 should be selected such that the inequalities T2min T2 T1 hold.
We see, there is apparent contradiction. Therefore, let us replace the degree of time-scale
separation between fast and slow modes = 10 by = 8 and redesign the parameter
T1 again. We get T1 = 0.0094 s. Accordingly, by the same way as above, we obtain
T2min = 0.0057 s. Hence, the condition T2min T2 T1 holds and then, we can take
T2 = T2min = 0.0057 s.
As a result of the above, we obtain
DFd M S (s) = [T12 s2 + 21 T1 s + 1][T2 s + 1]
= 4.9699 107 s3 + 1.197 104 s2 + 0.0113s + 1.
From (40), and by taking into account that d0 = 0 as well as the requirement
DF M S (s) = DFd M S (s),
25
we obtain
= {dqd k0 g}1/3 0.0171,
d1d [k0 g](2)/3
6.6097,
[d3d ]1/3
d d [k0 g](1)/3
d2 = 2 d 2/3 4.1101.
[d3 ]
d1 =
(42)
Finally, the control law (38) can be rewritten in the form given by
d2 (2) d1 (1) d0
u + 2u + 3u
d
k0
k0 a
k0
k0
= 3 y (2) 3 1 y (1) 3 2 y + 3 2 r =
T
T
T
(3)
(2)
(1)
(2)
u +a2 u +a1 u +a0 u = b2 y +b1 y (1) +b0 y+c0 r.
u(3) +
(43)
From (43), we can obtain the equations of the controller given by

u 1
u 2
u 3
u
=
=
=
=
a2 =
d2
,
u2 a2 u1 + b2 y,
u3 a1 u1 + b1 y,
a0 u1 + b0 y + c0 r,
u1 ,
(44)
where
b2 =
k0
,
3
b1 =
a1 =
k0 a
d1
,
3
d1
,
2
a0 =
b0 =
d0
,
3
k0 a
0
,
3
c0 =
k0 a
0
.
3
The Bode plots of Guns (j) and Guf (j) are shown in Fig. 11, where the parameters
, d1 , d2 are given by (42) with d0 = 0 and k0 = 5.
In conclusion, run the Matlab program e5 10 B Parameters.m to calculate the reference model parameters, Bode plots of Guns (j), and Guf (j), as well as the parameters
of the controller given by (44), where q = 3. Next, run the Simulink program e5 10 b.mdl,
to get a step response as well as ramp response (by using Switch 1) of the closed-loop
system. By Switch 3, add the hign frequiency sensor noise ns (t) to the output, that is
y(t) = x(t) + ns (t), where ns (t) = 103 sin(103 t). The simulation results are shown in
Fig. 12. It can be verified that the simulation results confirm the analytical calculations.
Note that in the program e5 10 b.mdl, by Switch 2, the type of the reference model
can be changed from 1 to 2. Then, instead of (43), we have the controller given by
u(3) + a2 u(2) + a1 u(1) + a0 u
= b2 y (2) + b1 y (1) + b0 y + c1 r(1) + c0 r,
(45)
26
Figure 11: The Bode plots of Guns (j) and Guf (j).
= 0.0171 s, d1 = 6.6097, d2 = 4.1101 in the presence of the noise ns (t), where y(t) =
x(t) + ns (t).
where c1 = b1 and c0 = b0 . Hence, instead of (44), we get
u 1
u 2
u 3
u
=
=
=
=
u2 a2 u1 + b2 y,
u3 a1 u1 + b1 y + c1 r,
a0 u1 + b0 y + c0 r,
u1 .
(46)
From (46), we can obtain the block diagram of the controller as shown in Fig. 13.
Chapter 6
Exercise 6.1 The plant model is given by
x(2) (t) = 0.5x(t)x(1) (t) + 0.1x(1) (t)
+0.5x(t) + 0.5 sin(0.5t) + gu(t ),
(47)
27

where g = 1 and the reference model x(2) = F (x(1) , x, r) is assigned by
x(2) = T 2 {a1 T x(1) x + r}.
(48)
The control law has the form

2 u(2) + d1 u(1) + d0 u = k0 {F (x(1) , x, r) x(2) },
(49)
where T = 1 s, a1 = 2, k0 = 10, = 0.1 s, d0 = 0, d1 = 4. Determine the region of

stability for of the FMS. Compare with simulation results of the closed-loop system.
Solution.
The closed-loop system equations are given by
x(2) = f (x(1) , x, t) + gu(t ),
2 u(2) + d1 u(1) + d0 u = k0 {F (x(1) , x, r) x(2) },
where f (x(1) , x, t) = 0.5x(t)x(1) (t) + 0.1x(1) (t) + 0.5x(t) + 0.5 sin(0.5t), F (x(1) , x, r) =
T 2 {ad1 T x(1) x + r}, g = 1, T = 1 s, ad1 = 2, k0 = 10, = 0.1 s, d0 = 0, and d1 = 4.
Hence, from the above equations, we get the FMS given by
2 u(2) +d1 u(1) +d0 u+k0 gu(t ) = k0 {F (x(1) , x, r)f (x(1) , x)},
(50)
where F = const and f = const during the transients in (50). The block diagram
representation of the FMS (50) is shown in Fig. 14, where
D(s) = 2 s2 + d1 s + d0 .
(51)
Figure 14: Block diagram of the FMS (50) with delay , where F = const, f = const.
28
By the Nyquist stability criterion, the FMS (50) is marginally stable if c 6= 0 exists
such that the condition
k0 gejm c
= 1 + j0,
(52)
D(jc )
holds, where c is the crossover frequency and m is an upper bound for delay . The
value m determines the region of stability for of the FMS.
From (52) and by taking into account the condition d0 = 0, we get
k0 gejm c
= 1 =
jc (jc + d1 )
4 c4 + d21 2 c2 k02 g 2 = 0 =
y = c2 > 0, 4 y 2 + d21 2 y k02 g 2 = 0 =
y=
=
42 +
d21 +
(53)
d41 + 4k02 g 2
22
44 + 4 102 12
481
=
=
y 22 rad/s.
c
2 0.12
From (52), we have5

m = [/2 tan1 (c /d1 )]/c .
(54)
Hence, the region of stability for of the FMS is defined as

0 < < m = 0.049 s.
Finally, the discussed control law can be rewritten in the form given by
d1 (1) d0
u + 2u
d
k0
k0 a
k0
k0
= 2 x(2) 2 1 x(1) 2 2 x + 2 2 r =
T
T
T
(2)
(1)
(2)
(1)
u + a1 u + a0 u = b2 x + b1 x + b0 x + c0 r,
u(2) +
where
a1 =
d0
k0
k0 ad
k0
k0
d1
, a 0 = 2 , b 2 = 2 , b 1 = 2 1 , b 0 = 2 2 , c0 = 2 2 .
T
T
T
Run the Matlab program e6 1 Parameters.m to calculate the region of stability for of
the FMS and the controller parameters. Next, run the Simulink program e6 1.mdl, to get
the step response of the closed-loop system.
Exercise 6.4 Determine the phase margin and gain margin of the FMS based on the
input data of Exercise 6.1 for the time delay = 0.3m , where = m corresponds to the
marginally stable FMS.
5
y = tan1 (x) denotes the arctangent of x, i.e., tan(y) = x.
29
Solution.
By following through the solution of Exercise 6.1, the block diagram representation
of the FMS (50) is shown in Fig. 14, where the phase margin (PM) of the FMS (50) is
given by
P M = ArgD(jc ) c .
(55)
From (51) and d0 = 0, we get
ArgD(jc ) =
+ tan1 (c /d1 ).
2
(56)
Hence, we obtain
tan1 (c /d1 ) c .
2
In order to find the gain margin (GM) of the FMS, consider the equation
PM =
Arg[GF M S (j )] = .
(57)
(58)
From (58), we get
tan1 ( /d1 ) = 0,
(59)
2
where , m , and c are calculated by joint numerical resolution of (53), (54), and (59).
Finally, we can find that
l
k0 gej
= |GF M S (j )| =
j (j + d1 )
k0 g
=
j (j + d1 )
O
k0 g
= q
( )4 + (d1 )2
Hence, the gain margin (GM) of the FMS is given by GM = 1/l .
By running the Matlab program e6 4 Parameters.m, we obtain
c 22 rad/s, 47.7 rad/s, m 0.049 s,
= 0.3m 0.0146 s, P M = 0.7486 rad, GM 2.9685.
Next, run the Simulink program e6 4.mdl, to get the step response of the closed-loop
system where = 0.0146 s.
Chapter 7
Exercise 7.1 The differential equations of a plant model are given by
x 1
x 2
x 3
y
=
=
=
=
x1 + x2 ,
x1 + x2 + x3 + u,
2x1 x2 + 2x3 + a u,
x1 .
(60)
30
Verify the invertibility and internal stability of the given system (60), where (a) a = 1,
and (b) a = 3. Find the degenerated system.
Solution.
From (60), we obtain
y = x1 + x2 = y = x 1 + x 2 = y = 2x1 + 2x2 + x3 + u.
Hence, the system (60) is invertible and the relative degree is given by = 2. Let us
introduce a state-space transformation defined by
y 1 = y = x1 ,
y2 = y = x1 + x2 ,
z = x3
(61)
x1 = y1 ,
x2 = y2 y1 ,
x3 = z.
(62)
From (61), we have
By the change of variables (62), we get the normal form of (60) given by
y 1
y 2
z
y
=
=
=
=
y2 ,
2y2 + z + u,
y1 + y2 + 2z + a u,
y1 .
(63)
Let the desired stable output behavior is defined by y = F (y,

