SOLUTION OF EXAM 01

Subject: CONTROL THEORY

Exercise 1 (5 marks):

a) (1.5 marks)
i. (0.5 marks) Consider the Polynomial:
A  s  T22 s3  2T2 s2  s  k1 k  4 s3  4 s2  s  0.5 k1
ii. (0.5đ) Routh Table
4 1
4 0.5k1
4  2k1
4
0.5k1
We obtain 0  k1  2
iii. (0.5 đ)
Because of stable closed loop system, there exists the Limitation
 k k G  s 
L i m  u  t   y  t    L i m s U  s  Y  s   L i m sU  s  1  2 1  ;
t  s0 s0 
 1  k1 G  s 
u  t   1  t  và L i m G  s   , we obtain L i m  u  t   y  t    1  k2
s0 t 

We imply k2  1 ;
b) (2 marks)
k
i. (1 mark) G  s 
s 1  T2 s
2

TI 4T1T2
a  4 : TI  T1  4T2 , k p  , TD  , T  4T2 with
8 kT22 TI
5
k  0.5, T1  T2  2 we obtain TI  10, k p  , TD  1.6, T  8
8
ii. (1 mark) Stability reserve of closed system does not depend on R2  s . We
need to obtain the open system with transfer function:
 1  k
Gh  s  R1  s G  s  k p  1   TD s  
 TI s  s(1  T1 s)(1  T2 s)
k p (1  T A s)(1  TB s) k k p k(1  TB s)
  
TI s s(1  T1 s)(1  T2 s) TI s2 (1  T2 s)
We select T A  T1 with T A  TB  TI , T A TB  TI TD , TB  4T2  T2 , we obtain
the Bode diagram of open system as follows.
1
c  .
TB T2
1
TB  8, T1  T2  2 we imply c  . Stability reserve of closed system  :
4
     c    ar cGh ( j c )  ar ct an(cT2 )  ar ct an(cTB )
1
  ar ct an    ar ct an(2)
2
 L h ( )  
lg a
Chọn a  4
c 1 T2

1 TB  

c) (1.5 marks)
i. (0.5 marks) Using the Theorem “The input is sinusoidal signal, the output
comes to sinusoidal signal depending on Gk ( j  ) ”;
ii. (0.5 marks) If R1  s is PI Controller then we do not obtain Gk ( j  )  1;
a
iii. (0.5 marks) R1  s   a  0
s2   2

Exercise 2
a) (1 marks) we denote
1 0 1 1   a  dx
        Ax  Bu
A   0 2 1  , B   0  , c   0    dt
 0 1 1 1  1  y  cT x
      
i. (0.5 marks)
The equivalent polynomial of matrix A will be:

det  sI  A    s  1 s2  3 s  1 . This system is not stable;

ii. (0.5 marks) Rank  B, AB, A B   3  This system is controllable

2

b) (1 marks)
 cT   a 0 1 
   
i. (0.5 marks) N   c A    a
T
1 a 1 
 T 2 
 c A   a a  3 2a  2 
 
ii. (0.5 marks) det  N    a a2  a  1  
1  5
In order to obtain the observability property: det  N   0  a  0;
2
c) (2 marks)
i. (1 marks) State Feedback control is u    Rx với R   r1 r2 r3  sastisfy


eigen values of A  br T  inside (2,0) and we select all of eigen values
being -1), we obtain based on Ackermann
 r1 r2 r3   0 0 1 M 1 R  A    4, 24,11
ii. (1 marks) Observer

i. (0.5 marks) x is the root of difference equation

dx
dt
 
 Ax  bu  L y  cT x .  

ii. (0.5 marks) Find matrix L to obtain that A  L cT have all 
eigenvalues being -3 (faster than e2t ). Using Ackermann:
 0 
L  L  A N 1   T
0   28,77, 15 
1 


