Automatic Control in Mechanical

El-Minia University,
Power Systems (II)
Faculty of Engineering
Course Code: MPE 412
4th year, Mech. Power & Energy Dept. Time allowed: 2 hours
2nd midterm exam No. of pages: 2

Problem No I. (16marks)
Draw the Bode log-magnitude and phase plots for the system shown in figure at the frequencies
shown in the table below:

𝟏𝟎(𝒔 + 𝟑)
𝑮(𝒔) =
𝒔(𝒔 + 𝟕)(𝒔 + 𝟐𝟎)

From the resulting figure, evaluate the gain margin, phase margin, and band width of the system.
Solution of problem I:

𝝎(𝒓𝒂𝒅/𝒔) 0.7 1 3 5 10 100 500

𝟐𝟎 𝒍𝒐𝒈|𝑮(𝒋𝝎)| -10.1 -13.1 -20.8 -23.7 -28.4 -60.2 -88

< 𝑮(𝒋𝝎) -84.6o -82.5 o -76.8 o -80.6 o -98.4 o -166 o -177 o

From the bode diagram:

PM=91.7o
GM= infinity
Band width ≈ 0.28rad/s
Dr:Shehab Rifat awfeic
Problem No II. (18 marks)
a) Show that the following system is not completely observable.
𝒙̇ 𝟏 𝟐 𝟎 𝟎 𝒙𝟏 𝒙𝟏
[𝒙̇ 𝟐 ] = [𝟎 𝟐 𝟎] [𝒙𝟐 ], 𝒚 = [𝟏 𝟏 𝟏] [𝒙𝟐 ]
𝒙̇ 𝟑 𝟎 𝟑 𝟏 𝒙𝟑 𝒙𝟑
Show that the system is completely observable if the output is given by:
𝒙𝟏
𝟏 𝟏 𝟏 𝒙
𝒚=[ ] [ 𝟐]
𝟏 𝟐 𝟑 𝒙
𝟑

Solution:
𝟐 𝟎 𝟎
𝟏 𝟏 𝟏
𝑨 = [𝟎 𝟐 𝟎], 𝑪𝟏 = [𝟏 𝟏 𝟏], 𝑪𝟐 = [ ]
𝟏 𝟐 𝟑
𝟎 𝟑 𝟏
𝑪𝟏𝑨 = [𝟐 𝟓 𝟏]
𝑪𝟏𝑨𝟐 = [𝟒 𝟏𝟑 𝟏]
𝑪𝟏 𝟏 𝟏 𝟏
𝑶𝒃𝒔 = [ 𝑪𝟏𝑨 ] = [𝟐 𝟓 𝟏]
𝑪𝟏𝑨𝟐 𝟒 𝟏𝟑 𝟏
𝟏 𝟏 𝟏
|𝟐 𝟓 𝟏| = 𝟎 or Rank of the observability matrix is 2.
𝟒 𝟏𝟑 𝟏
The system is not completely observable.
𝟐 𝟓 𝟏
𝑪𝟐𝑨 = [ ]
𝟐 𝟏𝟑 𝟑
𝟒 𝟏𝟑 𝟏
𝑪𝟐𝑨𝟐 = [ ]
𝟒 𝟑𝟓 𝟑
𝟏 𝟏 𝟏
𝟏 𝟐 𝟑
𝑪𝟐
𝟐 𝟓 𝟏
𝑶𝒃𝒔 = [ 𝑪𝟐𝑨 ] =
𝟐 𝟏𝟑 𝟑
𝑪𝟐𝑨𝟐
𝟒 𝟏𝟑 𝟏
[𝟒 𝟑𝟓 𝟑]
There exists a matrix 3x3 with a determinant ≠0
For example:
𝟏 𝟏 𝟏
|𝟏 𝟐 𝟑|=-7
𝟐 𝟓 𝟏
Or Rank=3, the system is completely observable.