y, r), which can be rewritten
as y1 = F (y 1 , y1 , r) or y 1 = y2 , y 2 = F (y2 , y1 , r). In order to find the equations of the
internal subsystems, take F (y2 , y1 , r) = 2y2 +z +u. Hence, we obtain the inverse dynamics
solution given by
uid = F (y2 , y1 , r) 2y2 z.
Substitution of u = uid into (63) yields
y 1
y 2
z
y
=
=
=
=
y2 ,
F (y2 , y1 , r),
(2 a)z + y1 + (1 2a)y2 + aF (y2 , y1 , r),
y1 ,
(64)
where z = (2a)z +y1 +(12a)y2 +aF (y2 , y1 , r) is the equation of the internal subsystem
and y2 , y1 , r are treated as bounded external disturbances of the internal subsystem. If
a = 1, then 2 a > 0 and the unique equilibrium point of the internal subsystem is
unstable. If a = 3, then 2 a < 0. Hence, the solutions of the internal subsystem are
bounded when variables y2 , y1 , r are bounded, that is the bounded-input-bounded-state
31
(BIBS) stability of the internal subsystem. Next, from (64), by taking y1 = r = const
(hence, y2 = 0 and F (y2 , y1 , r) = 0), we find the degenerated system given by
z = (2 a)z + r,
where the unique equilibrium point of the degenerated subsystem is exponentially stable
when 2 a < 0.
Exercise 7.10 Verify the invertibility and internal stability of the system
x 1 = x21 x32 + u,
x 2 = |x2 | u,
y = x1 ,
(65)
Assume that the inequalities |x1 (t)| 1.5, |x2 (t)| 1.5, |r(t)| 1 hold for all t [0, ).
Find the control law such that r = 0, tds 3 s, d 0%. Run a computer simulation
of the closed-loop system with zero initial conditions. Compare simulation results of the
output response with the assignment for r(t) = 1, t > 0.
Solution.
Invertibility and internal stability. By the change of variables y = x1 and z = x2 , we
get
y = y 2 z 3 + u,
z = |z| u.
(66)
Hence, the system (66) is invertible and the relative degree is given by = 1.
Let the desired stable output behavior is defined by y = F (y, r). Take F (y, r) =
y 2 z 3 + u. Hence, we obtain the inverse dynamics solution given by
uid = F (y, r) y 2 + z 3 .
Substitution of u = uid into (66) yields
y = F (y, r),
z = f (z) + (y, r),
(67)
where (y, r) = y 2 F (y, r) and f (z) = |z| z 3 .

Denote c = (y, r) where c is an arbitrary real number. Take z = 0 in the internal
subsystem given by
z = f (z) + c.
(68)
Hence, from f (z) + c = 0, depending on value c, it can be up to three equilibrium points
of the internal subsystem. It can be easily verified, all solutions of the internal subsystem
(68) are bounded.
Control law. We have = 1. Hence, y (1) is the highest derivative of the output signal.
As far as the requirement on the high frequency sensor noise attenuation is not specified,
then, for simplicity, take q = = 1 and consider the control law given by
u(1) + d0 u = k0 [F (y, r) y (1) ],
32
where the reference model is

y (1) = F (y, r).
Take tds = 3 s, d = 0 %, then we get d = 0 rad, d = 1, a = d = n = 1.3333 rad/s.
By selecting the root s1 = a, we obtain the desired characteristic polynomial s + a.
Consider the desired transfer function given by
Gdyr (s) =
a
.
s+a
(69)
Hence, we get the reference model given by

y (1) = ay + ar.
Finally, the control law is
u(1) + d0 u = k0 [y (1) ay + ar].
(70)
Closed-loop system. The closed-loop system equations are given by

y = y 2 z 3 + u,
z = |z| u,
u + d0 u = k0 [F (y, r) y].
(71)
Denote f (y, z) = y 2 z 3 . From (71), by following through solution of Exercise 4.2, we

obtain the FMS equation, that is
u + [d0 + k0 ]u = k0 [F (y, r) f (y, z)],
where F = const, f = const during the transients in (72), and
s + d0 + k0 g = 0
is the characteristic equation of the FMS, where g = 1.
Suppose the FMS (72) is stable. Then, in order to provide the requirement r = 0,
we take d0 = 0. Next, taking 0 in (72) we get u(t) = us (t), where us (t) is a steady
us = uid = F (y, r) f (y, z).
Substitution of us into the equation of the plant model (67) yields the SMS.
Selection of control law parameters. Let us consider a simplified version for the gain
k0 selection. We have d0 = 0, then the gain k0 can be selected such that k0 gmin = 10,
where gmin = gmax = g = 1. Hence, we get k0 = 10.
From (69), we have that the natural frequency of the reference model is given by
d
n = 1.3333 rad/s. Denote
max = d = 1.3333 rad/s,
SM
n
S
Fmin
=
MS
d0 + k0 gmin
rad/s.
33
Then, without the taking into account the rate of dynamics of the internal subsystem, let
us consider the ratio
Fmin
MS
2 = max
(72)
SM S
as a criterion for the degree of time-scale separation between fast and slow motions. Take
2min = 20. Hence, we obtain
2 =
d0 + k0 gmin
min = 20 =
max 2
SM
S
d0 + k0 gmin
max =
min max
2
SM S
0 + 10 1
=
0.375 s.
20 1.3333
As a result, take = 0.375 s.
Control law implementation. Finally, the control law (70) can be rewritten in the
form given by
d0
k0
k0
k0
u = y (1)
y+
r =
T
T
u(1) + a0 u = b1 y (1) + b0 y + c0 r = u(1) b1 y (1) = a0 u + b0 y + c0 r,
u(1) +
{z
(73)
=u 1
where T = 1/a. From (73), we obtain the equations of the controller given by
u 1 = a0 u + b0 y + c0 r,
u = u1 + b1 y,
(74)
where
a0 =
d0
,
b1 =
k0
,
b0 =
k0
,
T
c0 =
k0
.
T
From (74), we obtain the block diagram of the controller as shown in Fig. 15. Run the

Matlab program e7 10 Parameters.m to calculate the reference model parameter T , as
34
well as the parameters k0 , of the controller given by (70). Next, run the Simulink
program e7 10.mdl, to get a step response of the closed-loop system with zero initial
conditions.
Chapter 8
Exercise 8.1 Verify the invertibility and internal stability of the system given by
x 1 = x1 + 3x2 + u1 + u2 ,
x 2 = x1 + x2 + u1 2u2 ,
y1 = x1 + x2 , y2 = x1 + 2x2 .
(75)
Assume that the inequalities |xj (t)| 2 j and |r(t)| 1 hold for all t [0, ). Find
the control law of the form
(qi )
(q 1)
qi i ui
(1)
+ di,qi 1 qi i 1 ui i + + di,1
ui + di,0 ui
F
0
= ki ei , Ui (0) = Ui , i = 1, . . . , p,
u = K0 u, u = {u1 , u2 , . . . , up }T , u = {
u1 , u2 , . . . , up }T ,
where
i > 0,
(1)
(q 1)
Ui = {
ui , ui , . . . , ui i }T ,
ki > 0,
(76)
qi i .
Provide the following requirements: r1 = 0, r2 = 0, tds1 1 s, 1d 0%, tds2 3 s,

2d 0%. Compare simulation results for the step response of the closed-loop control
system with the assignment.
Solution.
Invertibility and internal stability. From (75), by following through solution of Exercise 7.1, we get
y 1 = x 1 + x 2 = y 1 = 2x1 + 4x1 + 2u1 u2 ,
y 2 = x 1 + 2x 2 = y 2 = x1 x2 + u1 5u2 ,
where
"
det G = det
2 1
1 5
= 9 6= 0.
Hence, the system (75) is invertible and the relative degrees are given by 1 = 2 = 1.
We have that 1 + 2 = n = 2. Then, the internal subsystem does not exist.
Reference model. By following through solution of Exercise 7.10, take tds1 = 1 s,
1d = 0 %, then we get 1d = 0 rad, 1d = 1, a1 = 1d = 1,n = 4 rad/s. By selecting the root
s1 = a1 , we obtain the desired characteristic polynomial s + a1 . The desired transfer
function Gdy1r1 (s) = y1 (s)/r1 (s) is given by
Gdy1r1 (s) =
a1
.
s + a1
Hence, we get the reference model for y1 given by

(1)
(1)
y1 = a1 y1 + a1 r1 = y1 =
1
[r1 y1 ],
T1
(77)
35
where T1 = 1/a1 . By the same way as above, take tds2 = 3 s, 2d = 0 %, then

(1)
(1)
y2 = a2 y2 + a2 r2 = y2 =
1
[r2 y2 ],
T2
(78)
where a2 = 1.3333 and T2 = 1/a2 . Hence, the reference model (77)(78) has be constructed as
(1)
(1)
y1 = F (y1 , r1 ), y2 = F (y2 , r2 ).
(79)
Control law . Take q1 = q2 = 1, then the control law is
1 u1 + d1,0 u1 = k1 [y1 a1 y1 + a1 r1 ],
(1)
(1)
(80)
(1)
2 u2
(1)
k2 [y2
(81)
(82)
+ d2,0 u2 =
a2 y2 + a2 r2 ],
u1 = k11 u1 + k12 u2 ,
u2 = k21 u1 + k22 u2 .
Take
"
1
K0 = [G ]
k11 k12
k21 k22
"
0.5556 0.1111
0.1111 0.2222
Hence, the controller of the discussed 2I2O system consists of 2 separate linear controllers
generating the auxiliary controls u1 , u2 and accompanied by the matching matrix K0
where the linear controllers are described by (80) and (81), as well as the matrix K0 is
implemented by (82).
Fast-motion subsystem and slow-motion subsystem. From the closed-loop system
equations given by (75) and (80)(82), by following through solution of Exercise 7.10
again, we obtain the FMS equations, that are
(1)
1 u1 + [d1,0 + k1 ]
u1 = k1 [F (y1 , r1 ) f1 (x1 , x2 )],
(83)
(1)
2 u2
(84)
+ [d2,0 + k2 ]
u2 = k2 [F (y2 , r2 ) f2 (x1 , x2 )],
where y1 = const, y2 = const, x1 = const, x2 = const, f1 = const, and f2 = const during

the transients in (83)(84). Due to K0 = [G ]1 , the characteristic polynomial of the
FMS is factorized, this is
(1 s + d10 + k1 )(2 s + d20 + k2 ).
(85)
In order to provide the requirements r1 = 0 and r2 = 0, take d10 = 0, d20 = 0.

