Control Systems, A.A. 2017-2018, Dr. A.

D’Innocenzo
First retake exam, Part 2, February 21, 2018. Available time: 2 h

Ex1, 5 points Given a plant characterized as follows

ẋ1 (t) = −2x1 (t) + x2 (t) + 3u(t),

ẋ2 (t) = −ax2 (t) − u(t),
y(t) = (b + 1)x1 (t), t ≥ 0,

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

is possible, using an output-feedback control scheme, to assign the eigen-
values of the closed loop system in −2. Design the corresponding control
scheme and controller in state-space representation parameterized in a, b.
1
Ex2, 10 points Given a plant scheme as in Figure , where P1 (s) = (s−2) ,
2
z−e
P2 (z) = (z−1)(z+3) , and T = 1, design a control scheme and a digital
controller such that:

1. the system is astatic with respect to a step additive disturbance

d1 (kT ) = δ−1 (kT ) and to a sinusoidal additive disturbance d2 (kT ) =
sin(3kT );
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.