b) Obtain the eigenvalues and the transfer function for the following system

𝒙̇ 𝟏 𝟎 𝟏 𝟎 𝒙𝟏 𝟎 𝒙𝟏
𝒙̇
[ 𝟐] = [ 𝟎 𝟎 𝒙
𝟏 ] [ 𝟐 ] + [𝟎] 𝑼, 𝒚 = [𝟏 𝟏 𝟏 [𝒙 𝟐 ]
]
𝒙̇ 𝟑 −𝟔 −𝟏𝟏 −𝟔 𝒙𝟑 𝟔 𝒙𝟑

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Solution:
Eigenvalues of the system are obtained using:

|𝒔𝑰 − 𝑨| = 𝟎
Or:

𝒔 𝟎 𝟎 𝟎 𝟏 𝟎 𝒔 −𝟏 𝟎
|[𝟎 𝒔 𝟎 ] − [ 𝟎 𝟎 𝟏 ]| = |𝟎 𝒔 −𝟏 | = 𝟎
𝟎 𝟎 𝒔 −𝟔 −𝟏𝟏 −𝟔 𝟔 𝟏𝟏 𝒔 + 𝟔

= 𝒔𝟑 + 𝟔𝒔𝟐 +11s+6 = (𝒔 + 𝟏)(𝒔 + 𝟐)(𝒔 + 𝟑) =0

Eigenvalues: -1, -2, -3

Transfer function:
𝒙̇ 𝟏 𝟎 𝟏 𝟎 𝒙𝟏 𝟎 𝒙𝟏
𝒙̇
[ 𝟐] = [ 𝟎 𝟎 𝒙
𝟏 ] [ 𝟐 ] + [𝟎] 𝑼, 𝒚 = [𝟏 𝟏 𝟏 [𝒙 𝟐 ]
]
𝒙̇ 𝟑 −𝟔 −𝟏𝟏 −𝟔 𝒙𝟑 𝟔 𝒙𝟑

let:
𝒙𝟏 = 𝒙
Then:
𝒙̇ = 𝒙𝟏̇ = 𝒙𝟐
𝒙̈ = 𝒙̇ 𝟐 =𝒙𝟑
And:
𝒙̇ 𝟑 = −𝟔𝒙𝟏 − 𝟏𝟏𝒙𝟐 − 𝟔𝒙𝟑 + 𝟔𝒖
⃛ = −𝟔𝒙 − 𝟏𝟏𝒙̇ − 𝟔𝒙̈ + 𝟔𝒖
𝒙
𝒔𝟑 𝒙 = −𝟔𝒙 − 𝟏𝟏𝒔𝒙 − 𝟔𝒔𝟐 𝒙 + 𝟔𝒖
𝒔𝟑 𝒙 + 𝟔𝒔𝟐 𝒙 + 𝟏𝟏𝒔𝒙 + 𝟔𝒙 = 𝟔𝒖
(𝒔𝟑 + 𝟔𝒔𝟐 + 𝟏𝟏𝒔 + 𝟔)𝒙 = 𝟔𝒖

𝒚 = 𝒙𝟏 + 𝒙𝟐 + 𝒙 𝟑
𝒚(𝒔) = 𝒙 + 𝒙̇ + 𝒙̈ = (𝒔𝟐 + 𝒔 + 𝟏)𝒙(𝒔)
Or
𝒙(𝒔) 𝟔
= 𝟑 𝟐
𝒖(𝒔) (𝒔 + 𝟔𝒔 + 𝟏𝟏𝒔 + 𝟔)
𝒚(𝒔) 𝟔(𝒔𝟐 + 𝒔 + 𝟏)
=
𝒖(𝒔) (𝒔𝟑 + 𝟔𝒔𝟐 + 𝟏𝟏𝒔 + 𝟔)

Is the system completely state controllable or not ?

