BP EYRC#9 Task1 Analysis
BP EYRC#9 Task1 Analysis
BP EYRC#9 Task1 Analysis
e-YRC#9
Team leader name AKSHAY S RAO
College B.M.S. COLLEGE OF ENGINEERING
Email akshayrao.ec17@bmsce.ac.in
Date 26 – 11 - 2019
Please answer all the questions given below. You are allowed to use figures or diagrams
to support your answer. Since these questions test your understanding of the whole
subject, please refrain from directly asking for answers on Piazza.
Since the rank of the matrix is two and so is the number of state variables, the system
is controllable and therefore the system can be driven to any arbitrary point.
𝜕𝐿
= −𝑘𝑥 − − (3)
𝜕𝑥
Q4) Is the mass spring system a linear system or non-linear? Justify your answer. (1)
It is linear system since it can be represented in the standard form ẋ=Ax+Bu where x is
the state variable and u is the input. The system is linear for all positions of x and no
small regions is taken for the analysis. This is a linear system because all of its terms
are single, first-degree variables with constant coefficients.
Q5) Can the mass spring system be driven to arbitrary state (0.8, 0) using pole
placement controller? (Assuming 0.8 is the position and 0 is the velocity). (1)
Yes, pole placement controller can be used to drive the mass spring system to an
arbitrary state since the state equations is linear for all values of the state variables. We
try to make a closed loop controller with overall eigenvalues on the left half of the
complex plane irrespective of the eigenvalues of the open loop system.
Proof:
For simple pendulum,
0 1 0
𝐴 = [−𝑘 ] 𝐵 = [ 1] 𝑅 = [ 𝐵 𝐴𝐵 ]
0 𝑚
𝑚
1
𝐴𝐵 = [𝑚]
0
1
0 𝑚
So, 𝑅 = [ 1 ]
0
𝑚
Since the rank of the matrix is two and so is the number of state variables, the system
is controllable and therefore the system can be driven to any arbitrary point.
Section 3 - Simple Pulley
Q6) Under what conditions, will the system remain perfectly at rest? Justify your
answer. (1)
For input = 0 and 𝑚1 = 𝑚2 there will be no net acceleration, so the system will be
at rest.
Q7) How many equilibrium points does the system have? Are they stable or unstable?
Justify your answer. (2)
For the simple pulley to be at equilibrium, T = 0
𝑇
(𝑚1 −𝑚2 )𝑔+
𝑟
𝑥̇ 1 = 𝑥2 = 0 & 𝑥̇ 2 = = 0 → 𝑚1 = 𝑚2
𝑚1 +𝑚2
𝜕𝐿
( ) = 𝑚1 𝑥̇ + 𝑚2 (𝑥̇ − 𝑦̇ ) + 𝑚3 (𝑥̇ + 𝑦̇ ) = (𝑚1 + 𝑚2 + 𝑚3 )𝑥̇ + (−𝑚2 + 𝑚3 )𝑦̇
𝜕ẋ
𝑑 𝜕𝐿
( ) = (𝑚1 + 𝑚2 + 𝑚3 )𝑥̈ + (−𝑚2 + 𝑚3 )𝑦̈ − − (3)
𝑑𝑡 𝜕ẋ
𝜕𝐿
= 𝑚1 𝑔 − 𝑚 2 𝑔 − 𝑚3 𝑔 − − (4)
𝜕x
𝜕𝐿
= −𝑚2 (𝑥̇ − 𝑦̇ ) + 𝑚3 (𝑥̇ + 𝑦̇ ) = (−𝑚2 + 𝑚3 )𝑥̇ + (𝑚2 + 𝑚3 )𝑦̇
𝜕ẏ
𝑑 𝜕𝐿
( ) = (−𝑚2 + 𝑚3 )𝑥̈ + (𝑚2 + 𝑚3 )𝑦̈ − − (5)
𝑑𝑡 𝜕𝑦̇
𝜕𝐿
= 𝑚2 𝑔 − 𝑚 3 𝑔 − −(6)
𝜕𝑦
(3), (4) 𝑖𝑛 (1) & (5), (6) 𝑖𝑛 (2) →
𝑇𝐴
(𝑚1 + 𝑚2 + 𝑚3 )𝑥̈ + (−𝑚2 + 𝑚3 )𝑦̈ = (𝑚1 −𝑚2 −𝑚3 )𝑔 + − − (7)
𝑟𝐴
𝑇𝐵
(−𝑚2 + 𝑚3 )𝑥̈ + (𝑚2 + 𝑚3 )𝑦̈ = (𝑚2 −𝑚3 )𝑔 + − − (8)
𝑟𝐵
Solving for 𝑥̈ & 𝑦̈ we get,
𝑇 𝑇
( 𝐴 (𝑚2 + 𝑚3 ) − 𝐵 (−𝑚2 + 𝑚3 ))
(𝑚1 𝑚2 + 𝑚1 𝑚3 − 4𝑚2 𝑚3 )𝑔 𝑟𝐴 𝑟𝐵
𝑥̇ 2 = 𝑥̈ = + − − (9)
𝑚1 𝑚2 + 𝑚1 𝑚3 + 4𝑚2 𝑚3 (𝑚1 𝑚2 + 𝑚1 𝑚3 + 4𝑚2 𝑚3 )
𝑇𝐴 𝑇
(2𝑚1 𝑚3 − 2𝑚1 𝑚2 )𝑔 + (−𝑚2 + 𝑚3 ) − 𝐵 (𝑚1 + 𝑚2 + 𝑚3 )
𝑟𝐴 𝑟𝐵
𝑥̇ 4 = 𝑦̈ =
(𝑚1 𝑚2 + 𝑚1 𝑚3 + 4𝑚2 𝑚3 )
Q9) Derive the A and B matrices for the complex pulley system. Is the system linear or
non linear? (4)
The system is non-linear since it doesn’t obey superposition principle (it involves some
constants which affects linearity).
