Exercise 1.

Queue admission control (10pt)

A fluid model of a queuing system was proposed by Agnew and is given by the nonlinear
di↵erential equation
q
q̇ = µmax
q+1
where

• q 2 R is the queue length

• 2 R is the arrival rate to be used as a control input
• µmax is a positive parameter representing the so-called maximum service rate.

To avoid delays created by temporary overloads, arrivals can be rejected by tuning the
arrival rate based on the length q of the queue. To design such a queue admission
control, provide an answer to the following questions:

a. (2pt) Let q > 0 be a constant average queue length around which the system
operates. Compute the constant arrival rate such that (q, ) is an equilibrium
pair for the queuing system above.
b. (2pt) Linearize the queueing system about the equilibrium pair (q, ), namely give
the expression of A1 , B1 in the linear model
ẋ1 = A1 x1 + B1 v
where x1 := q q and v := .
Hint You can answer this question even if you did not answer Question a.
c. (2pt) To reject constant disturbances, the system
ẋ1 = A1 x1 + B1 v
is connected in series with the integral controller
ẋ2 = u
v = x2
where x2 2 R is the state variable of the controller and u 2 R is a new control input.
Determine the matrices A, B, of the series connection
ẋ = Ax + Bu

x1
where x = .
x2
d. (4pt) After checking whether or not the open-loop system ẋ = Ax + Bu is asymp-
totically stable, design a state feedback control u = Kx such that the eigenvalues
of the closed-loop system ẋ = (A BK)x coincides with the roots of the equation
s2 + 2!0 s + !02 = 0, with !0 = 2.7.
Alternative If and only of you did not answer Question c. use
 
0 0 1
A= 1 , B=
1 6
0