𝟎 𝟏 𝟎
𝑨=[ 𝟎 𝟎 𝟏]
−𝟔 −𝟏𝟏 −𝟔
𝟎
𝑩 = [𝟎 ]
𝟔
𝟎
𝑨𝑩 = [ 𝟔 ]
−𝟑𝟔
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 𝟔
𝑨𝟐 𝑩 = [−𝟑𝟔]
𝟏𝟓𝟎

Controllability matrix:

𝟎 𝟎 𝟔
ℂ = [𝑩 𝑨𝑩 𝑨𝟐 𝑩] = [𝟎 𝟔 −𝟑𝟔]
𝟔 −𝟑𝟔 𝟏𝟓𝟎
𝟎 𝟎 𝟔
|𝟎 𝟔 −𝟑𝟔| = − 𝟐𝟏𝟔 ≠ 𝟎
𝟔 −𝟑𝟔 𝟏𝟓𝟎

Or Rank of the controllability matrix is 3

6

Accordingly, the system is completely state controllable.

c) Consider the air craft shown in the figure, the transfer function describing the longitudinal
equations of motion is given as:

𝜽(𝒔) 𝟏. 𝟏𝟓𝟐𝒔+. 𝟏𝟕𝟕𝟔

= 𝟑
𝜹(𝒔) 𝒔 + 𝟎. 𝟕𝟑𝟗𝒔𝟐 + 𝟎. 𝟗𝟐𝟏𝒔

Obtain the state-space representation of the system.

⃛ + 𝟎. 𝟕𝟑𝟗𝜽̈ + 𝟎. 𝟗𝟐𝟏𝜽̇ = 𝟏. 𝟏𝟐𝟓𝜹̇ + 𝟎. 𝟏𝟕𝟕𝟔𝜹

𝜽

Compare with the following form:

𝒏
𝒚(𝒏) + 𝒂𝟏 𝒚(𝒏−𝟏) + … … … … + 𝒂𝒏−𝟏 𝒚(𝟏) +𝒂𝒏 𝒚 = 𝒃𝒐 𝐮 +
𝒏−𝟏
𝒃𝟏 𝐮 + ⋯ … … … + 𝒃𝒏−𝟏 𝒖̇ +𝒃𝒏 𝒖

𝒙𝟏 = 𝒚 − 𝜷𝒐 𝒖
𝒙𝟐 = 𝒚̇ − 𝜷𝒐 𝒖̇ − 𝜷𝟏 𝒖 = 𝒙̇ 𝟏 − 𝜷𝟏 𝒖
𝒙𝟑 = 𝒚̈ − 𝜷𝒐 𝒖̈ − 𝜷𝟏 𝒖̇ − 𝜷𝟐 𝒖 = 𝒙̇ 𝟐 − 𝜷𝟐 𝒖

Accordingly take:

𝒂𝟏 = 𝟎. 𝟕𝟑𝟗, 𝒂𝟐 = 𝟎. 𝟗𝟐𝟏 𝒂𝟑 = 𝟎, 𝒃𝒐 = 𝟎, 𝒃𝟏 = 𝟎, 𝒃𝟐 = 𝟏. 𝟏𝟐𝟓; b3=0.1776;

Using 𝜷𝒏 = 𝒃𝒏 − 𝒂𝟏 𝜷𝒏−𝟏 − ⋯ … − 𝒂𝒏−𝟐 𝜷𝟏 − 𝒂𝒏−𝟏 𝜷𝒐

𝜷𝒐 = 𝒃𝒐 = 𝟎
𝜷𝟏 = 𝒃𝟏− 𝒂𝟏𝜷𝒐 = 𝟎 − 𝟎. 𝟕𝟑𝟗 ∗ 𝟎 = 𝟎
𝜷𝟐 = 𝒃𝟐 − 𝒂𝟏 𝜷𝟏 − 𝒂𝟐 𝜷𝒐 = 𝟏. 𝟏𝟐𝟓−. 𝟕𝟑𝟗 ∗ 𝟎 − 𝟎. 𝟗𝟐𝟏 ∗ 𝟎 = 𝟏. 𝟏𝟐𝟓
𝜷𝟑 = 𝒃𝟑 − 𝒂𝟏 𝜷𝟐 − 𝒂𝟐 𝜷𝟏 − 𝒂𝟑 𝜷𝟎 = 𝟎. 𝟏𝟕𝟕𝟔 − 𝟎. 𝟕𝟑𝟗 ∗ 𝟏. 𝟏𝟐𝟓 − 𝟎. 𝟗𝟐𝟏 ∗ 𝟎 = −𝟎. 𝟔𝟓𝟒

