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

D’Innocenzo
Mid-term 2, December 14th, 2018. Available time: 2 h

Ex1, 5 points Given a plant characterized as follows

ẋ1 (t) = x1 (t) + u(t),

ẋ2 (t) = (a + 2)x1 (t) + ax2 (t) + u(t),
y(t) = 3x1 (t) + 2x2 (t), t ≥ 0,

with a ∈ R real parameter, define the set of values of a such that it is pos-
sible, using an output-feedback control scheme, to assign the eigenvalues
of the closed loop system in − 12 . Design the corresponding control scheme
and controller in state-space representation parameterized in a.

Ex2, 10 points Given a plant scheme as in Figure 1, where P1 (s) = (s−2) 1

,
P2 (z) = (z−1)(z−e−1 ) , and T = 1, design a control scheme and a digital
z−2

controller such that:

1. the system is astatic with respect to the additive disturbances d1 (kT ) =
δ−1 (kT ) and d2 (kT ) = δ−1 (kT ) + cos(3kT );
2. the system is characterized by flat response to a step input in the
shortest possible time.

Figure 1: Plant scheme

Ex3.1, 10 points Define the controllability and observability properties and

the corresponding necessary and sufficient conditions, and illustrate the
separation principle.

Ex3.2, 5 points Given a control scheme as in the figure below, where the first
block is a zero-order holder, the second block is a continuous-time linear
time-invariant system with transfer function P (s) and the third block is
a sampler characterised by sampling time T , prove how P (z) = YU (z)
(z)
can
be computed from P (s).