Assignment 2021

Q1. The normalized equations of motion for an inverted pendulum at angle θ on a cart are,
 =  +u, x= - -u
Where x is the cart position, and the control input u is force acting on the cart.
a) With the state defined as x = x =  ,  , x, x  , Find the feedback gain K that places the
closed- loop poles at s = −1, −1, −1 ± 1j..
(b) Use controller canonical approach to select the closed loop poles at −1, −1, −1 ± 1j.
(c) Design a full-order estimator with estimator-error poles at s = −12 ± j12.and s=-20 ± j20
For parts (a) through (c), assume that β =0.5
Q2 Suppose a DC drive motor with motor current u is connected to the wheels of a cart in order
to control the movement of an inverted pendulum mounted on the cart. The linearized and
normalized equations of motion corresponding to this system can be put in the form
 = + v+ u
v = − v− u
Where, θ = angle of the pendulum, and v = velocity of the cart.
a) We wish to control θ by feedback to u of the form,
u = -K1 − K 2 − K3 v
Find the feedback gains so that the resulting closed-loop poles are located at −1, −1 ± j√3.
b) Design a full-order estimator with estimator-error poles at −2 ,-2 and −2
(ii) Using Ackman formula
(iii) Using Observability matrix
Q3 Using the PID tuner program compares the PID controllers designed from different design
approaches for the plant model
1
G(s) =
( s + 1)
6

and find a good PID controller.

Q4 (a) Define singular point. Draw the phase trajectories for different eigenvalue and singular
points.
(b) determine the equilibrium points of the system and hence determine the type of
equilibrium
f1 = x1 = x12 − x1x2
f 2 = x2 = − x2 + x12
Q5 Consider the optimal control problem

min  (x T Qx + u 2 )dt subj. to x=Ax+bu x(0)=x 0
0
 1 0  0 0  1 
Where Q=  2
, A=   , b=  
0 q   1 0 0 

and q is an arbitrary positive number. The observability and controllability criteria

can be assumed to hold.

(a) Determine the optimal feedback control and optimal cost.

(b) Determine the closed loop dynamics matrix. Consider the closed loop system, what does the
elements of x(t) converge to and how is this convergence affected when q tends to zero
Q6 (a) Show that the describing function for the relay with deadzone a is given by

0 A<a

N( A ) =  4 a2
 1− 2 A a
 A A
(a) Investigate the stability of the system and hence determine the limit cycle and amplitude
of oscillation if exist
Show that the describing function for the relay with deadzone a is given by
Q7 (a) Consider the system shown in the fig. Q7

Fig.Q7
(b) Show that the describing function for the relay with Hesterisis is given by equation below
and hence investigate the stability of the system

 M = 2, h = 1

 8 8
 N( A ) =  A 2 A − 1 − j  A 2 ( A  1)
2


Q8. The linearized equations of motion for a satellite are, where
  x1   0 1 0 0   x1  0 0
 x  12 0 0 4   x2  1 0   u1 
 2 =  +
 x3   0 0  
0 1   x3  0 0   u2 
      
 x4   0 −4 0 0   x4   0 1
, .
 x1 
 
1 0 0 0   x2 
y= 
0 0 1 0   x3 
 
 x4 
The inputs u1 and u2 are the radial and tangential thrusts, the state variables x1 and x3 are the
radial and angular deviations from the reference (circular) orbit, and the outputs y1 and y2 are
the radial and angular measurements, respectively.
(a) Show that the system is controllable using both control inputs.
(b) Show that the system is controllable using only a single input. Which one is it?
(c) Show that the system is observable using both measurements.
(d) Show that the system is observable using only one measurement. Which one is it?

Q9 A linearized model of simple pendulum considered is given by

 0 1
 x1     x1  ; y = [1 0]  x1 
x  =  g   x 
 2 − 0  x2   2
 l 
Let g = 10 (m/s2) and l = 1 (m).

(a) Design a full-order state observer with eigenvalues at -5, -1, to derive an estimate xˆ (t ) of
the state x(t).
(b) Assume that the system is driven by a zero-mean Gaussian, white-noise wand the
measurement noise v is also zero-mean Gaussian, white noise, where w and v are
uncorrelated in time with covariance’s Q = I and R = 10-2 , respectively.
The state-space description of the system is now x = Ax + Bu + Gw, y = Cx + v, where G
= [1,0]T . Design an optimal observer and compare with (a).
0 1 0 

Q10 Consider the system defined by x&= Ax; Where A = 0 0 1

 
 -1 -2 -a 
a = adjustable parameter > 0

Determine the value of the parameter u so as to minimize J = x x dt 
T

0
T
Assume that the initial state x(0) is given by x(0)=[c1,0 0]
Q11 (a) Convert the system below into observer canonical form
1 0 0  1 
A = 0 2 1  , B = 0 , c = 1 1 0
 
0 0 2 1 
Solution
A0 = AT ; C0 = BT and B0 = C T

(b) It has been decided to design a state feedback regulator, with the control and full order
estimator poles placed according to a 3rd-order ITAE prototype. The desired
characteristic polynomials for the controller and estimator are, respectively,

c (s)=s3 +3.5s2 +8.6s+8

e (s)=s3 +10.5s2 +77.4s+216

Determine the required state feedback gain matrix K and the estimator gain matrix L
If the plant to be controlled is given as:
 −10 1 0  0
x =  −16 0 1 x +  0  u
 0 0 0  10 
y = 1 0 0  x
Q12. The linearised equations of motion for an inverted pendulum at angle θ on a cart is

 0 1 0 0  0 
   M + m     m 
   0 0 0   − 
  =  Ml    +  Ml  u
 x  0 0 0 1  x   0 
      
 x  −g m 
0 0 0   
x  1 
 M   M 
1 0 0 0
y=
0 
x
0 0 1
Where x is the cart position, and the control input u is force acting on the cart.
Design a pole placement controller using any one of the following: Where x is the cart position,
and the control input u is force acting on the cart. M = 2 kg,, m = 0.5 kg, 1 = 1 m

(a) Controllable canonical

(b) Ackermann’s formula
(c) Bass-Gura Approach
(d) Determine the observer canonical form of the system