From the equations derived above 𝑥̇ 1 = 𝑥2 , 𝑥̇ 3 = 𝑥4 , 𝑥̇ 4 & 𝑥̇ 2 𝑟𝑒𝑓𝑒𝑟 (9) 𝑎𝑏𝑜𝑣𝑒
𝜕𝑥̇ 1 𝜕𝑥̇ 1 𝜕𝑥̇ 1 𝜕𝑥̇ 1
𝜕𝑥1 𝜕𝑥2 𝜕𝑥3 𝜕𝑥4
𝜕𝑥̇ 2 𝜕𝑥̇ 2 𝜕𝑥̇ 2 𝜕𝑥̇ 2 0 1 0 0
𝐴=
𝜕𝑥1 𝜕𝑥2 𝜕𝑥3 𝜕𝑥4 𝐴= [
0 0 0 0
]
𝜕𝑥̇ 3 𝜕𝑥̇ 3 𝜕𝑥̇ 3 𝜕𝑥̇ 3 0 0 0 1
0 0 0 0
𝜕𝑥1 𝜕𝑥2 𝜕𝑥3 𝜕𝑥4
𝜕𝑥̇ 4 𝜕𝑥̇ 4 𝜕𝑥̇ 4 𝜕𝑥̇ 4
[𝜕𝑥1 𝜕𝑥2 𝜕𝑥3 𝜕𝑥4 ]
. .
x1 x1
u1 u2
. . 0 0
x2 x2 m2 m3 m2 m3
u u2 1 r rB
B= .1 . → 𝐵 = 𝑚1 𝑚2 +𝑚1 𝑚3 +4𝑚2 𝑚3
A
x3 0 0
x3
m2 m3 m1 m2 m3
u1 u2 rA rB
. .
x4 x4
u1 u2
Q10) Under what conditions, will the system remain perfectly at rest? Justify your
answer. (3)
𝑥̇ 1
𝑥̇
Let [ 2 ] be the derivative of state variable vector, where 𝑥̇ 1 = 𝑥2 𝑥̇ 3 = 𝑥4
𝑥̇ 3
𝑥̇ 4
We know that Lagrangian L = K.E – P.E.
Let M - mass of the cart, m – mass of the pendulum, l = length of the pendulum.
1 1 1 1
Kinetic energy of the system = 𝑀𝑥̇ 2 + 2 𝑚ɵ̇ 2 = 𝑀𝑥̇ 2 + 𝑚(ɵ̇ 𝑥 2 + ɵ̇ 𝑦 2 )
2 2 2
1 1 1
.= 𝑀𝑥̇ 2 + 𝑚(𝑥̇ − 𝑙ɵ̇ cos ɵ)2 + 𝑚(−𝑙ɵ̇ sin ɵ)2
2 2 2
1 1
= (𝑚 + 𝑀)𝑥̇ 2 + 𝑚(−2𝑥̇ 𝑙 ɵ̇ 𝑐𝑜𝑠ɵ + l2 ɵ̇ 2 )
2 2
−𝑔 sin ɵ+ 𝑥̈ cos ɵ
𝑓𝑟𝑜𝑚 (5) ɵ̈ = − − (6)
𝑙
𝑚𝑙ɵ̇ 2 sin 2ɵ
−(𝑚+𝑀)𝑔 sin ɵ + 𝐹 cos ɵ −
2
(4) 𝑖𝑛 (6) → 𝑥̇ 4 = ɵ̈ = − − (8)
L(M+m(1−cos2 ɵ))
Q12) How many equilibrium points does the inverted cart pendulum system have?
Categorize them as stable or unstable? (3)
There are two equilibrium points 𝑖. (0 0 0 0) 𝑖𝑖. (0 0 π 0).
For the first point matrix 𝐴 − 𝜆𝐼 is given by,
−𝜆 1 0 0
g
0 −𝜆 −m ∗ 0
𝐴 − 𝜆𝐼 = M
0 0 −𝜆 1
g
[ 0 0 −(m + M) −𝜆]
LM
Its eigenvalues are,
0
(𝑀 + 𝑚)𝑔
−𝑖 √
𝐿𝑀
(𝑀 + 𝑚)𝑔
𝑖√
[ 𝐿𝑀 ]
For the second point matrix 𝐴 − 𝜆𝐼 is given by,
−𝜆 1 0 0
g
0 −𝜆 −m ∗ 0
𝐴 − 𝜆𝐼 = M
0 0 −𝜆 1
g
[ 0 0 (m + M) −𝜆]
LM
Its eigenvalues are,
0
(𝑀 + 𝑚)𝑔
−√
𝐿𝑀
(𝑀 + 𝑚)𝑔
√
[ 𝐿𝑀 ]
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