AE 582 Robust Control in Aerospace Systems

Homework 6
Handed out: December 4th , 2008
Due: December 18th, 2008

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

x& = Ax + Bu , y = Cx

β  − 0.09 − 0.29 0  − 0.015

Where x =  r ' A = − 0.04 − 0.27 0  , B =  0.012 ' C = [0 0 1]
ψ   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 = 0.25 s + 5
s+3 s+5

e2 d
e1

Wu
Wu Wd

r +
_ K G y

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

 e1    r 
 e = P  d 
 2    
r − y     u 

2) Use the equations given in the class to design an H∞ controller for this system.
3) Plot the Bode Plot of your controller and check its performance in tracking a step reference
signal r = 50 degrees.

Hints:
- Generate the system G in state space form (G = ss(A,B,C,0)
- Generate the weighting functions by using the “tf ” command
- After you find the generalized plant P reduce it to a minimal form by using the “minreal”
command (Pmin = minreal(P))
- Extract the A,B1,B2,C1,C2 matrices from Pmin according to the number of disturbance,
error, control and measurement signals
- Solve the algebraic Riccati equations by using the “ are” command
- Start with γ = 10 and decrease it while you satisfy the “eigenvalue condition”