(1đ) Drawing. The closed system is not controllable because x converge to x
 SOLUTION OF EXAM 02
Subject: CONTROL THEORY

Exercise 1 (5 marks):

d) (1.5 marks)
d) (0.5 marks) Consider the Polynomial:
A  s  T2 s3  2T2 s2  s  k1 k  s3  2s2  s  10 k1
i. (0.5đ) Routh Table
1 1
2 10k1
2  10 k1
2
10k1

We obtain: 0  k1  0.2
ii. (0.5 đ)
Because of stable closed loop system, there exists the Limitation
 k k G  s 
L i m  u  t   y  t    L i m s U  s  Y  s   L i m sU  s  1  2 1
 1  k G  s 
;
t  s0 s0
 1 
Because u  t   1  t  , we imply L i m G  s   and
s0

L i m  u  t   y  t    1  k2 , we obtain k2  1 ;
t 

b) (2 marks)
k
i. (1 marks) G  s 
s 1  T2 s
2

TI 4T1T2
( a  4 ): TI  T1  4T2 , k p  , TD  , T  4T2 where
8 kT22 TI
1
k  10, T1  T2  1 we obtain TI  5, k p  , TD  0.8, T  4
16
i. (1 mark) Stability reserve of closed system does not depend on R2  s . We
need to obtain the open system with transfer function:
 1  k
Gh  s  R1  s G  s  k p  1   TD s  
 TI s  s(1  T1 s)(1  T2 s)
k p (1  T A s)(1  TB s) k k p k(1  TB s)
  
TI s s(1  T1 s)(1  T2 s) TI s2 (1  T2 s)
We select T A  T1 with T A  TB  TI , T A TB  TI TD , TB  4T2  T2 , we obtain
the Bode diagram of open system as follows.
1
c  .
TB T2
1
TB  8, T1  T2  2 we imply c  . Stability reserve of closed system  :
4
      c    ar cGh ( j c )  ar ct an(cT2 )  ar ct an(cTB )
1
  ar ct an    ar ct an(2)
2
L h ( )  
lg a
Chọn a  4
c 1 T2

1 TB  

(1.5 marks)
a. (0.5 marks) Using the Theorem “The input is sinusoidal signal, the output
comes to sinusoidal signal depending on Gk ( j  ) ”;
b. (0.5 marks) If R1  s is PI Controller then we do not obtain Gk ( j  )  1;
a
ii. (0.5 marks) R1  s   a  0
s2   2

Exercise 2
a) (1 marks) we denote
1 0 1 1   a  dx
        Ax  Bu
A   0 2 1  , B   0  , c   0    dt
 0 1 1 1  1  y  cT x
      
i. (0.5 marks)
The equivalent polynomial of matrix A will be:
 
det  sI  A    s  1  s2  3 s  1 . This system is not stable;

ii. (0.5 marks) Rank  B, AB, A B   3  This system is controllable

2

b) (1 marks)
 cT   a 0 1 
   
i. (0.5 marks) N   c A    a
T
1 a 1 
 T 2 
 c A   a a  3 2a  2 
 
ii. (0.5 marks) det  N    a a2  a  1 
1  5
In order to obtain the observability property: det  N   0  a  0;
2
c) (2 marks)
i. (1 marks) State Feedback control is u    Rx với R   r1 r2 r3  sastisfy


eigen values of A  br T  inside (2,0) and we select all of eigen values
being -1), we obtain based on Ackermann
 r1 r2 r3   0 0 1 M 1 R  A    4, 24,11
ii. (1 marks) Observer

i. (0.5 marks) x is the root of difference equation

dx
dt
 
 Ax  bu  L y  cT x .  
  
ii. (0.5 marks) Find matrix L to obtain that A  L cT have all

eigenvalues being -3 (faster than e2t ). Using Ackermann:

0 
1  
L   L  A  N 0   28,77, 15 
T

1 


(1đ) Drawing. The closed system is not controllable because x converge to x