transformed to any arbitrary state x (t f ) in a finite interval t f − t 0 >  

0. True or False
2. The poles of a system can be arbitrarily assigned through full-state
feedback if and only if the system is completely controllable and
observable. True or False
3. The problem of designing a compensator that provides asymptotic
tracking of a reference input with zero steady-state error is called
EJERCICIOS PREPARACIÓN EXAMEN PARCIAL CONTROL 3
state-variable feedback. True or False
4. Optimal control systems are systems Skills Check 863
E.whose
MOJICAparameters are adjusted
SkillsorCheck 863
so that the performance index reaches an extremum value. True False
The system is:
1. 5. Ackerman’s
ConsidereThe
el formula is observable
a. sistema
Controllable, used to check observability of a system. True or False
system is:
a.b.Controllable,
6. Consider Notsystem
the controllable, not observable
observable
c. Controllable, not observable
b. Not controllable, not! observable 0 1   0 
x (t ) = 
d. Not controllable, observable  x ( t ) + 

 u (t )

c. Controllable, not observable 0 −4   2 
7. Consider the system
d. Not controllable, observable
y(t ) =  0 2  x (t )10 .
7. Consider the system G ( s)  = 2  .
s ( s + 2)( s2 + 2 s + 5)
10
G ( s) = 2 .
¿El sistemaThis system is:
es controlable? ¿Observable? s ( s + 2)( s2 + 2 s + 5)
a. Controllable, observable
This system
b. Not is:
controllable, not observable
Si es controlable diseñe un
a.c. Controllable,
Controllable, notsistema
observable
observablede control por realimentación de estado que tenga los
polos deseados Noten
b.d.Not s=-1+/-j.not
controllable,
controllable, observable
observable
8.c.AControllable,
system has thenot observable
state variable representation
2.
_DORF2374_14_GE_C11.indd Un sistema
862 d. enNotvariables de estado
controllable, observable
 −1 0 0   1  31/08/21 7:57 AM
   
8. A system has the state x! variable −3 0  x (t ) + 
(t ) =  0representation 1  u (t )
 0 5    1 1 
 −1 00 −0  
  
 x!y((tt)) =  0 −3  0  x (t ) +
  1  u (t )
=  1 2 −1  x (t ).  
 0  0 − 
5   1 
   
Y ( s)
Determine the associated transfer function model G ( s) = .
y(t ) =  1 2 −1  x (t ). U ( s)
 
2
5 s + 32 s + 35
a. G ( s) = 3 Y ( s)
Determine the
s +associated
9 s2 + 23s transfer
+ 15 function model G ( s) = .
Determine la función de transferencia asociada al sistema G(s)=Y(s)/U(s).
U ( s)
5 s2 + 32 s + 35
b. G ( s) = 5 s2 + 32 s + 35
a. G ( s) = s34 + 9 s23 + 23s + 15
Diseñe un observador s + 92de
s + estado
23s + 15con comportamiento deseado determinado por los
2 s + 16 s + 22
c. G ( s )
polos: s=(-2+/-2j, -8).s35+s 9+s2 32
= 2 +s 35
b. G ( s) = 4 + s23 + 15
s + 9 s 3 + 23s + 15
5 s + 32
d. G ( s) = 2 2
3. Considere el sistema 2 s + 16 s + 22
c. G ( s) = s3 + 322s + 9
9. Consider the s + 9 s + 23ssystem
closed-loop + 15 in Figure 11.37, where
5 s + 32−12 −10 −5   1 
d. G ( s) =    
s2 +=
A 32 s +19 0 0  , B =  0  , C =  3 5 −5  .
   
 0 1 
0in Figure  0 
9. Consider the closed-loop system  11.37,
  where
Determine the state-variable
 −12 −10feedback −5  control gain 1  matrix K so that the closed-loop
system poles are s = −3,   − 4, and −6 .
Determine a.el Kvector A
de=ganancias
=  1 44 67 
1 0 de 0realimentación 
, B =  0 , C
 K= tal 3que5 los .
−5 polos
 del sistema en
 0
 1 0   0 
lazo cerrado sean: s=-3, -4,  -6.   
b. K =  10
Determine 44 67  feedback control gain matrix K so that the closed-loop
 the state-variable 
 44are1 s 1=  −3,   − 4, and −6 .
4. Consideresystem
el poles
c. sistema
K=  mostrado  en la figura. Analice la controlabilidad y la observabilidad
a. K =   1 44 67 
del sistema.d. K =  1 67 44 
K =  10
10.b.Consider 44 67 
 the system depicted  in the block diagram in Figure 11.38.
c.This
K=  44 is:1 1 
system
 
a.
d. KControllable, observable
=  1 67 44 
b. Not controllable, not
 observable
10. Consider the system depicted in the block diagram in Figure 11.38.
This system is:
a. Controllable, observable
b. Not controllable, not observable

