Control Systems, A.A. 2018-2019, Dr. A.

D’Innocenzo
First retake exam, Part 2, January 29, 2019 Available time: 2 h

Ex1, 5 points Given a plant characterized by the following representation

ẋ1 (t) = 2x1 (t) − 4x2 (t) + 2u(t),

ẋ2 (t) = 2ax1 (t) − 3x2 (t),
y(t) = (a − 1)x1 (t) + x2 (t), t ≥ 0,

with a ∈ R a real parameter, define the set of values of a such that it

is possible, using an output-feedback control scheme, to assign the eigen-
values of the closed loop system in -3. Design the corresponding control
scheme and controller (in state-space representation and parameterized in
a). Finally, discuss the values of the static controller matrix K when the
parameter a assumes each of the values (if any) that makes the system
uncontrollable.
1
Ex2, 10 points Given a plant scheme as in Figure , where P1 (s) = (s−2) ,
2
z−e
P2 (z) = (z−1)(z−e −1 ) , and T = 1, design a control scheme and a digital

controller such that:

1. the system is astatic with respect to the following additive distur-
bances: d1 (kT ) = sin(kT ) − δ−1 (kT ), d2 (kT ) = δ−1 (kT ) − cos(kT );
2. the system is characterized by flat response to a step input in the
shortest possible time.

Ex3.1, 8 points Discuss the observability property and the corresponding nec-
essary and sufficient conditions, then illustrate the Luenberger observer
design.
Ex3.2, 7 points Discuss the finite time response property for digital control
systems and derive the corresponding necessary and sufficient conditions.