NONLINEAR AND ADAPTIVE CONTROL

HOMEWORK 1
Problem 1: Given a pendulum system with the following parameters: m = 0.3
(kg), l = 0.5 (m), b = 0.1, g = 9.81 (m/s2).
Simulate the system using Matlab. Report and explain the response of the
pendulum in these cases:

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a. Input moment = 0 (Nm),
Initial pendulum angle = π (rad),
Initial pendulum angular velocity = 0 (rad/s):

2
b. Input moment = 0 (Nm),
Initial pendulum angle = π/2 (rad),
Initial pendulum angular velocity = 0 (rad/s):

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c. Input moment = 0 (Nm),
Initial pendulum angle = 0 (rad),
Initial pendulum angular velocity = π (rad/s):

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d. Input moment = 0.5 (Nm),
Initial pendulum angle = 0 (rad),
Initial pendulum angular velocity = 0 (rad/s):

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e. Input moment = 5 (Nm),
Initial pendulum angle = 0 (rad),
Initial pendulum angular velocity = 0 (rad/s):

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Problem 2: Simulate the three tanks (as described in the in-class exercise) with the
following parameters: A1 = 100 (cm2), A2 = 80 (cm2), A3 = 50 (cm2), b1 = b2 = b3
1 (cm2), g = 981 (cm/s2), K = 60 cm3/s/V, C = 0.9.
Simulate the system using Matlab. Report and explain the response of the cascade
tanks in these cases:

1
y 1˙(t )= (Ku ( t ))−b1 C √ 2 g y 1 (t ) ¿
A1

1
y 2˙( t )= √
A2 1 √
(b C 2 g y 1 ( t )−sign ( y 2− y 3 ) b2 C 2 g| y 2 ( t ) − y 3 ( t )|)

1
y 3˙( t ) = √
(sign ( y 2− y3 ) b 2 C 2 g| y 2 ( t )− y 3 ( t )|−b3 C √ 2 g y 3 ( t ) )
A3

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a. Input voltage = 0 (V),
Initial level of liquid in tank 1 = 100 (cm),
Initial level of liquid in tank 2 = 0 (cm),
Initial level of liquid in tank 2 = 0 (cm).

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b. Input voltage = 0 (V),
Initial level of liquid in tank 1 = 0 (cm),
Initial level of liquid in tank 2 = 100 (cm),
Initial level of liquid in tank 3 = 0 (cm),

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c. Input voltage = 5 (V),
Initial level of liquid in tank 1 = 0 (cm),
Initial level of liquid in tank 2 = 0 (cm),
Initial level of liquid in tank 3 = 0 (cm)

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