EE 650A - Assignment 6 (2020-21-I)

Q1.
Consider a system described by following state equations :

ẋ = Ax + Bu y = Cx
   
1 1 1 0
where the system matrices are A = 0
 −1 0 , B = 1, C = [1 1 0].
 
0 0 1 1

A. State on the controllability of the system.

B. Represent the system in controllable canonical form.

C. Where are the open-loop poles of the system? Is the system stable?

D. Design a state-feedback controller to place the closed loop poles at -2, -2, and -2. Use Bass-Gura approach.

Q2.
Consider a system described by following state equations :

ẋ = Ax + Bu y = Cx
   
1 1 1 1
where the system matrices are A = 0 −1 0, B = 0, C = [0 1 1].
0 0 1 1

A. State on the controllability of the system.

B. Design a state-feedback controller to place the closed loop poles at -1, -2, and -3.

Q3.
Consider the following double integrator system:

r̈ = u

where r̈ is acceleration of a vehicle and u is the control action.

A. Express the system in state space form where [r, ṙ]T are two states and r is the output.

B. Is the system controllable?

C. Determine the open-loop poles. Is the system stable?

D. Design a state-feedback controller to place closed loop poles at -1, and -2.