Suppose the FMS (83)(84) is stable. Then, it easy to show, the SMS equations are the
same as the reference model given by (79) as 1 0 and 2 0.
Selection of control law parameters. Let us take k1 = 10 and k2 = 10. The natural
d
= 4 rad/s. Denote
frequency of the reference model for y1 is given by 1,n
max = d = 4 rad/s,
1,
1,n
SM S
min =
1,
F MS
d1,0 + k1
rad/s.
1
Then, let us consider the ratio
min
1,
F MS
max
1,
SM S
2 =
36
(86)
as a criterion for the degree of time-scale separation between fast and slow motions in the
first input-output channal. Take 2min = 20. Hence, we obtain
2 =
d1,0 + k1
max
1 1,
SM S
2min = 20 =
d1,0 + k1
min
max
1 1,max =
1,SM S
0 + 10
=
= 0.125 s.
20 4
As a result, take 1 = 0.125 s. By the same way, we get
2 2,max =
d2,0 + k2
min
max
2
2,SM S
0 + 10
=
0.375 s.
20 1.3333
As a result, take 2 = 0.375 s.
Much more conservative selection of 1 , 2 is to take i = i, where
max =
mini {di,0 + ki }
min maxi { max }
2
i,SM S
0 + 10
=
= 0.125 s.
20 4
Control law implementation. Finally, the separate controllers given by (80) and (81)
can be rewritten as
(1)
ui +
di,0
ki (1)
ki
ki
ui = yi
yi +
ri =
i
i
i T i
i T i
(1)
(1)
ui + ai,0 ui = bi,1 yi + bi,0 yi + ci,0 ri ,
(87)
where i = 1, 2. From (87), we obtain

(1)
ui,1 = ai,0 ui + bi,0 yi + ci,0 ri ,

ui = ui,1 + bi,1 yi , i = 1, 2
(88)
where
ai,0 =
di,0
,
i
bi,1 =
ki
,
i
bi,0 =
ki
,
i Ti
ci,0 =
ki
.
i Ti
From (88), the block diagram follows, which is similar to the block diagram as shown in
Fig. 15 (see p. 33).
37
Run the Matlab program e8 1 Parameters.m to calculate the reference model parameters Ti , as well as the parameters ki , i , and kij of the controller given by (80)(82)
for 2 = 20. Next, run the Simulink program e8 1.mdl, to get a step response of the
closed-loop system with zero initial conditions. Make calculations and simulations for the
degree of time-scale separation between fast and slow motions assigned as 2 = 5 and
2 = 10. Compare the simulation results.
Exercise 8.2 Verify the invertibility and internal stability of the system given by
x 1 = x21 + x1 x2 + 0.5u1 [1 + 0.2 sin(t)]u2 ,
x 2 = x1 + sin(x2 ) u1 2[1 + 0.5 sin(2t)]u2 ,
y 1 = x1 x2 , y 2 = x1 + x2 .
(89)
Assume that the inequalities |xj (t)| 2 j and |r(t)| 1 hold for all t [0, ). Find
the control law of the form (76) such that r1 = 0, r2 = 0, tds1 3 s, 1d 0%, tds2 3
s, 2d 0%. Compare simulation results for the step response of the closed-loop control
system with the assignment.
Solution.
Invertibility and internal stability. From (89), we get
y 1 = x 1 x 2 =
y 1 = x1 + x1 x2 sin(x2 ) + 1.5u1 + [1 0.2 sin(t) + sin(2t)]u2 ,
y 2 = x 1 + x 2 =
2
y 2 = x1 + x1 + x1 x2 + sin(x2 ) 0.5u1 [3 + 0.25 sin(t) + sin(2t)]u2 ,
x21
where
"
G =
g11 g12
g21 g22
and g11 = 1.5, g21 = 0.5, g12 = 1 0.2 sin(t) + sin(2t), g22 = 3 0.25 sin(t) sin(2t).
By Matlab program e8 2 Parameters.m, we can find that
det G (t) [5.4, 2.6],
t [0, ).
Hence, the invertibility condition det G (t) 6= 0 holds t [0, ) and the relative degrees
of the system (89) are given by 1 = 2 = 1. We have that 1 + 2 = n = 2. Then, the
internal subsystem does not exist.
Reference model. By following through solution of Exercise 8.1, take tds1 = 3 s, 1d =
0 %, tds2 = 3 s, 2d = 0 %, then we get the reference model for y1 and y2 given by (77)(78),
max = d rad/s.
where a1 = a2 = d = 1.3333 rad/s. Denote SM
S
Control law . Take q1 = q2 = 1, then the control law can be constructed in the form
(80)(82). Denote g12 and g22 as the average values of g12 and g22 , respectively, where
g12 = 1 and g22 = 3. Denote
"
=
G
g11 g12
g21 g22
"
1.5
1
0.5 3
Take, for instance,

1
K0 = [G ]
1
=
8
"
6
2
1 3
38
Fast-motion subsystem. From the closed-loop system equations given by (89) and
(80)(82), we obtain the FMS equation, that is
u(1) + {D0 + K1 G K0 }
u = K1 {F H },
(90)
where = diag{1 , 2 }, K1 = diag{k1 , k2 }, D0 = diag{d10 , d20 }, u = [

u1 , u2 ]T , and
F = const, H = const during the transients in the FMS (90). Assume that G (t) is the
matrix with frozen parameters during the transients in (90).
If K0 = [G (t)]1 , then the characteristic polynomial of the FMS is factorized as
shown by (85). As far as K0 6= [G (t)]1 , then the characteristic equation of the FMS
can not be factorized on the two separate equations. Take, for simplicity, d10 = d20 = 0,
= 1 = 2 and k = k1 = k2 = 10, and denote
= /k, then the characteristic equation
of the FMS (90) is given by
2 s2 + a1
s + a2 ,
where
a1 = 1 0.125g12 0.375g22 ,
3
30
1
a2 = g12 g22 g22 g12 ,
32
64
8
and
g12 [0.144, 2.144],
g22 [1.82, 4.182],
t [0, ).
Let
> 0, then, it can be verified, that
(1)1 K1 G K0
is Hurwitz matrix. For example, by Matlab program e8 2 Parameters.m, we get that6
max Re i (G K0 ) 0.6628
t[0,)
for all i = 1, 2. Take

Fmin
= 0.6628 and 2min = 10, then can be selected such that the
MS
inequality
k
Fmin
MS
max =
min max
2
SM S
10 0.6628
=
0.4971 s.
10 1.3333
holds. As a result, take 1 = 2 = 0.4971 s. Note, the control law implementation of
(80)(82) was discussed in Exercise 8.1.
6
Re i (A) is the real part of the eigenvalue i of A.
39
Run the Matlab program e8 2 Parameters.m to calculate the reference model parameters of the controller given by (80)(82) for 2 = 10. Next, run the Simulink program
e8 2.mdl, to get a step response of the closed-loop system with zero initial conditions.
Make calculations and simulations for the degree of time-scale separation between fast
and slow motions assigned as 2 = 5 and 2 = 20. Compare the simulation results.
Chapter 9
Exercise 9.1 Stabilize the internal subsystem by selective exclusion of redundant control variables in the system given by
x 1 = x1 + x2 + u1 + u2 ,
x 2 = x1 + 3x2 2u1 ,
y = x1 .
(91)
Solution.
Assume that x1 , x2 are measurable state variables. We have y = x1 and denote
z = x2 . Hence, from (91), we get
y = y + z + u1 + u2 ,
z = y + 3z 2u1 .
The reference model can be constructed in the form
y = F (y, r) = y = ay + ar.
(92)
Exclusion of control variable u1 . Take u1 = 0 t. From (92), we get

y = y + z + u2 ,
z = y + 3z.
Let assume that the control law is given by
u 2 + d0 u2 = k0 {F (y, r) y}
=
u 2 + d0 u2 = k0 {y ay + ar}.
(93)
Hence, the closed-loop system equations are given by

y = y + z + u2 ,
z = y + 3z,
u 2 + d0 u2 = k0 {y ay + ar}.
(94)
The closed-loop system equations (94) can be rewritten as

y = y + z + u2 ,
z = y + 3z,
u 2 + [d0 + k0 ]u2 = k0 {ay + ar y z}.
(95)
40
By following through solutions of Exercises 4.2 and 4.3, from (95), we obtain the FMS
equation, that is
u 2 + [d0 + k0 ]u2 = k0 {ay + ar y z},
(96)
where y, r, u2 are frozen variables during the transients in (96).

Suppose the FMS (96) is stable and take, for simplicity, d0 = 0. Hence, taking 0
in (96) we get u2 (t) = us2 (t), where us2 (t) is a steady state (more precisely, quasi-steady
state) of the FMS (96) and
us2 = ay + ar y z.
Substitution of us2 into (93) yields the SMS given by
y = ay + ar,
z = 3z + y,
(97)
(98)
where the internal subsystem (98) is unstable.