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 𝒙̇ 𝟏 𝟎 𝟏 𝟎 𝒙𝟏 𝟎 𝒙𝟏
[𝒙̇ 𝟐 ] = [𝟎 𝟎 𝟏 ] [𝒙𝟐 ] + [ 𝟏. 𝟏𝟐𝟓 ] 𝑼, 𝒚 = [𝟏 𝟎 𝟎] [𝒙𝟐 ]
𝒙̇ 𝟑 𝟎 −𝟎. 𝟗𝟐𝟏 −𝟎. 𝟕𝟑𝟗 𝒙𝟑 −𝟎. 𝟔𝟓𝟒 𝒙𝟑

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Problem No III. (16 marks)

For the magnetically suspended ball shown in the figure, derive the state space representation of
the system.
hint: (use 𝒙𝟏 = 𝒉, 𝒙𝟐 = 𝒉̇, 𝒙𝟑 = 𝒊 ).
• Show that the open loop representation of the system is unstable.
• Use pole placement technique to move the poles of the system to the following locations:
𝒑𝟏 = −𝟐𝟓 + 𝟐𝟓𝒊
{𝒑𝟐 = −𝟐𝟓 − 𝟐𝟓𝒊
𝒑𝟑 = −𝟖𝟎
Using full-state feedback and evaluate 𝒌 = [𝒌𝟏 𝒌𝟐 𝒌𝟑 ]
Where, the linearized equations of motion about the equilibrium point are given by:

𝒉̈ = 𝟗𝟖𝟎 𝒉 − 𝟐. 𝟖𝒊
𝒗 = 𝑳𝑫𝒊 + 𝑹𝒊

Problem III solution

Since: 𝒙𝟏 = 𝒉, 𝒙𝟐 = 𝒉̇, 𝒙𝟑 = 𝒊
missing data: L=0.01, R=1.
Then:
𝒙̇ 𝟐 = 𝒉̈ = 𝟗𝟖𝟎 − 𝟐. 𝟖𝒙𝟑
𝒗 𝑹
𝒙̇ 𝟑 = 𝒊̇̇ = − 𝒙 = 𝟏𝟎𝟎𝒗 − 𝟏𝟎𝟎𝒙𝟑
𝑳 𝑳 𝟑
State equation becomes:
𝒙̇ 𝟏 𝟎 𝟏 𝟎 𝒙𝟏 𝟎
[ 𝟐 ] = [𝟗𝟖𝟎 𝟎 −𝟐. 𝟖 ] [𝒙𝟐 ] + [ 𝟎 ] 𝑼
𝒙̇
𝒙̇ 𝟑 𝟎 𝟎 −𝟏𝟎𝟎 𝒙𝟑 𝟏𝟎𝟎
The output equation becomes:

𝒙𝟏
𝒚 = [𝟏 𝟎 𝟎] [𝒙𝟐 ]+0 U
𝒙𝟑
Check the stability of the system 𝒆𝒊𝒈(𝑨) ⟹ |𝒔𝑰 − 𝑨| = 𝟎
Roots of the resulting polynomial
𝒔 𝟎 𝟎 𝟎 𝟏 𝟎
|𝒔𝑰 − 𝑨| = |[𝟎 𝒔 𝟎]| − [𝟗𝟖𝟎 𝟎 −𝟐. 𝟖 ] = 𝟎
𝟎 𝟎 𝒔 𝟎 𝟎 −𝟏𝟎𝟎
𝒔 −𝟏 𝟎
|−𝟗𝟖𝟎 𝒔 𝟐. 𝟖 | =
𝟎 𝟎 𝒔 + 𝟏𝟎𝟎
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 𝒔𝟑 + 𝟏𝟎𝟎𝒔𝟐 − 𝟗𝟖𝟎𝒔 − 𝟗𝟖𝟎𝟎𝟎 = 𝟎
Use Routh’s criterion

