34746 Robust and Fault-Tolerant Control Exercises

Exercises for lecture no. 16 in 34746:

• Exercise from the textbook: 8.3 (use fig. 7.20b in the

textbook) and 8.4
• Exercise no. 4 and 5

Exercise 4
Lets consider the feedback system from Exercise no. 3 (from last time),
given by a feedback controller K(s) = 1s and a nominal system model
be given by
s+1
Gnom (s) = 2
s + 0.2s + 5

Assume that the system include a multiplicative uncertainty block de-

scribed by

G(s) = Gnom (s)(1 + Wm (s)∆(s))

where
0.2(s + 10)
Wm (s) =
s + 50
and |∆| ≤ 1.
Calculate an upper bounds for weight matrix Wp on the sensitivity func-
tion S, such that robust performance is obtained.
Exercise 5
Let a system be described by
k
G(s) = , τ ∈ [τ1 , τ2 ]
τs + 1
Let a model for τ be described by:
τ = τ0 (1 + rτ δ), |δ| ≤ 1

Show that an uncertain model for G(s) can be given by:

1
G(s) = G0 (s)
1 + Wτ δ
where Wτ is the weight function for the uncertainty δ and G0 (s) is the
nominal model given by:
k
G0 (s) = , τ0 = (τ1 + τ2 )/2
τ0 s + 1
What is Wτ ?