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(4)
(5)
ITAE standard form for systems with zero offset: s 4 + 2.10 s 3 + 3.402 s 2 + 2.703 s + 04
Modified ITAE standard form for systems with zero offset: s 4 + 1.9530 s 3 + 3.34702 s 2 + 2.64803 s + 04
You may use the following reference, especially for parts (a-iii) and (a-iv), which is available in the web site of
the course: Manabe, S., Coefficient Diagram Method, 14th IFAC Symposium on Automatic Control in
Aerospace, Aug. 24-28, 1998, Seoul, Korea, pp. 199-210.
Use butter command in Matlab to get its standard form.
Use besself command in Matlab to get its standard form.
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PROBLEM 3: Solve Problem of B1018 in 5th Ed. (B1218 in 4th Ed., B1311 in 3rd Ed.,
and B1018 in 2nd Ed.) of Modern Control Engineering, by K. Ogata.
Also prove that the value of damping ratio = 0.5 minimizes the ISE performance index
J=
2
e ( t ) dt
0
Warning: You are required to use Lyapunov equation after defining states as x1=de/dt and x2=e
in order to evaluate the performance index J given above.
PROBLEM 4: Consider the optimal control problem of a 3rd order, controllable, single input
linear system for which the performance index is specified as
J=
( x T Q x + pu 2 ) dt
where x(t) is the state vector and u(t) is the only input to the system. It is known that if the
system is represented in the controllable canonical form, then this performance index can be
written in its so-called reduced form as
J=
[(
x ) 2 + pu 2 dt
where
d T
(x S x )
dt
a) For an arbitrary PSD symmetric Q matrix, derive the expressions for the elements of vector
and S matrix in terms of elements of Q and show that not all elements of Q matrix contribute
to vector.
b) For the following Q matrix
4 0 0
Q = 0 5 0
0 0 1
x Q x = ( x ) 2 +
T
Q1 = 1 3 4 , Q 2 = 0 5 6 , and Q3 = 0 3 0
0 4 9
1 6 9
0 0 9
share a common vector with some different S matrices. Find the corresponding vector and
S matrices for four Q matrices given above.
c) Find two more Q matrices of yours, which also share the same vector with Q.
PROBLEM 5: Consider the minimization of the following function
L(u1,u2) = (1 + sinu1)2 + (1 + sinu2)2
with respect to control (or decision) parameters u1 and u2.
a) Determine all critical (or stationary) points and mark their locations on u2 versus u1 plane.
b) Compute the Hessian matrix Luu at these points and determine their type(s).
c) Plot several L(u1,u2) = K curves about each critical point separately, where K is a real positive
constant, and verify your findings in part (b).
d) Plot the 3D view of L(u) surface.
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I hereby declare that the solutions submitted under this cover are products of my own personal
efforts, wholly. Hence, they truly reflect my personal approaches and knowledge in the subject
areas of questions. If I used sources other than the textbook of this course, they have been
properly referenced. Neither my peer consultations nor any help which I got from others in any
form went beyond discussions on the solution methods used and/or cross-checking my findings.
I am fully aware of serious consequences of any deviations from the statements above as
evidenced by my solutions submitted.