Exclusion of control variable u2 . Take u2 = 0 t. From (92), we get
y = y + z + u1 ,
z = y + 3z 2u1 .
(99)
(100)
Let assume that the control law is given by

u 1 + d0 u1 = k0 {y ay + ar}.
(101)

y = y + z + u1 ,
z = y + 3z 2u1 ,
u 1 + d0 u1 = k0 {y ay + ar}.
(102)
The closed-loop system equations (102) can be rewritten as

y = y + z + u1 ,
z = y + 3z 2u1 ,
u 1 + [d0 + k0 ]u1 = k0 {ay + ar y z}.
(103)
From (103), we obtain the FMS equation, that is

u 1 + [d0 + k0 ]u1 = k0 {ay + ar y z},
(104)

Suppose the FMS (104) is stable and take, for simplicity, d0 = 0. Hence, taking
0 in (104) we get u1 (t) = us1 (t), where us1 (t) is a steady state of the FMS (104) and
us1 = ay + ar y z. Substitution of us1 into (99), (100) yields the SMS given by
y = ay + ar,
z = 5z + 3y + 2a(y r),
(105)
(106)
41
where the internal subsystem (106) is unstable again. Hence, the method of selective
exclusion of redundant control variables does not allow to obtain the stable internal subsystem.
Internal dynamics stabilization by redundant control u2 . Let us consider the system
(92) with the control law given by (101). Hence, the closed-loop system equations are
given by
y = y + z + u1 + u2 ,
z = y + 3z 2u1 .
u 1 + d0 u1 = k0 {y ay + ar},
(107)
where u2 can be utilized for internal dynamics stabilization. From (107) we obtain
y = y + z + u1 + u2 ,
z = y + 3z 2u1 ,
u 1 + [d0 + k0 ]u1 = k1 {ay + ar y u2 }.
(108)
From (108), we obtain the FMS equation, that is

u 1 + [d0 + k1 ]u1 = k1 {ay + ar y u2 },
(109)

Suppose the FMS (109) is stable and take, for simplicity, d0 = 0. Hence, taking 0
in (109) we get u1 (t) = us1 (t), where us1 (t) is a steady state (more precisely, quasi-steady
state) of the FMS (109) and
us1 = ay + ar y u2
Substitution of us1 into (92) yields the SMS given by
y = ay + ar,
z = 5z + 2u2 + 2y 2a(r y),
(110)
(111)
where the internal subsystem (111) can be stabilized by applying u2 = kint z. Thus, we
obtain
y = ay + ar,
z = [5 + 2kint ]z + 2y 2a(r y).
(112)
(113)
From (113), the characteristic polynomial of the internal subsystem

Aint (s) = s [5 + 2kint ]
follows. Consider, for example, the desired characteristic polynomial given by Adint (s) =
s + aint where aint > 0. Then, from the requirement Aint (s) = Adint (s), we get kint =
(5 + aint )/2. Take, for example, aint = 1, then kint = 3.
42
Let us take k0 = 10 and a = 1.3333 rad/s. Denote

max = max{a, a } rad/s,
SM
int
S
Fmin
=
MS
d0 + k0
rad/s.
max as a criterion for the degree of time-scale

Let us consider the ratio 2 = Fmin
/SM
MS
S
separation between fast and slow motions in the closed-loop system. Take 2min = 20.
Hence, we obtain
d 0 + k0
min = 20 =
max 2
SM
S
0 + 10
d 0 + k0
=
= 0.375 s.
max =
20 1.3333
min max
2 =
SM S
As a result, take 1 = 0.375 s.

The implementation of the control law (101) is similar to the block diagram as shown
in Fig. 15. Run the Matlab program e9 1 Parameters.m to calculate the reference model
and controller parameters. Next, run the Simulink program e9 1.mdl, to get a step
response of the closed-loop system with zero initial conditions.
Exercise 9.2 Consider the system given by
x 1 = x1 + x2 + u1 + u2 ,
x 2 = x1 + 3x2 2u1 ,
y = x1 .
(114)
Stabilize the internal subsystem by insertion of supplementary conditions.

Solution.
From (114), we get
y = x1 + x2 + u1 + u2 .
Hence, we have the relative degree = 1. Let us insert the supplementary condition for
control variables such that
u1 + u2 = 0.
(115)
Then u2 = u1 and we get the relative degree = 2. From (114) and (115), we obtain
x 1 = x1 + x2 ,
x 2 = x1 + 3x2 2u1 ,
y = x1 .
(116)
By taking into account that y = x1 and y = x1 + x2 , the system (116) can by rewritten
in the form
y (2) = 4y (1) 2y 2u1 .
43
By following through solution of Exercises 5.9, consider the reference model given by
y (2) = F (y (1) , y, r).
= tan
,
ln(100/ d )
d =
4
,
tds

the 2 roots s1,2 = 2 j2.0974 where Re(s1,2 ) = d = n cos(d ) and |Im(s1,2 )| =
n sin(d ), we obtain the desired characteristic polynomial s2 + 4s + 8.399. The desired
transfer function is given by
Gdyr (s) =
ad0
8.399
= 2
.
d
d
2
s + a1 s + a0
s + 4s + 8.399
Hence, we get the reference model in the form of the type 1 system
y (2) = 4y (1) 8.399y + 8.399r = y (2) = F (y (1) , y, r).
Let us consider the control law given by
(2)
(1)
2 u1 + d1 u1 + d0 u1 = k0 {F (y (1) , y, r) y (2) }.
y (2) = f (y (1) , y) + gu1 ,
(1)
(2)
2 u1 + d1 u1 + d0 u1 = k0 {F (y (1) , y, r) y (2) },
where f (y (1) , y) = 4y (1) 2y and g = 2. By following through solution of Exercise 4.2,
we obtain the FMS equation, that is
(2)
(1)
2 u1 + d1 u1 + [d0 + k0 g]u1 = k0 {F (y (1) , y, r) f (y (1) , y)},

where F = const and f = const during the transients in (116), as well as the SMS
equation, that is
y (2) = F (y (1) , y, r) +
d0
{f (y (1) , y) F (y (1) , y, r)}.
d0 + k0 g
We have g = 2 < 0. Take d0 > 0 and k0 = 10/g = 5.

From the SMS and reference model equations, it follows that
s2 + ad1 s + ad0
SM S
is the characteristic polynomial of the SMS where a0
2 s2 + d1 s + d0 + k0 g
ad0 , and
F MS
is the characteristic polynomial of the FMS. Denote a0
44
= d0 + k0 g. Hence, we obtain
F MS
(a0 )1/2
d0 + k0 g
3 =
3min = 10
SM S 1/2 =
SM S
(a0 )
(a0 )1/2
q
0 5 (2)
d0 + k0 g
=
=
0.1091 s.
SM S 1/2
10 8.399
)
min (a
0

q
F MS
s1,2
d21 4(d0 + k0 g)
d1
=
j
= j,
2
2
where we assume that d21 4(d0 + k0 g) < 0. Take Fmin

= 0.5. Hence, we can find
MS
q
F M S = cos(F M S ) = ||/ 2 + 2
d1
=
Fmin
= 0.5 =
MS
2 d 0 + k0 g
q
d 2 min d + k g
1
F MS
= 2 0.5 0 + (5) (2) 3.1623.

Take = 0.1091 s and d1 = 3.1623.
In conclusion, run the Matlab program e9 2 Parameters.m to calculate the controller
parameters. Next, run the Simulink program e9 2.mdl, to get the step response of the
closed-loop system.
Chapter 10
Exercise 10.1 The system is given by
x = x2 + 4u.
(117)
Find the parameters of the control law in the form given by

uk =
q
X
j=1
dj ukj +
q
X
j=0
a
j ykj +
q
X
bj rkj
(118)
j=0
to meet the following specifications: r = 0, tds 3 s, d 0%, q = 1. Determine the

sampling period Ts such that the phase margin of the FMS will meet the requirement
0.7 rad. Compare simulation results of the step output response of the closed-loop
control system with the assignment.
Solution.
Reference model. Consider the reference model given by x = F (x, r). Take tds = 3 s,
d
= 0 %, then we get d = 0 rad, d = 1, a = d = n = 1.3333 rad/s. By selecting the
45
root s1 = a, we obtain the desired characteristic polynomial s + a. The desired transfer

function is given by
Gdxr (s) =
a
.
s+a
Hence, we get the reference model given by

x = ax + ar = x =
1
[r x],
T
(119)
where T = 1/a.
Continuous-time controller. We have that x(1) is the highest derivative of the output
signal, then = 1. As far as the requirement on the high frequency sensor noise attenuation is not specified, then, for simplicity, take q = = 1 and consider the control law
given by
u + d0 u = k0 [F (x, r) x].
(120)
Hence, the control law has the following form:

u + d0 u = k0 [x ax + ar].
(121)
Closed-loop system. The closed-loop system equations are given by

x = x2 + 4u,
u + d0 u = k0 [F (x, r) x].
(122)
(123)
Denote f (x) = x2 . From (122) and (123), by following through solution of Exercise 4.2,
we get the FMS given by
u + [d0 + k0 g]u = k0 {F (x, r) f (x)},
(124)
where g = gmax = gmin = 4 and F = const, f = const during the transients in (124).
Hence, we obtain that
s + d0 + k0 g
(125)
is the characteristic polynomial of the FMS.

Suppose the FMS (124) is stable. Then, in order to provide the requirement r = 0,
we take d0 = 0. Next, taking 0 in (124) we get u(t) = us (t), where us (t) is a steady
us = uid = g 1 [F (x, r) f (x)].
Substitution of us into the equation of the plant model (117) yields the SMS, that is the
same as the reference model.
46
Selection of continuous-time controller parameters. Let us consider a simplified version for the gain k0 selection. We have d0 = 0, then the gain k0 can be selected such that
k0 gmin = 10, where gmin = gmax = g = 4. Hence, we get k0 = 5/2.
From (119), we have that the natural frequency of the reference model is given by
nd = a = 1.3333 rad/s. Denote
max = d = 1.3333 rad/s,
SM
n
S
Let us consider the ratio
2 =
Fmin
=
MS
d0 + k0 gmin
rad/s.
Fmin
MS
max
SM S
(126)
as a criterion for the degree of time-scale separation between fast and slow motions. Take
2min = 20. Hence, we obtain
2 =
d0 + k0 gmin
2min = 20 =
max
SM S
d0 + k0 gmin
0 + 2.5 4
max =
=
0.375 s.
min
max
20 1.3333
2
SM S
As a result, take = 0.375 s.