M11_DORF2374_14_GE_C11.indd 863 31/08/21 7:57 AM

 864 Chapter 11c.FIGURE
The 11.38
Design Two-loop
of State
Controllable, not Variablefeedback
observable control
Feedback system.
Systems
d. Not
11. controllable,
A system observable
has the transfer function
c. Controllable, not observable
s+a
d. Not controllable,Tobservable
( s) = .
+ s4 + 6 s31+ 12 s2 + 12 X
s 2+(s)6
R(s) Y(s)
+ s+31 X2(s)
Determine
R(s) the
- values of a that render the system
s+3
unobservable. Y(s)
- 1.44
a. a = 1.30 or a = −
X1(s) +
b. a = 3.30 or a = 1.44 X (s) 1 +
5 1 1
c. a = −3.30 or a = −1.44 5 s s
++
d. a = −5.7 or a = −2.04 Exercises 867
12. Consider the closed-loop system in Figure 11.37, where
Determine whether the system is controllable and
te variables are x1 (t ) = position and x2 (t )   = velocity.
. Select a feedback so that the settling time FIGURE 11.38 observable. Two-loop −7 feedback −10control  control system. 
FIGURE 11.38 Two-loop
Answer: feedback

A =uncontrollable  , and B =  1 , C =  0 1 .
system.
unobservable
2% criterion) is Ts = 45.s and P.O. 10% to a
Considere la función dehastransferencia  1 0   0   
p input. Choose the feedback in the form 11. A system the transfer  function  
11. A system hasE11.7 the transfer Consider functionthe system represented in state variable
s+a
u(t ) = −k1 x1 (t ) − k2 x2 (t ) + r (t ) Determine theform state variableTfeedback ( s) = 4 control gain matrix K . for a zero steady-state
s + 6 ss3 + + 12 a s2 + 12 s + 6
(t ) is the reference input and the gains k1 and
tracking error to a stepTinput. ( s ) = x! (
4 t ) = Ax ( t ) + B u ( t ) .
 3 −9 the  values of a sthat+render 6 s3 +the s2 + 12
12system s+6
o be determined. a. K =Determine   y(t ) = Cx (t ) + Du (t ),  
unobservable.

a. a = 1.30 or a = −1.44 
stem is described by the matrix equations Determine
b. K =b.the  3 values 6 orofa = a that render the system unobservable.
 a = − where
3.30  1.44
 0 −1  Determine
 2  a. a = los1.30 valores or a−= de −a1.44 que hacen  −el sistema  no observable. 
x! (t ) =   x (t ) +   u (t ) c. K =  −3 2  c. a = 3.30 or a = A−1.44 =  5 −8  , B =  2  ,
0   0  b. a = 3.30  
 or a = −2.04  1 0   0 
 −4   d. or a =a−= 5.71.44   
d.  −1 4 
 
