Homework 07

Course: Nonlinear and Adaptive Control

Semester 1 - Academic Year 2023-2024
Due date: 08/11/2023
Solve the following problems individually, submit your report on the due date in BKel (1
report per student).

8( p + 1)
Problem 1: Given a plant: G ( p ) =
p + 2p +5
2

Design the controller Ru (t ) = Tuc (t ) − Sy (t ) such that that response of the closed loop system
follow the output of the reference model
4
Gm ( p) =
p+4
Simulate the designed system using Matlab to verify the result. Report the simulation model and
simulation results.

5( p + 3)
Problem 2: Given a plant: G ( p ) =
p ( p + 1)
Design the controller Ru (t ) = Tuc (t ) − Sy (t ) such that that response of the closed loop system
follow the output of the reference model which has POT = 5% and ts = 2 sec (5% criterion)
Simulate the designed system using Matlab to verify the result. Report the simulation model and
simulation results.

Problem 3: Given a discrete plant (sampling time 0.1sec):

Y ( z ) 0.8 z + 0.6
G=( z) =
U ( z ) z 2 − 0.5 z
Design the discrete linear controller Ru (k ) = Tuc (k ) − Sy (k ) such that the output of the plant
follows the output of the reference model:
Y ( z ) 0.17 z + 0.13
G= m ( z) =
U c ( z ) z 2 − z + 0.3
Simulate the designed system using Matlab to verify the result. Report the simulation model and
simulation results.