AE 582 Robust Control in Aerospace Systems

Homework 5 (part-1)
Handed out: November 28th , 2012
Due: December 12th, 2012

The lateral motion of a ship moving with constant velocity was given in HW4 as

x  Ax  Bu , y  Cx

   0.09  0.29 0   0.015


Where x   r ' A   0.04  0.27 0  , B   0.012 ' C  0 0 1
 
   0 1 0   0 
Consider the following block diagram in which reference signal r, disturbance signal d and error
signals e1 and e2 are shown. The weighting functions are Wp  0.18 s  1.8 , Wu  0.05 , Wd  0.25s  5
s3 s5

e2 d
e1

Wu
Wp Wd
+
r
_ K G y

Bring the system into the standard form, in other words find the P matrix

 e1    r 
 e  P  d 
 2    
r  y     u 