y (t ) =  0 1  x (t ) . 6. Considere c. a el
= Ksistema
−
12. =3.30 
Consider
 or a =
the
 − 1.44
closed-loop system in Figure 11.37 , where
  C =  −1 3  , and D = [ 0 ].
13. d. a = −
Consider 5.7 the
or system
a = − where  
2.04   
ine whether the system is controllable and A =  −7 −10  , B =  1  , C =  0 1  .
ble. Sketch a block
 − 3  diagram
0
1  0 model
  1 of
  the
0  system.  
12. Consider the closed-loop A = system   in ,Figure B  11.37,
=   , where C  =  0 1 .
: controllable and observable E11.8 Consider  1the 0third-order   system
0   
Determine the state  −  variable feedback  control
  1  gain matrix K for a zero steady-state
7  − 10 
stem is described by the matrix equations tracking error
It is desired to placetothe
A = a step  0 poles
input.
observer
 , 0 B =1    , C
 0 at0 s 1,2 =  +−3 − =4  0 1  .
± j 3 . Determine the appropriate
( )1  0 0( ) 
 2 0   0  a. K = feedback
state-variable  3 −9  !
x t =
control
1 
 gain matrix L.  x t   1  u (t )
x! (t ) =   x (t ) +  Se udesea ubicar los polos 
 del  observador
  −7 −1 −en 2  s=-3+/-3j  9 y los polos del sistema en lazo
  1  (t )   gain matrix  
 0 1   cerrado Determine
en s=-2+/- b.the −2j.
K 9=  3 variable
state
 Diseñe − 6 
 el feedback
compensador control (controlador K for a zero steady-state
+ observador) adecuado.
a. L =  
  tracking error 3 to a step input. y ( t ) =  12 4 3  x (t ).
y (t ) =  0 1  x (t ) . c. K =  −3 2   
  a. K =  3 −9   
ine whether the system 7. isConsiderecontrollable el sistema
 d. K
and  9 =   
Sketch
   −1 4 
a  block diagram model of the system.
b. L =
ble. b. K = 13. Consider
3 E11.9
3−6  theConsider
  system where
the second-order system
stem is described by the matrix equations   −3 01  −3   1   k1 
c. K =  − 33 2  A         
 0 1   −2  c. L =    !
x (=t )  1 0  , B =x ( t )0 + ,  C =  u (0t ) 1  .
=
      − 4  1     k 2 
x! (t ) =   x (t ) +  1 d. u (t )  − 19 4     
 −1 −2    K=
d. None the above
 It isofdesired to placey (the 
observer 
poles at = −
t ) =  1 0  x (t ) + [ 0 ]u (t ). j 3 . Determine the appropriate
s1,2 3 ±
  state-variable feedback control  gain matrix L.
y ( t ) =  0 1  x (t ) . 13. Consider the system where
  For −9  what
 values of k and k2 is the system completely
ine whether the system is controllable and a. L = controllable? − 3 0  1  1 
Para qué valores de 𝑘! 𝑦 𝑘 A3 =  " el sistema
 , B es=completamente
   controlable.

ble. 1 0   0  , C =  0 1  .
E11.10 Consider  the block diagram   model in Figure E11.10.
stem is described by the matrix equations b. L = Write 9 
the corresponding state variable model in the
 4  8.  Considere  It is el sistema
desired to placemostrado
form
3 the observer en diagrama poles at s de=
1,2
bloques.
−3 ± j 3 .Obtenga Determinelathe representación
appropriate en
5  1 
x! (t ) =   x ( t ) +  variables
 0  u ( t ) de estado.
state-variable feedback control gain matrix L.
 3 
 0 −7    c. L =   x! (t ) = Ax (t ) + Bu (t )
M11_DORF2374_14_GE_C11.indd 864  −9   9  14/09/21 9:34 PM
y (t ) =  0 1  x (t ).   
a. L =  d. None y(t ) = Cx (t ) + Du (t ).
    3  of the above
 9 
b. L =  
 –6
 3 
 3  1
c. L =  

M11_DORF2374_14_GE_C11.indd 864  9  + + 14/09/21 9:34 PM
+ d.
1 None of the
1 above 1
4
U(s) Y(s)
- s s s +
- -

15
1.10
e block 9
_DORF2374_14_GE_C11.indd 864 14/09/21 9:34 PM
 lable and observable.  −8 −6   
E11.12 Consider a single-input, single-output system that Compute the corresponding transfer function repre-
is described by sentation of the system. If the initial conditions are
x! (t ) = Ax (t ) + Bu (t ) zero (i.e., x1 (0) = 0 and x2 (0) = 0 ), determine the
response when u(t ) is a unit step input for t ≥ 0.
y (t ) = Cx (t ),

6
2

+
+
+ 1 1 1 +
U(s) Y(s)
s s s +
- -

FIGURE E11.11
8
State variable block
diagram with a
feedforward term. 5

er 11 The Design of State Variable Feedback Systems

er 11 The Design of9.State
Un sistema
Variable telerobótico tiene las matrices de estado:
Feedback Systems
PROBLEMS
tate variable model of a plant to be con- P11.15 A telerobot system has the matrix equations [16]
ate variable model of a plant to be con- P11.15 A telerobot  − system has the matrix equations [16]
 −7 −1  P11.1
 0.2 A  first-order system is represented by the  time-do-5 1 0 a.  Repeat  1Problem  P11.1 for the performance index.
     main 
 differential equation   −5 1 0b.  If λ =  0.5, 1   obtain the value of k that minimizes
(t ) = −7 −1  x (t ) +  0.2  u (t ) x! (t ) =  0 −1 
1  x (t ) +   1  u (t ) 
(t ) =   4 0  x (t ) +  0  u (t )
  0  x! (t ) = x (t ) + u(t )x!. (t ) =  00 −01 −61   x (t ) +  01   u (t )