From (121), we obtain the block diagram of the controller as shown in Fig. 15 (see
p. 33). Run the Matlab program e10 1 Parameters.m to calculate the continuous-time
controller parameters. Next, run the Simulink program e10 1 Continuous.mdl, to get the
step response of the closed-loop system.
Selection of the sampling period. From (117) we get the following pseudo-continuoustime model:
x(t)
= x2 (t) + 4u(t ),
(127)
where = Ts /2 and Ts is the sampling period.

Closed-loop system. In accordance with (120) and (127), the closed-loop system equations are given by
x(t)
= f (x(t)) + gu(t ),
u(t)
+ d0 u(t) = k0 [F (x(t), r(t)) x(t)].
From the above equations, we get the FMS given by

u(t)
+ d0 u(t) + k0 gu(t ) = k0 {F (x(t), r(t)) f (x(t))},
(128)
where F = const and f = const during the transients in (128). The block diagram
representation of the FMS (128) is shown in Fig. 16.
The corresponding transfer function of the open-loop FMS with time delay is given
by
O
GF M S (s) =
k0 g exp ( s)
,
D(s)
(129)
47
Figure 16: Block diagram of the FMS (128) with delay , where F = const, f = const.
where D(s) = s + d0 . From (129) and the condition given by
O
|GF M S (jc , )| = 1,
we get
|D(jc )| = k0 g = |jc + d0 | = k0 g =
q
c =
k02 g 2 d20
(130)
where c is the crossover frequency on the Nyquist plot of (129).

Denote by the value of the phase margin of the FMS (128). Then, by inspection of
the Nyquist for (129), we get that the requirement
d > 0
(131)
Ts 2[ d ArgD(jc )]/c
(132)
holds if the inequality

is satisfied. Finally, from (130) and (132), by taking into account d0 = 0, we get
Ts
( 2d )
k0 g
(133)
where d < /2.

Take, for example, d = 0.7 rad (that is about 40 degrees of arc), k0 g = 10, and
= 0.375 s. Then, by (133), we get Ts = 0.1742 s.
Digital realization of continuous-time controller. We have the continuous control law
given by
u + d0 u = k0 [x ax + ar].
(134)

2 z1
=
Ts z + 1
[(2 + d0 Ts )z + (d0 Ts 2)]u(z) =
k0 [(2 + aTs )z + (2 aTs )]x(z) + k0 aTs [z + 1]r(z) =
(2 + d0 Ts )uk+1 + (d0 Ts 2)uk =
k0 (2 + aTs )xk+1 + k0 (2 aTs )uk + k0 aTs rk+1 + k0 aTs rk .
[s + d0 ]u(s) = k0 [s + a]x(s) + ar(s) = s =
(135)
48
From (135), the control law given by the difference equation

uk+1 = d1 uk + a
0 yk+1 + a
1 yk + b0 rk+1 + b1 rk
(136)
d0 = 2 + d0 Ts , d1 = (2 d0 Ts )/d0 ,
a
0 = k0 (2 + aTs )/d0 , a
1 = k0 (2 aTs )/d0 ,
b0 = b1 = k0 aTs /d0 .
(137)
results, where
Implementation of control law. From (136), we obtain

uk+1 a
0 xk+1 b0 rk+1 = d1 uk + a
1 xk + b1 rk =
|
{z
=
uk+1
uk+1 a
0 xk+1 b0 rk+1 = uk+1 = uk = a
0 xk + b0 rk + uk .
Finally, we get
uk+1 = d1 uk + a
1 xk + b1 rk ,
uk = uk + a
0 xk + b0 rk .
(138)
From (138), we obtain the block diagram as shown in Fig. 17.
Figure 17: Block diagram of the control law (136) represented in the form (138).
Run the Simulink program e10 1 Discrete.mdl, to get the step response of the closedloop system with zero initial conditions. Make simulations for d = 0.5 rad and d = 1
rad. Compare the simulation results.
Exercise 10.3 The system is given by
x(2) = x + x|x(1) | + {1.5 + sin(t)}u.
(139)
Find the parameters of the control law (118) to meet the following specifications: r = 0,
tds 1 s, d 20%, q = 2. Determine the sampling period Ts such that the phase margin
of the FMS will meet the requirement 0.25 rad. Compare simulation results of the
step output response of the closed-loop control system with the assignment.
Solution.
49
Reference model. From (139), we obtain n = 2, x(2) = f (x(1) , x) + g(t)u where

f (x(1) , x) = x + x|x(1) | and g(t) = 1.5 + sin(t). Hence g [gmin , gmax ] = [0.5, 2.5].
We have n = 2 and x(2) is the highest derivative of the output signal. Therefore, the
reference model will be constructed in the form
x(2) = F (x(1) , x, r).
= tan
,
ln(100/ d )
d =
4
,
tds

the 2 roots s1,2 = 4 j7.8079, where Re(s1,2 ) = d = n cos(d ) and |Im(s1,2 )| =
n sin(d ), we obtain the desired characteristic polynomial
(s s1 )(s s2 ) = s2 + a1 s + a0 ,
(140)
where a1 = 8, a0 = 76.9637. Hence, we can get the reference model in the form of the
type 1 system, this is
x(2) = a1 x(1) a0 x + b0 r,
or type 2 system, this is
x(2) = a1 x(1) a0 x + b1 r(1) + b0 r
(141)
where b0 = a0 and b1 = a1 .
Continuous-time controller. Take q = n = 2 Therefore, consider the control law given
by
2 u(2) + d1 u(1) + d0 u
= k0 {a2 x(2) a1 x(1) a0 x + b1 r(1) + b0 r},
(142)
which can be rewritten, for short, as

2 u(2) + d1 u(1) + d0 u = k0 {F (x(1) , x, r) x(2) }
(143)
where a2 = 1. Hence, the closed-loop system equations are given by

x(2) = f (x(1) , x) + g(t)u,
2 u(2) + d1 u(1) + d0 u = k0 {F (x(1) , x, r) x(2) }.
From the above closed-loop system equations, we get the FMS given by
2 u(2) + d1 u(1) + {d0 + k0 g}u = k0 {F (x(1) , x, r) f (x(1) , x)},
(144)
where F = const, f = const, and g = const during the transients in (144), as well as the
SMS given by
x(2) = F (x(1) , x, r) +
d0
{f (x(1) , x) F (x(1) , x, r)}.
d0 + k0 g(t)
50
Selection of continuous-time controller parameters. Parameters of the continuoustime controller given by (143) can be found by following through solution of Exercise 5.1.
In order to provide the requirement r = 0, take d0 = 0 and let us take, for simplicity,
the gain k0 such that the condition k0 gmin = 10 holds. Hence we get k0 = 20.
From the SMS and reference model equations, it follows that the characteristic polySM S
nomial of the SMS is given by (140), where a0 = a0 = 76.9637. and
2 s2 + d1 s + d0 + k0 g
is the characteristic polynomial of the FMS. Take 3min = 10. Then, from the requirement
3 3min , we obtain
F MS
3 =
1/2
(a0 )
d0 + k0 g
SM S 1/2 =
SM S
(a0 )
(a0 )1/2
q
d0 + k0 gmin
SM S
(a0
)1/2
3min = 10
d0 + k0 gmin
0 + 20 0.5
=
=
0.036 s.
SM
S
10 76.9637
3min (a0 )1/2
q
F MS
s1,2 =
d21 4(d0 + k0 g)
d1
j
= j,
2
2
where we assume that d21 4(d0 +k0 g) < 0 when g = gmax . Take, for instance, Fmin
= 0.6.
MS
Then we can find
q
F M S = cos(F M S ) = ||/ 2 + 2
d1
=
Fmin
= 0.6 =
MS
2 d0 + k0 g
q
d1 2Fmin
d0 + k0 gmax
MS
= 2 0.6 0 + 20 2.5 8.4853.

Take = 0.036 s and d1 = 8.4853.
From (143), we obtain the block diagram of the controller as shown in Fig. 6 (see
p. 18). Run the Matlab program e10 3 Parameters.m to calculate the controller parameters. Next, run the Simulink program e10 3 Continuous.mdl, to get the step response of
the closed-loop system.
The block diagram representation of the FMS (144) is shown in Fig. 18, where
D(s) = 2 s2 + d1 s + d0 .
The corresponding transfer function of the open-loop FMS is given by
O
GF M S (s) =
k0 g
.
D(s)
Take d0 = 0 and g = gmax , then from (145) and

O
|GF M S (jc , )| = 1,
(145)
51
Figure 18: Block diagram of the FMS (144), where F = const, f = const.
where c is the crossover frequency on the Nyquist plot of the FMS (144) given that
g = gmax = 2.5. Hence, we get
|D(jc )| = k0 gmax = |jc (jc + d1 )| = k0 gmax =
2
4 c4 + d21 2 c2 k02 gmax
= 0 =
2
4 2
2 2
2 2
y = c > 0, y + d1 y k0 gmax = 0 =
q
(146)
2
d21 + d41 + 4k02 gmax
y=
22
8.48532 + 8.48534 + 4 202 2.52

=
19712 =
2
2 0.036
c = y 140 rad/s.
Hence, by taking into account that d0 = 0, and, by inspection of the Nyquist plot for
(145), we can found the phase margin of the FMS given by (144), this is
F M S = /2 tan1 (c /d1 )
/2 tan1 (0.036 140/8.4853) 1.033 rad
when g = gmax = 2.5.
Selection of the sampling period. From (139) we get the following pseudo-continuoustime model:
x(2) (t) = f (x(1) (t), x(t)) + g(t)u(t ),
(147)
where = Ts /2, Ts is the sampling period. From the closed-loop system equations given
by (143) and (147), we get the FMS equation given by
2 u(2) (t) + d1 u(1) (t) + d0 u(t) + k0 g(t)u(t )
= k0 {F (x(1) (t), x(t), r(t)) f (x(1) (t), x(t))},
(148)
where F = const, f = const, and g is the frozen parameter during the transients in (148).
The block diagram representation of the FMS (148) is shown in Fig. 19.
The corresponding transfer function of the open-loop FMS with delay = Ts /2 is
given by
O
GF M S (s) =
k0 gej s
.
D(s)
(149)
52
Figure 19: Block diagram of the FMS (148) with delay = Ts /2, where F = const,
f = const, and g = const.
Then, by (146), the crossover frequency c on the Nyquist plot of the FMS (148) can be
found, this is c = y 140 rad/s given that g = gmax = 2.5.

