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ECE 513_CATII

The document outlines a take-home assignment for ECE 513 focusing on non-linear and multivariable control, with a deadline of January 29, 2025. It includes various questions related to feedback control configurations, performance indices, optimal control systems, and design techniques for specific control problems. Students are instructed to show all workings and are prohibited from collaborating on the assignment.

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7 views2 pages

ECE 513_CATII

The document outlines a take-home assignment for ECE 513 focusing on non-linear and multivariable control, with a deadline of January 29, 2025. It includes various questions related to feedback control configurations, performance indices, optimal control systems, and design techniques for specific control problems. Students are instructed to show all workings and are prohibited from collaborating on the assignment.

Uploaded by

bettram345
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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ECE 513: NON-LINEAR AND MULTIVARIABLE CONTROL

CAT: II Instructions
Time: TAKE HOME Attempt all questions
Deadline: 29TH Jan 2025 Clearly show all your workings
Collaboration not allowed

1. Discuss on the three types of freedom control configurations in multivariable feedback


control.
2. Consider a feedback configuration below.

Given that 𝐺(𝑠) is a nominal plant model and 𝐾(𝑠) is a compensator. The design
specifications are to synthesize the compensator K(s) such that the feedback loop is
internally stable and such that
When 𝑛(𝑠) = 0
‖𝑒(𝑗𝜔)‖ < ⌈𝜔1 (𝑗𝜔)−1 ⌉‖𝑟(𝑗𝜔)‖, ∀𝜔
−1
‖𝑒(𝑗𝜔)‖ < ⌈𝜔2 (𝑗𝜔) ⌉‖𝑟(𝑗𝜔)‖, ∀𝜔
When 𝑟(𝑠) = 0
‖𝑦(𝑗𝜔)‖ < ⌈𝜔3 (𝑗𝜔)−1 ⌉‖𝑛(𝑗𝜔)‖, ∀𝜔
Where 𝜔1 (𝑠), 𝜔2 (𝑠), and 𝜔3 (𝑠) are suitable filters.
a) Derive the ℋ∞ norm bounds in terms of 𝐺(𝑠), 𝐾(𝑠), 𝜔1 (𝑠), 𝜔2 (𝑠), and 𝜔3 (𝑠)
that are sufficient to achieve the design specifications.
b) Derive a generalized regulator formulation of the design problem that captures
the sufficient conditions in (a) above.

3. Consider a system defined by


𝑥1 (𝑘 + 1) 0 0 𝑥1 (𝑘) 1
[ ]=[ ][ ] + [ ]𝑢
𝑥2 (𝑘 + 1) 1 1 𝑥2 (𝑘) 0
𝑥 (0) 1
[ 1 ]=[ ]
𝑥2 (0) 1
If the performance index is given by
∞
1
𝐽 = ∑[𝐱 ∗ (𝑘)𝑸𝐱(𝑘) + 𝑢(𝑘)𝑅𝑢(𝑘)]
2
𝑘=0

1 0
Where 𝑄 = [ ] and 𝑅 = 1.
0 0
a) Determine the optimal control law to minimize the performance index
b) Compute the minimum value of 𝐽.
4. What is an optimal control system and list the necessary information required to
formulate the problem of optimization of a control system.
5. Differentiate the following techniques as architectures of nonlinear control
i. Feedback Linearization and Backstepping
ii. Bounding Control and Sliding Mode Control
iii. Gain Scheduling and Adaptive Bounding Control
6. Consider the following second-order model which represents a field-controlled DC
motor
𝑥̇ 1 = −50𝑥1 − 0.4𝑥2 𝑢 + 40
𝑥̇ 2 = −5𝑥2 + 50000𝑥1 𝑢
𝑦 = 𝑥2
Where 𝑥1 is the armature current, 𝑥2 is the speed, and 𝑢 is the field current.
a) Design a speed control system so that 𝑦(𝑡) asymptotically tracks a constant
reference speed 𝑦𝑑 = 100 assuming that the domain of operation for the
armature current is restricted to 𝑥1 > 0.2.
b) Find the steady-state field current 𝑢𝑠𝑠 , and steady-state armature current 𝑥1𝑠𝑠
(within the domain of operation) such that the output 𝑦 follows exactly the
desired constant speed 𝑦𝑑 = 100.
c) Verify that the control 𝑢 = 𝑢𝑠𝑠 results in an asymptotically stable equilibrium
point.
d) Using small-signal linearization techniques, design a state feedback control law
to achieve the desired speed control.
7. Consider the same field-controlled DC motor of Question 5 above. Suppose that the
speed 𝑥2 is measurable but the armature current 𝑥1 is not measured for feedback
control purposes. Design a gain scheduling, observer-based controller, where the
scheduling variable is the measured speed 𝑥2 .
8. Consider the system below with a target signal of 𝑦𝑑 (𝑡) = sin (𝑡).
1
𝑥̇ 1 = 𝑥2 + 𝑥32
2
𝑥̇ 2 = 𝑥3 − 2𝑥3 𝑥4
𝑥̇ 3 = 𝑥4
𝑥̇ 4 = 𝑢
𝑦 = 𝑥1

a) Convert the system to normal form.


b) Design a feedback linearizing tracking controller so that 𝑦(𝑡) tracks 𝑦𝑑 (𝑡)
c) Use standard backstepping to design a tracking controller so that 𝑦(𝑡) tracks
𝑦𝑑 (𝑡)
d) Use command filtered backstepping to design a tracking controller so that 𝑦(𝑡)
tracks 𝑦𝑑 (𝑡)

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