the performance  index. Calculate the resulting
 4 0      minimum   0  value of J.
 0 0 −6   
y(t ) = [ 0 1] x (t ) + [ 0 ]u(t ). A feedback controller is to be designed such  that P11.3  An unstable   robot system is described by the vec-
(t ) = [ 0 1 ] x ( t ) + [ 0 ] u ( t ) .
variable feedback, and incorporate a com- u (t ) = −2 kx (t ), y (t ) = [ 3 1 tor 0 ] differential
x (t ) . equation [9]
variable feedback, and incorporate a com- y ( t ) = [ 3 1 0 ] x (t ) .
ut u(t ) = −Kx (t ) + αr (t ). Select the gains  1 0   0 
uto thatu(t ) the Kx (t ) +
= −system α r ( t ) . and thethe
Select desired
gains equilibrium (a)condition
Determine is x (tthe ) = 0transferas function, x!G (t )( s=) =  Y ( s) xU
  (t() s+).  u (t ) ,
has a rapid responseGwith ( s) = Y (a)( s)Determine
( s)integral
U . (b) Draw as thetheblock transfer diagram function,indicating G ( s)the = 0Y 0( s ) U ( s) . 1 
state
o overshoot
that the system of P .has O. =a 1% rapid (a) t →Determine
, aresponse
∞. The performance
settling Gtime with la función de istransferencia
defined del sistema G(s)=Y(s)/R(s).
( s) = Y ( s) ∞ U ( s). (b)(c)
variables. Draw Determinethe block diagram
whether theindicating
system is control- the stateT
%overshoot
criterion)of of PTs.O≤. = 1 s1% , and (b) Dibuje
, aasettling
zero steady-el
timediagrama de bloques
variables.
J = ∫ lable. x 2 dt, (c) Determine
(d) Determine indicando whether lasthe
whether
wherevariables.
the
system
x (t ) = ( x1 (t ) = x2 (t )) . Both state variables are
system is is
observable. control-
measurable, and so the control signal is set as u(t ) = −k ( x1 (t ) + x2 (t )).
%r to criterion)
a unit step of T s ≤ 1 s , and
input. (c)a Determine
zero steady- si el sistema es controlable
0
lable. (d) Determine
P11.16 Hydraulic power actuators( were whether
u ( t ) = −the
k x system
1 ( t ) + used
x 2
is
( t observable.
)) to drivethe gain k so that the perfor-
. Design
to a unitactuator-driven
step input. and the initial value of the state variable is x (0) = 3.
ice-coil (d)ObtainSi esthecontrolable,
electromechanical P11.16diseño
the un
Hydraulic
dinosaurs
value of k in order to make J a minimum.
control power
of the en lazo
actuators
movie cerrado
mance
Jurassic wereindex con
Park used[20]. una respuesta
to drive
The
∞
con tiempo de
ce-coil
s the following actuator-driven
state-space electromechanical
model: the dinosaurs of the movie Jurassic Park [20]. The
asentamiento
Is this motions
menorSelect
k physically realizable? o igual of the large
a 1s, yvalue
a practical monsters
un sobrepaso máximo de required high-power
J = ∫0 1%. x T (t ) x (t ) dt
the following
x! (t ) = Astate-space
x (t ) + Bu (t )model: for the gain k, and evaluate motions
actuators of the large
requiring
the performance 1200
index monsters
watts. required high-power
is minimized. Evaluate the minimum value of the
x! (t ) = Ax (t ) + Bu (t ) with that gain. Is the system actuators
stable requiring
Onewithoutspecific the limb 1200motion
feed- watts. has dynamics repre-
y (t ) = Cx (t )10. ,   Un sistema
back due to u(t ) ? tiene la dinámica
sented One siguiente:
by specific limb motion
performance index. Determine the sensitivity of the
has dynamics repre-
performance to a change in k. Assume that the initial
y (t ) = Cx (t ),   P11.2 To account for the expenditure sented by of energy and −3 re- 0  conditions  1 are 
x! (t ) =in the  
sources, the control signal is often included 3 −10  x (t ) +   01  u
−1per-
 involve
 (t )  
1.4890 − 0.7681 − 0.0945 formance
− 0.0424  
integral. Then the operation x! (
willt ) =
not    x ( t ) +     u (t ) x (0) =  0 .
10 ] x−   
 1 