Let us select d such that the inequalities
0 < d < F M S = 1.033 rad
hold. Denote is the phase margin of the FMS given by (148) Then, by inspection of
the Nyquist plot for (149), the condition
0 < d < F M S = 1.033 rad
(150)
holds for all g [gmin , gmax ] = [0.5, 2.5], if the sampling period Ts is selected such that
the condition
0 < Ts 2[ d ArgD(jc )]/c
(151)
is satisfied. Take, for instance, d = 0.25 rad. From (151), by taking into account d0 = 0,
we get
0 < Ts [ 2d 2 tan1 (c /d1 )]/c
[ 2 0.25 2 tan1 (0.036 140/8.4853)]/140 0.0112 s.
Take for numerical simulation Ts = 0.0112 s.
Digital realization of continuous-time controller. From (142), we obtain
[2 s2 + d1 s + d0 ]u(s)
= k0 [a2 s2 a1 s a0 ]x(s) + k0 [b1 s + b0 ]r(s).
(152)
Then, from (152), by the Tustin transformation

s = 2(z 1)/[Ts (z + 1)],
the discrete-time control law in the form of the difference equation
uk = d1 uk1 + d2 uk2 + a
0 xk + a
1 xk1 + a
2 xk2
+b0 rk + b1 rk1 + b2 rk2
(153)
53
results, where
d0 = 42 + 2d1 Ts + d0 Ts2 ,
d1 = {82 2d0 Ts2 }/d0 ,
d2 = {42 2d1 Ts + d0 Ts2 }/d0 ,
a
0 = k0 {4a2 + 2a1 Ts + a0 Ts2 }/d0 ,
a
1 = 2k0 {4a2 a0 Ts2 }/d0 ,
a
2 = k0 {4a2 2a1 Ts + a0 Ts2 }/d0 ,
b0 = k0 {2b1 Ts + b0 T 2 }/d0 ,
s
b1 = 2k0 b0 T 2 /d0 ,
s
b2 = k0 {2b1 Ts b0 T 2 }/d0 .
s
(154)
uk+2
a0 xk+2 b0 rk+2 d1 uk+1
a1 xk+1 b1 rk+1 = |d2 uk + a
{z
2 xk + b2 rk
}
=u2,k+1
= uk+1 a
0 xk+1 b0 rk+1 = u2,k + d1 uk + a
1 xk + b1 rk =
{z
=u1,k+1
uk = u1,k + a
0 xk + b0 rk
From the above, we get
u1,k+1 = u2,k + d1 uk + a
1 xk + b1 rk ,
u2,k+1 = d2 uk + a
2 xk + b2 rk ,
uk = u1,k + a
0 xk + b0 rk .
(155)
Then, from (155), the block diagram can be obtained as shown in Fig. 20.
Figure 20: Block diagram of the control law (153).

Run the Simulink program e10 3 Discrete.mdl, to get the step response of the closedloop system with zero initial conditions. Make simulations for d = 0.5 rad and d = 0.175
rad. Compare the simulation results.
54
Chapter 11
Exercise 11.1 Construct the reference model in the form of the 2nd-order difference
equation
yk =
n
X
adj ykj +
j=1
n
X
bdj rkj
(156)
j=1
based on the Z-transform in such a way that the step output response with zero initial
conditions meets the requirements tds 1 s, d 0 % given that the sampling period is
Ts = 0.05 s. Compare simulation results with the assignment.
Solution.
By following through the solution of Exercise 2.1, let us construct the desired continuoustime transfer function Gdyr (s). Take tds = 1 s, d = 0 %, then by
= tan
,
ln(100/ d )
d =
4
,
tds
we get d = 0 rad, d = 1, d = n = 4 rad/s. By selecting the 2 roots s1 = s2 = 4, we

obtain the desired characteristic polynomial s2 + 8s + 16. Consider the desired transfer
function given by
Gdyr (s) =
s2
16
16
=
.
+ 8s + 16
(s + 4)2
(157)
Let us denote a = n = 4 and expand Gdyr (s)/s as

A
B
C
a2
=
+
+
s(s + a)2
s s+a (s+a)2
(A+B)s2 +(2Aa+Ba+C)s+Aa2
=
.
s(s + a)2
Hence, we obtain A = 1, B = 1, and C = a. Next, by the Z-transform of Gdyr (s)
preceded by a ZOH, we get the desired pulse transfer function given by
d
Hyr
(z)
"
"
a2
z1
=
Z L1
z
s(s + a)2
)
t=kTs
B
C
A
z1
Z L1
+
+
=
z
s s+a (s+a)2
=
bd1 z
z2
ad1 z
bd2
ad2
)
t=kTs
(158)
where
bd1 = 1 eaTs aTs eaTs ,
bd2 = eaTs [eaTs 1 + aTs ],
ad1 = 2eaTs , ad2 = e2aTs .
(159)
55
Hence, from (158), we obtain the desired difference equation, this is

yk = ad1 yk1 + ad2 yk2 + bd1 rk1 + bd2 rk2 .
(160)
Run the Matlab program e11 1 Parameters.m in order to calculate the reference model
parameters. Next, run the Simulink program e11 1.mdl to get a plot for the output
response of (160). Then, from inspection of the plot, determine the steady-state error for
input signals of type 0 and 1, respectively.
Exercise 11.4 Determine by the Z-transform the discrete-time model of the system
y (2) y = 2u
(161)
preceded by ZOH. Design the control law

uk =
n
X
j=1
dj ukj + 0 yk +
n
X
j=1
adj ykj +
n
X
j=1
bdj rkj .
(162)
to meet the following specifications: tds 2 s; d 0%; 10. Compare simulation

results of the step output response of the closed-loop control system with the assignment.
Solution.
Difference equation of the plant. We have the system (161) preceded by ZOH. Hence,
we have y(s) = Gyu (s)u(s), where
Gyu (s) =
2
2
=
.
s2 1
(s + 1)(s 1)
Let us expand Gyu (s)/s as

2
A
B
C
=
+
+
s(s + 1)(s 1)
s s+1 s1
(A+B +C)s2 +(C B)sA
=
.
s(s + 1)(s 1)
We get A = 2, B = 1, and C = 1. Next, by the Z-transform of Gyu (s)/s, we obtain the
pulse transfer function given by
(
"
2
z1
Z L1
Hyu (z) =
z
s(s + 1)(s 1)
b1 z + b2
,
= 2
z a1 z a2
)
t=kTs
(163)
where
b1 = b2 = eTs + eTs 2,
a1 = eTs + eTs ,
a2 = 1.
(164)
56
Hence, from (163), we obtain the difference equation of the plant, this is
yk = a1 yk1 + a2 yk2 + b1 rk1 + b2 rk2 .
(165)
Reference model. By following through the solution of Exercise 11.1, let us construct the
desired continuous-time transfer function Gdyr (s). Take tds = 2 s, d = 0 %, then we get
d = 0 rad, d = 1, d = n = 2 rad/s. By selecting the 2 roots s1 = s2 = 2, we obtain
the desired characteristic polynomial s2 + 4s + 4. The desired transfer function can be
constructed in the following form:
Gdyr (s) =
4
4
=
.
s2 + 4s + 4
(s + 2)2
Denote a = n = 2. By the Z-transform of Gdyr (s) preceded by a ZOH, we get the desired
pulse transfer function given by (158), (159). Hence, the desired difference equation is
given by (160).
Control law. Consider the control law given by
uk = d1 uk1 + d2 uk2
+0 {yk + ad1 yk1 + ad2 yk2 + bd1 rk1 + bd2 rk2 }.
(166)
The closed-loop system equations have the following form:

yk =
2
X
aj ykj +
j=1
uk =
2
X
2
X
bj ukj ,
(167)
j=1
2
X
dj ukj + 0 yk +
j=1
adj ykj +
j=1
2
X
bdj rkj .
j=1
(168)
Substitution of (167) into (168) yields

yk =
2
X
aj ykj +
j=1
uk =
2
X
2
X
bj ukj ,
(169)
j=1
[dj 0 bj ]ukj +0
j=1
2
X
{[adj aj ]ykj +bdj rkj },
(170)
j=1
where the FMS is governed by

uk =
2
X
[dj 0 bj ]ukj +0
j=1
2
X
{[adj aj ]ykj +bdj rkj },
(171)
j=1
where yk = const during the transients in the system (171).

