AE 582 Robust Control in Aerospace Systems Homework 5

Handed out: November 6th, 2008, Due: November 13th, 2008

1) Consider a mass-spring-damper system shown in the figure. The state space representation is
 0 0 1 0   0 0   x1 
 x& 1   0   x1     
x&   k
0 0 1   x   10 0  1 0 0 0 x 2 
 2  = − 1
k b b
 2  +   F  y = 0 1 0 0   x 
1
− 1 1
0  1 
 x& 3   m 1 m1 m1 m1   x 3   m1  F2    3
   k1 − k1 − k 2 b1 
− b1 − b 2 x   1   
x &
 4   4   0  x 4 
 m2 m2 m2 m2   m2 

F1

x1

k1 F2 b1

x2

b2
k2

Let G(s) be the “transfer function matrix” from F1 and F2 to x1 and x2 and take k1 = 2; k2 = 3;
b1 = 0.1; b1 = 0.2; m1 = 4; m2 = 1.

a) Plot the “singular value plot” for this system and find ||G(s)||∞
b) Find the sinusoidal inputs F1 and F2 which gives the maximum steady state output.
(your constraint on the input sinusoidals is that the sum of the squares of their amplitudes
should be 1.0)
c) Verify your results on a time simulation, i.e., show that you get the amplification indicated
by the largest singular value when you apply the input found in part (b) to the system.