1.4890 1 −0.76810 −0.09450 an unlimited control signal u(t). One ysuitable
−0.0424 0 (t ) = [1perfor- (t1) + [ 0 ]u (t ). 0 
mance index,  , which includes the effect of the magni-
 y (t ) = [1 0 ] x (t ) +Is[ 0the ]u (system
t ). at stable s = −5 ± j.
without the feedback signals due
10 01 00 tude 0 of the control
, signal, isWe want to place the closed-loop to u(polest)?
00 10 01 0  Determine
We want to place the required the closed-loop state variablepoles at s feedback = −5 ± j.
 J = ∞( x 2 (tusing (t )) dt. the required
 0 0 1 Se 0
desea  ∫
 ubicar0 los plete
+ λu2Ackermann’s
)Determine
polos en lazo
formula.state
cerrado
Assume
en variable
s=-5+/-j.
that the com-
feedback
Determine el control por
 state vector is available
using Ackermann’s formula. Assume that the com- for feedback.

  , and C =  0 0 0 1  .
realimentación usando P11.17 la A
plete fórmula
system
state vector de Ackermann.
has aistransfer
available forSifeedback.
function se deseara diseñar un observador de
  
 , and C =  0 0 0 estado con los polos ubicado Yen( s) elhas mismo lugar que + blos de controlador, ¿sería posible? Si
2
1  . P11.17 A system = 4 a transfer
s +functionas
.
   es posible obtenga las ganancias L del observador3 2 usando la fórmula de Ackermann.
 Y((ss)) s + 12 s s+ +
R 2 48as s + + b72 s + 52
the transfer function and the poles of this = 4 .
Determine R( sreal
) values s + 12ofs3a+ and 48bs2so+that 72 s the + 52 system is
the transfer function and the poles of this either uncontrollable
Determine real valuesorofunobservable. a and b so that the system is
e whether it is controllable and observable. 868 P11.18 A system has a plant
M11_DORF2374_14_GE_C11.indd 31/08/21 7:57 AM
either uncontrollable or unobservable.
edbackwhether system it is has a plant transfer
controllable function
and observable. P11.18 A systemYhas ( s)a plant 1
= G ( s) = .
dback Y (system
s) has a plant 45.78 transfer function U Y((ss)) ( s +12)2
= G ( s) = . = G ( s) = .
YR((ss)) s (45.78
s + 50) (a) Find the matrix U ( s) differential(equation s + 2)2 to represent
= G ( s) = . this system. Identify the state variables on a block dia-
theR (percent
s) overshoot s ( s + 50 to ) a step to be (a) Find the matrix differential equation to represent
% and the settling time (with a 2% criterion) gram model. (b) Select a state variable feedback struc-
this system. Identify the state variables on a block dia-
the percent overshoot to a step to be ture using u(t ) , and select the feedback gains so that the
Design an appropriate state variable feedback gram model.
% and the settling time (with a 2% criterion) response y(t ) (b) of the Select
unforced a state variable
system is criticallyfeedback dampedstruc-
r (t ) = −k1 x1 (t ) − k2 x2 (t ). ture using u ( t )
Design an appropriate state variable feedback when the initial condition is x1 (0) = 1 and x2 (0) = the
, and select the feedback gains so that 0,
ocess
r (t ) = has −kthe transfer function
1 x1 (t ) − k2 x2 (t ).
response
where x1 y =(ty)(of t ).the The unforced
repeated system
roots is are critically
at s = damped −3.
 −8 0   1  when the initial condition is x1 (0) = 1 and x2 (0) = 0,
cess P11.19 The block diagram of a system is shown in Figure
x! (t ) has
=  the transfer  x (tfunction
 ) + 

 u (t )

where x1 = y(t ). The repeated roots are at s = −3.
1
  −8 0  0 0 P11.19. Determine whether the system is controllable
  P11.19 The block diagram of a system is shown in Figure
x! (t ) =   x (t ) +  1  u (t ) and observable.

y (t ) = [−1 11] x0(t) + [ 0 ] u(t 0 ).  P11.19. Determine whether the system is controllable
P11.20 Consider the automatic ship-steering system. The
and observable.