𝒔𝟑 1 -980
𝒔𝟐 100 -98000
𝒔𝟏 −𝟗𝟖𝟎𝟎𝟎 + 𝟗𝟖𝟎𝟎𝟎 0
=𝜺
𝟏𝟎𝟎
𝒔𝟎 -98000 0

The system is unstable because of the change of sign

This polynomial can be divided by:
(𝟏𝟎𝟎𝒔𝟐 − 𝟗𝟖𝟎𝟎𝟎) 𝒐𝒓 (𝒔𝟐 − 𝟗𝟖𝟎)
(𝒔𝟐 − 𝟗𝟖𝟎)(𝒔 + 𝟏𝟎𝟎) = 𝟎
Roots of the system are:
𝒑𝟏,𝟐,𝟑 = −𝟏𝟎𝟎, −𝟑𝟏. 𝟑𝟎𝟓, 𝟑𝟏. 𝟑𝟎𝟓
Check the controllability of the system:
𝑪 = [𝑩 𝑨𝑩 𝑨𝟐 𝑩]
𝟎 𝟏 𝟎 𝟎 𝟎
𝑨𝑩 = [𝟗𝟖𝟎 𝟎 −𝟐. 𝟖 ] [ 𝟎 ] = [ −𝟐𝟖𝟎 ]
𝟎 𝟎 −𝟏𝟎𝟎 𝟏𝟎𝟎 −𝟏𝟎𝟎𝟎𝟎
𝟎 𝟏 𝟎 𝟎 −𝟐𝟖𝟎
𝑨𝟐 𝑩 = [𝟗𝟖𝟎 𝟎 −𝟐. 𝟖 ] [ −𝟐𝟖𝟎 ] = [ 𝟐𝟖𝟎𝟎𝟎 ]
𝟎 𝟎 −𝟏𝟎𝟎 −𝟏𝟎𝟎𝟎𝟎 𝟏𝟎𝟎𝟎𝟎𝟎𝟎
Controllability matrix
𝟎 𝟎 −𝟐𝟖𝟎
𝑪=[ 𝟎 −𝟐𝟖𝟎 𝟐𝟖𝟎𝟎𝟎 ]
𝟏𝟎𝟎 −𝟏𝟎𝟎𝟎𝟎 𝟏𝟎𝟎𝟎𝟎𝟎𝟎
𝟎 𝟎 −𝟐𝟖𝟎
| 𝟎 −𝟐𝟖𝟎 𝟐𝟖𝟎𝟎𝟎 | = −𝟕𝟖𝟒𝟎𝟎𝟎𝟎 ≠ 𝟎
𝟏𝟎𝟎 −𝟏𝟎𝟎𝟎𝟎 𝟏𝟎𝟎𝟎𝟎𝟎𝟎
Rank=3, i.e., the system is completely state controllable
Use pole placement to stabilize the system
Use:
𝑼 = −𝒌𝒙
The state equation becomes:
𝑿̇ = 𝑨𝑿 − 𝒃𝒌𝑿 = (𝑨 − 𝑩𝒌)𝑿 = 𝑨𝒄 𝑿
𝟎 𝟎 𝟎 𝟎
𝑩𝒌 = [ 𝟎 ] [𝒌𝟏 𝒌𝟐 𝒌𝟑 ] = [ 𝟎 𝟎 𝟎 ]
𝟏𝟎𝟎 𝟏𝟎𝟎𝒌𝟏 𝟏𝟎𝟎𝒌𝟐 𝟏𝟎𝟎𝒌𝟑
𝟎 𝟏 𝟎 𝟎 𝟎 𝟎
𝑨𝒄 = 𝑨 − 𝑩𝒌 = [𝟗𝟖𝟎 𝟎 −𝟐. 𝟖 ] − [ 𝟎 𝟎 𝟎 ]
𝟎 𝟎 −𝟏𝟎𝟎 𝟏𝟎𝟎𝒌𝟏 𝟏𝟎𝟎𝒌𝟐 𝟏𝟎𝟎𝒌𝟑