The controller parameters 0 and dj can be selected such that
0 = [b1 + b2 ]1 ,
d1 = 0 b1 ,
d2 = 0 b2 ,
(172)
57
where b1 , b2 are defined by (164). Hence, we get the deadbeat response of the FMS.
Finally, take the sampling period such that
tds
q
2
=
= 0.1 s.
2 10
Ts =
(173)
Then, the parameters of the control law (166) can be found by (159), (164), and (172).
Implementation of control law. The control law (166) can be rewritten as
uk+2 = d1 uk+1 +d2 uk yk+2 +ad1 yk+1 +ad2 yk +bd1 rk+1 +bd2 rk ,
uk = 0 uk .
(174)
(175)

uk+2 d1 uk+1 + yk+2 ad1 yk+1 bd1 rk+1 = d2 uk + ad2 yk + bd2 rk =
|
{z
=u2,k+1
uk+1 + yk+1 = u2,k + d1 uk + ad1 yk + bd1 rk =

|
{z
=u1,k+1
uk = yk + u1,k
Finally, we get
u1,k+1 = u2,k + d1 uk + ad1 yk + bd1 rk ,
u2,k+1 = d2 uk + ad2 yk + bd2 rk ,
uk = u1,k yk , uk = 0 uk .
(176)
From (176), we obtain the block diagram as shown in Fig. 21.
Figure 21: Block diagram of the control law (166) represented in the form (176).
Run the Matlab program e11 4 Parameters.m in order to calculate the reference
model parameters. Next, run the Simulink program e11 4.mdl to get a plot for the
output response of the closed-loop system. Make simulations for = 7, = 20. Compare
the simulation results.
58
Chapter 12
Exercise 12.1 Consider the system (60) preceded by ZOH where a = 3. Design the
discrete-time control law given by
uk =
q
X
dj ukj + (Ts )[Fk yk ],
(177)
j=1
to meet the following specifications: r = 0, tds 2 s, d 5%. Run a computer simulation

of the closed-loop system with zero initial conditions. Compare simulation results of the
output response with the assignment for r(t) = 1, t > 0.
Solution.
By following through solution of Exercise 7.1, the invertibility and internal stability
of the system (60) are verified for a = 3, where the relative degree of (60) is = 2. From
(63), we have y 2 = 2y2 + z + g ? u, where g ? = 1 and g ? is so called a high-frequency gain
of the system (60) (or for linear systems that is called as the -th Markov parameter m ,
that is g ? = m = m2 = 1).
Control law structure. Take, for simplicity, the control law given by (177) with q =
= 2. Then (177) can be rewritten in the following form
uk = d1 uk1 + d2 uk2
+0 {yk + ad1 yk1 + ad2 yk2 + bd1 rk1 + bd2 rk2 }.
(178)
Sampling period. Take, for instance, = 20, where is the required degree of timescale separation between the fast and slow modes in the closed-loop system. Then, the
sampling period Ts can be selected by
tds
q
2
=
= 0.05 s.
2 20
Ts =
(179)
Reference model. By following through the solution of Exercise 11.1, let us construct
the desired continuous-time transfer function Gdyr (s). Take tds = 2 s, d = 5 %, then we
get d = 0.8092 rad, d = 0.6901, n = 2.8981 rad/s, d = 2 rad/s. By selecting the 2
roots s1,2 = 2 j2.0974, we obtain the desired characteristic polynomial s2 + 4s + 8.399.
The desired transfer function can be constructed in the following form:
Gdyr (s) =
8.399
.
s2 + 4s + 8.399
By the Z-transform of Gdyr (s) preceded by a ZOH with the sampling period Ts = 0.05 s,
we get the desired pulse transfer function Gdyr (z) given by
Gdyr (z) =
bd1 z + bd2
z 2 ad1 z ad2
(180)
59
where bd1 = 0.009816, bd2 = 0.009182, ad1 = 1.8, and ad2 = 0.8187.
Control law parameters. Consider the Euler polynomial E (z) for = 2, that is
E (z) = z + 1 (see p. 62).
Assume that the sampling period Ts is small enough to provide the required degree of
time-scale separation between the fast and slow modes in the closed-loop system. Then,
consider the discrete-time approximate model of the input-output mapping that corresponds to continuous-time linear system (60) preceded by a ZOH with high sampling
rate, that is the following difference equation
yk =
=2
X
j=1
a,j ykj +
Ts
=2
X
j=1
g?
,j
[ukj + fkj ],
!
(181)
where
yk = y(t)|t=kTs ,
uk = u(t)|t=kTs , fk = f (x1 (t), x3 (t))|t=kTs ,
(z 1) = z a,1 z 1 a,2 z 2 a, ,
!
.
a,j = (1)j+1
( j) ! j !
Denote
B(z) = b1 z 1 + b2 z 2 + + b
T
= g ? s E (z)
!
2
T
= g ? s E2 (z) = 0.00125(z + 1).
2
(182)
In order to get the deadbeat response of the FMS, the controller parameters d1 , d2 and
0 are selected such that
0 = [b1 + b2 ]1 = 400,
d1 = 0 b1 = 0.5, d2 = 0 b2 = 0.5.
Implementation of control law. The implementation of the control law (178) was
discussed in Exercise 11.4, and the block diagram of the control law is as shown in Fig. 21
(see p. 57).
Run the Matlab program e12 1 Parameters.m in order to calculate the control law
parameters. Next, run the Simulink program e12 1.mdl to get a plot for the output
response of the closed-loop system. Redesign controller and make simulations for = 15,
= 30, = 40. Compare the simulation results.
Chapter 13
Exercise 13.1 Prove that n (z) are the eigenfunctions of the system
x
2x
(z, t) = 2 2 (z, t) + c(t)x(z, t) + w(z, t) + u(z, t),
t
z
(183)
60
where [x(z, t)/z]|z=0

= 0, [x(z, t)/z]|z=1 = 0 arethe boundary conditions, 2 = 1,
and n (z) = 0n cos( n z), n = n2 2 , 00 = 1, 0n = 2 n = 1, 2, . . ..

Solution.
Consider the homogeneous one-dimensional heat equation7
x
2x
(z, t) = 2 (z, t)
t
z
(184)
with the boundary conditions given by

[x(z, t)/z]|z=0 = 0,
[x(z, t)/z]|z=1 = 0.
(185)
In accordance with the method of separating variables, take

x(z, t) = x(t)(z).
(186)
From (184), we get

2 x(z, t)/z 2 = x(t)[d2 (z)/dz 2 ].
x(z, t)/t = (z)[dx(t)/dt],
(187)
Hence, from (184) and (187), we obtain

dx(t)/dt
d2 (z)/dz 2
=
,
x(t)
(z)
(188)
where (188) holds for all t and z. Then

dx(t)/dt
d2 (z)/dz 2
=
= ,
x(t)
(z)
(189)
where = const. Hence, from (189), we obtain

d2 (z)
(z) = 0,
dz 2
dx(t)
x(t) = 0,
dt
(190)
(191)
In accordance with (185) and (186), we have
d(z)
x(t)
= 0,
dz z=0
d(z)
x(t)
= 0,
dz z=1
(192)
for all x(t). Then
d(z)
= 0,
dz z=0
(193)
d(z)
= 0,
dz z=1
(194)
7
From this point the solution can be done by following, for instance, Chapter 11 of the book: Kreyszig
E. Advanced engineering mathematics, 8th ed., New York: John Wiley & Sons, Inc., 1999.
61
If > 0, then (z) = Aez + Bez is the general solution of (190). From (193) and
(194), it follows that (z) 0 is the unique solution of (190), (193), and (194).
If = 0, then (z) = az + b is the general solution of (190), where
d(z)
= a.
dz
(195)
From (193), (194), and (195), it follows that b 6= 0 and a = 0. Denote 0 (z) = 00 = b = 1.
Take = p2 < 0, p > 0, and from (190), (191) we get
d2 (z)
+ p2 (z) = 0,
dz 2
dx(t)
+ p2 x(t) = 0.
dt
(196)
(197)
Then (z) = A cos(pz) + B sin(pz) is the general solution of (196), where

d(z)
= pA sin(pz) + pB cos(pz).
dz
(198)
From (193) and (198), it follows that B = 0. Take A 6= 0 since otherwise (z) 0. From
(194) and (198), it follows that sin(p) = 0. Hence p = n for all n = 1, 2, . . ..
We have Rinfinitely many different solutions given by n (z) = 0n cos(nz). Let us
z=1 2
assume that z=0
n (z)dz = 1. Then
(0n )2
Z z=1
z=0
cos (nz)dz =
((0n )2 /(n))
Z y=n
y=0
cos2 (y)dy = (0n )2 /2 = 1.
Hence 0n = 2 for all n = 1, 2, . . ..

So, for all n = 0, 1, . . ., we get that n (z) = 0n cos(nz), n = [n]2 are eigenfunctions
and eigenvalues, respectively, of the boundary value problem consisting of (196), (193),
and (194) (that is called as a Sturm-Liouville problem).
The solution of (197) is given by xn (t) = xn (0)en t for all n = 0, 1, . . .. As a result,
we get that
xn (z, t) = xn (t)n (z) = xn (0)en t 0n cos(nz),
n = 0, 1, . . .
are the eigenfunctions of the problem (184), (185), corresponding to the eigenvalues n .
Auxiliary Material (The optimal coefficients based on ITAE criterion)

The optimal coefficients based on ITAE criterion for a step input. The optimal coefficients of the normalized transfer function8
Gdyr (s) =
8
ad0
sn + adn1 sn1 + + ad1 s + ad0
(199)
Some additional details concerned with the optimal coefficients of the normalized transfer function
based on ITAE criterion can be found in the following references: Dorf, R.C. and Bishop, R.H. Modern
control systems, 9th ed., Upper Saddle River, NJ: Prentice Hall, 2001; Franklin, G.F., Powell, J.D. and
Emami-Naeini A. Feedback control of dynamic systems, 4th ed., Prentice Hall, 2002; Kuo, B.C. and
Golnaraghi, F. Automatic control systems, 8th ed., New York: John Wiley & Sons, Inc., 2003.
62
based on the integral of time multiplied by absolute error (ITAE) criterion

