Middle East Technical University Department of Aerospace Engineering

AE582 Fall 2009 Dr. Ali Türker Kutay

Homework #4
Given: Friday, 13/11/2009 Due: Monday, 30/11/2009 by 6 pm

1. (3 points) Consider the following LQR problem:

0 1 0 1 0
𝐴= , 𝐵= , 𝑄= , 𝑅 = 1.
0 0 1 0 𝜌
Draw a root locus to show what happens to the closed loop roots as 𝜌 varies from zero to infinity. You
must solve this problem analytically, do not use Matlab (except to make the plot)!

2. (6 points) Consider LQR problem we did in class for longitudinal hover control of the S-61 helicopter
model:
𝑥 = 𝐴𝑥 + 𝐵2 𝛿
𝑧 = 𝐶1 𝑥 + 𝐷12 𝛿
𝑢 𝑥 body axis perturbation, 100 m/s
𝑥 = 𝜃 body pitch attitude perturbation, rad, 𝛿:Control (longitudinal cyclic)
𝑞 body pitch rate perturbation, rad/s

Design a position control system by adding the position state variable (𝛿𝑥) where 𝑑 𝛿𝑥 𝑑𝑡 = 𝑢. Recall
that 𝑢 is a state of the original 3-state model. In this design, the objective is to be able to command the
helicopter to hover a specified longitudinal position.
a) Design your controller using 𝑧 𝑇 = [𝛿𝑥 𝛿 ] as your performance vector. Plot the position response
to a unit step command in position.
b) Evaluate the effect of a wind disturbance along the 𝑥-body axis by modifying the open loop
dynamics to read
𝑢 𝑢 − 𝑤𝑥
𝜃 =𝐴 𝜃 + 𝐵2 𝛿
𝑞 𝑞
𝑢
= 𝐴 𝜃 + 𝐵1 𝑤𝑥 + 𝐵2 𝛿
𝑞
where 𝑤𝑥 is the wind disturbance. Plot the closed loop response to a negative wind step
disturbance. This corresponds to a step in head wind.
c) Explain why the step response in a) has zero steady state error, while the step response in b) has a
non-zero steady state error. Hint: Consider the transfer functions from the disturbances (𝛿𝑥𝑐 and
𝑤𝑥 ) to the error signal.
d) How would you modify your design so that the step response in b) does have zero steady state
error? You don't have to actually do it, just suggest how to modify the design process to achieve it.
e) Modify your design in step a) to meet the following step command response specifications:
Settling time < 5 seconds
Percent overshoot < 10%
Verify your design by showing the unit step command in position.

1
Middle East Technical University Department of Aerospace Engineering
AE582 Fall 2009 Dr. Ali Türker Kutay

3. (6 points) For the UH-1H helicopter in hover we have:

A=[-0.39 -0.1 0.02 -0.023;0.025 -0.0034 0.0040 -0.32;-0.38 0.19 -0.19 0;0 0 1 0];
B=[-10 0.32;0.68 1;-0.33 -17;0 0];

where 𝑥 𝑇 = 𝑤 𝑢 𝑞 𝜃 and 𝑢𝑇 = 𝛿𝑐 𝛿𝑏 .
𝑢 𝑤: [forward vertical] velocity in (ft/s),
𝑞: pitch rate in (0.01 rad/s),
𝜃: pitch attitude in (0.01 rad),
𝛿𝑐 𝛿𝑏 : [collective cyclic] control in (in).
Design an optimal controller of the form
𝑤 − 𝑤𝑐
𝛿𝑐 𝑢 − 𝑢𝑐
= −𝐾𝑐
𝛿𝑏 𝑞
𝜃
where 𝑤𝑐 and 𝑢𝑐 are command inputs. Try to meet the following specifications:
a) For step commands, the 5% settling times for w and u are 1.0 sec. and 3.0 sec respectively, with
less than 5% overshoot,
b) The magnitudes of the control deflections are < 5 in. for step commands of 10 ft/s,
c) Steady state errors are < 10 % of the command inputs
Simulate the closed loop system to verify that the specifications are met. Note, you will have difficulty
meeting the 𝑤 response specification due to the high degree of coupling that exists between the 𝑢, 𝑞, 𝜃
mode with the 𝑤 response. You can visualize this coupling by the open loop eigenvalues are all
complex, and therefore highly coupled. I don't expect you to expend a great deal of effort trying to
meet this specification, but give it a good try. Do not show all of your intermediate steps, but explain
how you got to your final design.
Also test the gain and phase margins at the plant input by breaking the loops one at a time.