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# EE C128 / ME C134 Fall 2014 HW 10 UC Berkeley

HW 10
Posted: Nov. 20, 2014
Due: Dec. 4, 2014 in class

## 1. Controller and observer design

Consider the following plant:

s + 15
G(s) = .
(s + 1)(s + 2)(s + 4)
(a) Design a state feedback controller to yield a 16.3% overshoot and settling time of 4 s by choosing
the third desired closed-loop pole to cancel the closed-loop zero.
(b) Design a Luenberger observer for the plant. The observer should respond 10 times faster than
the controlled closed-loop system. Place the two dominant poles 10 times further (in the real
and imaginary directions) than the dominant poles of the controlled system. Place the third
pole 10 times further from the origin than the real part of the dominant poles. You may find
(c) Why do we design the observer to respond faster than the controlled closed-loop system?
(d) Why is an observer sometimes needed?

## 2. Controllability and observability

Consider the following system
   
8 −5 2 0 5 0 1
−2
1 0 0 0  0 0
ẋ =  x +   u,
 
0 −3 −6 0 0 0 0
0 −3 4 0 0 0 0

## where x = [α β φ ω]T and u = [x y θ]T .

(a) You carelessly left your setup outside last night and it was struck by lightning during the storm.
One of the actuators for a control input was damaged. Which actuator, if damaged, would have
to be replaced? What if two actuators were damaged? That is, which control variables are
necessary for complete control of the system and which are not?
(b) Your professor is in a funding rut and wants you to lend out as many of your sensors as
possible to your lab mates. Which sensor(s) do you need to keep? That is, what is the minimal
combination of states which must be measured for observability?

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EE C128 / ME C134 Fall 2014 HW 10 UC Berkeley

## 3. Fun with controllability

Consider the following system
   
0 1 0 0 0
2 −3 0 0 1
  
ẋ =   x +   u,

0 0 5 0 0
0 0 −2 −1 0
h i
y = 1 2 −8 1 x.

## (a) Is the system completely controllable?

(b) Derive a state feedback controller for the controllable states. You can use any transient require-
ments you like but the controller must stabilize this subsystem.
(c) What is going on? Draw a block diagram of the entire system including the controller.
(d) Suppose the system is subject to initial condition x0 = [1 0 0 0]T . What should you see in the
response? What if x0 = [0 1 0 0]T , [0 0 1 0]T , or [0 0 0 1]T ?
(e) Simulate the responses for the above initial conditions. Discuss what you see.

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