Dr:Shehab Rifat awfeic
 𝟎 𝟏 𝟎
𝑨𝒄 = [ 𝟗𝟖𝟎 𝟎 −𝟐. 𝟖 ]
−𝟏𝟎𝟎𝒌𝟏 −𝟏𝟎𝟎𝒌𝟐 −𝟏𝟎𝟎(𝒌𝟑 + 𝟏)
It is required to put the poles of the system at:
𝒑𝟏 = −𝟐𝟓 + 𝟐𝟓𝒊
{𝒑𝟐 = −𝟐𝟓 − 𝟐𝟓𝒊
𝒑𝟑 = −𝟖𝟎
Characteristic equation becomes:
(𝒔 − 𝒑𝟏 )(𝒔 − 𝒑𝟐 )(𝒔 − 𝒑𝟑 ) = 𝟎
(𝒔 + 𝟐𝟓 + 𝟐𝟓𝒊)(𝒔 + 𝟐𝟓 − 𝟐𝟓𝒊)(𝒔 + 𝟖𝟎) = 𝟎
(𝒔𝟐 + 𝟓𝟎𝒔 + 𝟏𝟐𝟓𝟎)(𝒔 + 𝟖𝟎) = 𝟎
𝒔𝟑 + 𝟏𝟑𝟎𝒔𝟐 + 𝟓𝟐𝟓𝟎𝒔 + 𝟏𝟎𝟎𝟎𝟎𝟎 = 𝟎 (I)
For 𝒑𝟏 . 𝒑𝟐 , 𝒂𝒏𝒅 𝒑𝟑 to be placed at the required positions the eigenvalues of the 𝑨𝒄 matrix have to
be typical to the proposed pole locations.
𝒆𝒊𝒈(𝑨𝒄 ) = |𝒔𝑰 − 𝑨𝒄 |
𝒔 𝟎 𝟎 𝟎 𝟏 𝟎
= |[𝟎 𝒔 𝟎] − [ 𝟗𝟖𝟎 𝟎 −𝟐. 𝟖 ]|
𝟎 𝟎 𝒔 −𝟏𝟎𝟎𝒌𝟏 −𝟏𝟎𝟎𝒌𝟐 −𝟏𝟎𝟎(𝒌𝟑 + 𝟏)
𝒔 −𝟏 𝟎
= | −𝟗𝟖𝟎 𝒔 𝟐. 𝟖 |
𝟏𝟎𝟎𝒌𝟏 𝟏𝟎𝟎𝒌𝟐 𝒔 + 𝟏𝟎𝟎(𝒌𝟑 + 𝟏)
𝒔𝟑 + 𝟏𝟎𝟎(𝒌𝟑 + 𝟏)𝒔𝟐 − (𝟐𝟖𝟎𝒌𝟐 + 𝟗𝟖𝟎)𝒔 − 𝟗𝟖𝟎𝟎𝟎(𝒌𝟑 + 𝟏) − 𝟐𝟖𝟎𝒌𝟏 (II)
Comparing the coefficients of (I) and (II) yields:
𝟏𝟑𝟎 = 𝟏𝟎𝟎(𝒌𝟑 + 𝟏) ⟹ 𝒌𝟑 = 𝟎. 𝟑
𝟓𝟐𝟓𝟎 = −𝟐𝟖𝟎𝒌𝟐 − 𝟗𝟖𝟎 ⟹ 𝒌𝟐 = −𝟐𝟐. 𝟐𝟓
−𝟗𝟖𝟎𝟎𝟎 ∗ (𝒌𝟑 + 𝟏) − 𝟐𝟖𝟎 𝒌𝟏 = 𝟏𝟎𝟎𝟎𝟎𝟎 ⟹ 𝒌𝟏 − 𝟖𝟏𝟐.142857

With my best wishes

Dr. Shehab Rifat Tawfeic

Dr:Shehab Rifat awfeic