IT AE =
Z
0
t|e(t)| dt
(200)
for a step input are given by

s + n ,
s2 + 1.4n s + n2 ,
s3 + 1.75n s2 + 2.15n2 s + n3 ,
s4 + 2.1n s3 + 3.4n2 s2 + 2.7n3 s + n4 ,
s5 + 2.8n s4 + 5.0n2 s3 + 5.5n3 s2 + 3.4n4 s + n5 ,
s6 + 3.25n s5 + 6.60n2 s4 + 8.60n3 s3 + 7.45n4 s2 + 3.95n5 s + n6 ,
where n is the natural frequency.
The optimal coefficients based on ITAE criterion for a ramp input. The optimal
coefficients of the normalized transfer function
ad1 s + ad0
Gdyr (s) = n
(201)
s + adn1 sn1 + + ad1 s + ad0
based on the ITAE criterion (200) for a ramp input are given by
s2 + 3.2n s + n2 ,
s3 + 1.75n s2 + 3.25n2 s + n3 ,
s4 + 2.41n s3 + 4.93n2 s2 + 5.14n3 s + n4 ,
s5 + 2.19n s4 + 6.50n2 s3 + 6.30n3 s2 + 5.24n4 s + n5 .
Auxiliary Material (Euler polynomials)

E1 (z) = 1,
E2 (z) = z + 1,
E3 (z) = z 2 + 4z + 1,
E4 (z) = z 3 + 11z 2 + 11z + 1,
E5 (z) = z 4 + 26z 3 + 66z 2 + 26z + 1.
Auxiliary Material (Describing functions)

Let us consider a symmetric nonlinearity9 v = (z) as shown in Fig. 22. Assume that
the nonlinearity input is z(t), where z(t) = A sin(t). Consider the output v(t) of the
nonlinearity represented by its Fourier series
v(t) = b1 sin(t) + c1 cos(t) +
{bk sin(kt) + ck cos(kt)}.
k=2
9
The angle defines the slope k of the backlash hysteresis, that is k = tan().
(202)
63
In accordance with the describing function method, the nonlinearity v = (z) can by
replace by its quasi-linear approximation. Hence, we get a sinusoidal describing function10
Gn (j, A) = q1 + jq2 , where q1 = b1 /A and q2 = c1 /A.
Figure 22: Nonsmooth nonlinearities.
Nonlinear function
Describing function Gn (j, A) = q1 + jq2
Saturation
2
2M 1
,
q1 =
sin
+
1
A
A
A
q2 = 0, A
Relay with dead zone
4M
q1 =
A
Ideal relay
Hysteresis
q1 =
4M
q1 =
A
2
, q2 = 0, A
A
4M
,
A
2
4M
, q2 =
, A
A
A2
Backlash hysteresis
q1 =
2
+2 1
A
10
k
2
+ sin1 1
2
A
q2 =
q2 = 0
A/
A
1)
4k (
, k = tan(), A
(A/)2
y = sin1 (x) denotes the inverse sine of x, i.e., sin(y) = x.
Auxiliary Material (The Laplace Transform and the Z-Transform)

f (t)
1
t
t2
2!
t3
3!
eat
teat
sin t
cos t
eat sin t
eat cos t
F (s) = L[f (t)]
F (z) = Z[f (kTs )]
1
s
1
s2
1
s3
1
s4
1
s+a
a
s(s + a)
1
(s + a)2
1
(s + a)3
s2 + 2
s
2
s + 2
(s + a)2 + 2
s+a
(s + a)2 + 2
ba
(s + a)(s + b)
s
(s + a)2
a
s2 (s + a)
a2
s(s + a)2
(b a)s
(s + a)(s + b)
z
z1
Ts z
(z 1)2
Ts2 z(z + 1)
2! (z 1)3
3
Ts z(z 2 + 4z + 1)
3! (z 1)4
z
, d = eaTs
zd
(1 d)z
(z 1)(z d)
zdTs
(z d)2
z(z + d)dTs2
2! (z d)3
z sin Ts
z 2 2z(cos Ts ) + 1
z(z cos Ts )
2
z 2z(cos Ts ) + 1
zd sin Ts
2
z 2zd(cos Ts ) + d2
z 2 zd cos Ts
z 2 2zd(cos Ts ) + d2
(d c)z
, c = ebTs
(z d)(z c)
z[z d(1 + aTs )]
(z d)2
z[(aTs 1 + d)z + (1 d aTs d)]
a(z 1)2 (z d)
z[z(1 d aTs d) + d2 d + aTs d]
(z 1)(z d)2
z[z(b a) (bd ac)]
(z d)(z c)
64
65
Errata for the book

Design of nonlinear control systems with the highest derivative in feedback, 2004.
Page
Line
It is printed
Should be printed
30
5 from top
+6.30n2 s2 +
+6.30n3 s2 +
60
12 from top
V (u)
dt
dV (u)
dt
74
5 from top
uN ID = (X, R, w)
U1s (t) = U1N ID (t) = [uN ID , 0,

, 0]T , U1N ID = (X, R, w)
74
14 from top
w, w)
+(X,
R, R,
w, w)
(X,
R, R,
91
1 from below
Lduf ()
Gduf (s)
92
2 from top
Lduf ()
Gduf (s)
92
10 from top
Guf (s)
Gduf (s)
97
4 from below
Luf ()
Luns ()
102
15 from top
Luns ()
Luf ()
113
14 from top
x(2) = x(1) +x+5u
x(2) = x(1) +x+5u+w
114
2 from below
184
13 from top
ns
min
= 102
{T21 [r2 r] r(1) }
ns
min
= 103
(1)
{T21 [r2 x2 ] x2 }
188
9 from below
u1 + d10 u =
u1 + d0 u1 =
188
3 from below
bd
1
T2
ad
1
T
200
2 from below
216
4 from top
y1 = x1 +x2 , y2 = x1 +2x2
y1 = x1 , y2 = x2
250
16 from top
( ) 0.35 rad
0.7 rad
250
9 from below
( ) 0.2 rad
0.7 rad
251
9 from top
( ) 0.3 rad
0.7 rad
251
19 from top
( ) 0.25 rad
0.5 rad
251
12 from below
( ) 0.25 rad
0.7 rad
251
6 from below
( ) 0.2 rad
0.7 rad
252
2 from top
( ) 0.3 rad
0.7 rad
310
2 from below
sampling period
sampling rate
HF A
HF A
(1)
(2)
2i ui
(1)
+ di1 i ui
+ di0 ui
(1)
(2)
2i u
i
(1)
+ di1 i u
i
+ di0 u
i
311
11 from below
20%
d 0%
324
11 from top
( ) 0.2 rad
0.7 rad
324
7 from below
( ) 0.3 rad
0.7 rad

SSM For Design of Nonlinear Control Systems PDF

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Student Solutions Manual for

Design of Nonlinear Control Systems

c 2007 by Valery D. Yurkevich

Student Solutions Manual for Design of nonlinear control systems . . .

Student Solutions Manual for Design of nonlinear control systems . . .

Determine the region of such that X = 0 is an exponentially stable equilibrium point

kg(X)k2 = (2x21 + x22 )1/2 (2x21 + 2x22 )1/2 = 2 kXk2 .

Denote c5 = 2. Then, from the Lyapunov equation

where min (P ) = 0.382 and max (P ) = 2.618. Hence, if the inequalities

hold, then X = 0 is an exponentially stable equilibrium point of the system (1).

Student Solutions Manual for Design of nonlinear control systems . . .

From (3), we have

The characteristic polynomial of the system is given by

is obtained, where x1 = const. The FMS is unstable.

Student Solutions Manual for Design of nonlinear control systems . . .

we get d = 0 rad, d = 1, and d = n = 0.6667 rad/s. By selecting the 2 roots

follows. Denote e(t) = r(t) y(t).

z = tan1 (x) denotes the arctangent of x, i.e., tan(z) = x.

Student Solutions Manual for Design of nonlinear control systems . . .

From Gdyr (s), the reference model

= 1/2, where eacc

Student Solutions Manual for Design of nonlinear control systems . . .

where y(t) = x(t). The reference model for x(t) is assigned by

Consider the control law

where k0 = 40, q = 2, = 0.1 s, d1 = 3. Determine the fast-motion subsystem (FMS)

Student Solutions Manual for Design of nonlinear control systems . . .

is the SMS equation.

Denote x(1) = x1 and x(2) = x2 . Consider the extended system given by

Student Solutions Manual for Design of nonlinear control systems . . .

and SMS given by 3 min / = 30.

Figure 4: Simulation results of the closed-loop system (13).

is the characteristic equation of the FMS for x(2) where

Student Solutions Manual for Design of nonlinear control systems . . .

= min = 9, and the state matrix of the FMS is given by

Since d21 4min > 0, then from (15) we obtain

is the state matrix of the SMS, where

By solving the Lyapunov equations

Student Solutions Manual for Design of nonlinear control systems . . .

while that of the reference model is

Student Solutions Manual for Design of nonlinear control systems . . .

+k0 F (x2 , x1 , r(1) , r) f (x1 , x2 ) .

Student Solutions Manual for Design of nonlinear control systems . . .

+k0 F (x2 , x1 , r(1) , r) f (x1 , x2 ) .

+k0 F (x2 , x1 , r(1) , r) f (x1 , x2 ) .

Student Solutions Manual for Design of nonlinear control systems . . .

Substitution of us into (18) yields the SMS equation given by

2 u(2) + d1 u(1) + d0 u = k0 {x(2) 2x(1) x + r}.

Student Solutions Manual for Design of nonlinear control systems . . .

max |F (X, R) f (X, w)|

From the requirement

Student Solutions Manual for Design of nonlinear control systems . . .

Let us take k0 = 100.

is the characteristic equation of the SMS, where a0

= 2 0.5 1 + 100 2.5 15.84.

Student Solutions Manual for Design of nonlinear control systems . . .

Figure 6: Block diagram of (30) represented in the form (31).

results, where the low-pass filter (LPF) is given by 1/(LP F s + 1) and

Student Solutions Manual for Design of nonlinear control systems . . .

x(2) = F (x(1) , x, r).

we get d = 0.9383 rad, d = 0.5912, d = 4 rad/s and n = 6.7664 rad/s. By selecting

Student Solutions Manual for Design of nonlinear control systems . . .

is the characteristic equation of the SMS, where a0

From the characteristic equation of the FMS, we get