ADVANCED AND MULTIVARIABLE CONTROL July 9, 2021 Soktios \dentifeation code . _ Sirature aAMC - July 2021 Dear students, n this exam you wil find two types of answers: 1. closed form (questions 1-7,choose one over pre-defined answers), +3 for any correct answer, 0.33, for any wrong answer 2. open questions (questions & and 9) with answers to be written in sheets of paper, each one reporting your Surname, your Name, your ID Polini, your signature andthe indication “answer to {question nx. Please use the sheets of paper that have been made avilable to you in advance (Beep porta) At the end of the exam, you will have to prepare a unique pai ile containing all hese answers and upload it in another form which willbe made available to you, ‘Answers to questions 8 and 9 will not be corrected ifthe overall grade for closed form answers is lower than 82 During the exam, you will nt be allowed to use books, notes, electronic devices (save fr what you ‘eed at the end ofthe exam to prepare the pa file and upload i). You cannot exchange any kind of information with anyone. | something unusual happens, an oral exam will be required Good work!BI G puntiy Consider the system y(t) = 2; (t)x2(t) — 24 (t) a(t) = —w] (4) — 29(t) — 20(t) For this system it is possible to say that: © The origin isthe onty one equilibrium andi is asymptotial stable O The otign is a globally asymptotically stable equilibrium 3 Tecigleanequlrum andar sable © The origin i a locally unstable equilibrium O no answer epithe Giek=°), (R20, Feet) So,He riy= couseh be yeebsy exephkeY arethe Liceetnd syrten oF Me eUpe Bk, -S a Bais - SK Gyratnr ob Set (heb) > asym ph sre@ punt, Consider the discrete time system ay(k + 1) = 24 (k) + 2xo(k) + byu(h) 2(ke + 1) =Bx2(k) + bou(k) uk) = 24(k) For this system compute the values bi, by such that it is NOT possible to design a regulator guaranteeing zero error regulation for constant reference signals. O be equal to 15*b1 O b2=3,b1=1 Bhioeni O no conditions O noanswer Th sysle~ west wor hee servos a eed Syoleu we (ableerbad goncen cope be Tree. Gon oem aeeA mf [RE ne obo Pay |. eo ey -by ° — ASP 2 oho- Baht pA tod > A(t): 2be-thiwo —s biehsfA |i order to study the robust stability of closed-loop systems with glants characterized by multiplicative perturbations, itis worth analysing the: @ punti) $8 nominal complementary sensitivity function Ts) © rominal sensitivity function i) © rrominal control sensitivity function Ks) © both 7) and Sts) because they are not independent O noanswer See Pe antsBs @ punt) Consider the system a(t) = 2°(t) + x(t)u(t) and two control laws Uer (t) = —a(t) uco(t) = —a:!(t) — a(t) Select the correct answer: © uct guarantees local asymptotic stability and uc? globel asymptotic stability (© both the control ows guarantee lca asymptotic stability O none of them guarantee stability © booth guarantee global asymptotic stability O no answer » ene re way he ele He seb ack Dye pose fe Voss yx? Are deA de op Une As dee gehen bao biyla mnt rot (x Slow wetfy KeSelect the correct statement: puntiy ‘The small gsn theorem is # necessary and sufcient condition forthe I/O stably of the close loop system O ttcan be applied to open-loop and closed-loop systems ‘© Itcan be applied to feedback systems with integrators along the loop Bs eohaty condos re noted he eedbock stem canbe VO sable O no answer Bris ore sfc heath tA ‘Concerning the Loop Transfer Recovery procedure, select the wrong answer @ punti) (© canbe applied only o continuous time systems AF stows one to recover the performance of LA contr a al frequencies O is useless ifthe state ofthe system is messurable ore eo © cemsisin te sgn faut ore Lites foyeg Tage . elo O no answer \ exe Use nd a Ke issocA ‘The Hamilton-Jacobi-Bellman equation for finite horizon problems: @ punti) Request compat oni the oon ofthe HI equation ary ne statin he © crsiered horizon wt Lowney 00 cow| O bueden mmc conenstrepitty «ome ack © ro answer Leads toa sate feedback control aw defined over the considered haizon ‘O Guarantees the asymptotic stability ofthe corresponding closed-loop system cE 6 punti) Consider the system x(k +1) =Aa(k) + Bu(k) u(k) = Ca(k) Formulate an MPC problem where you penalize the future error between the output and a given reference signal y°, the future control variables and the future increments. Include in the problem formulation hard constraints on the future controls and control increments and soft con- straints on the future errors. Use different control (NV) and prediction (Vy > Ny) horizons. Specify if it is possible to compute an explicit solution of the resulting optimization problem. See the wots.cA (7 puntiy Given the system a(t) y(t) = a(t) a. Compute the constant input & corresponding to the equilibrium j = b. Compute the linearized model corresponding to the computed equilibrium. c. For the computed linearized system, design a regulator with the pole placement approach guaranteeing closed- loop poles in s = —1 and asymptotic zero error for constant reference signals. d. Draw the corresponding control scheme specifying the signals to be used (state and control variables, their variations with respect to the equilibrium values). Yeo, KLE. Lined tll Sk= Sx-Su sy CU)= a Flee ve oboe segs vo sale fe poten. <1 quten Te peyert aa ie Gl>—o CO» SO SS. Roy: dsafe PO) (se? 2 S343 SS #t Ys eYo 4 © 0 4{ |K 4 -t 24 © @]:]/¥el}, 3 sichelp 4 . Be ieBat ibis ofbe farilt te wate (6, 7/ beenwne yrypes HeSy LF Sp Sy? OY pied He coukibebon of G conde FS by He Ackegrte « BD soe hou Sh a4 Say - Se Cees igen Ney Sx wt | ae nia so| jet el ley ue, A Fon Tis sys com]ele te pple [erent contd aw Sure Me cl || Ke rire ph er G-BK) Las eyprtr ce Set Te Sy , =e 7 gee [ig me Foe| Ret