EE C128 / ME C134 Fall 2014 HW 9 Solutions UC Berkeley

HW 9 Solutions
1. Pole Placement
Given the following open-loop plant,

10(s + 3)
G(s) =
s(s + 2)(s + 5)

design the state-variable feedback controller u = Kx + r, where K = [k1 k2 k3 ] is the feedback

vector, to yield a 5% overshoot and a settling time of 0.8 s.
(a) What is the closed-loop representation of the system in phase-variable form?
Answer: (2 pts)

0 1 0 0
x = 0 0 1 x + 0 r

k1 (10 + k2 ) (7 + k3 ) 1
h i
y = 30 10 0 x

Y X Y
We write the open-loop plant as G(s) = . The inverse Laplace transform of gives the
XU X
X
output equation, y = Cx, and the inverse Laplace transform of gives the state equation,
U
x = Ax + Bu. Plugging in the feedback we get x = Ax + B(Kx + r) = (A BK)x + r.
(b) Where should the second-order poles be to satisfy the design requirements?
Answer: (1 pt) s = 5.0 j5.24
Using the design specifications,

ln(OS)
=q = 0.69,
2 + ln2 (OS)

4
n = = 7.26,
Ts
p
so the desired second-order poles are at s = n jn 1 2 = 5.0 j5.24.
(c) Calculate the desired closed-loop characteristic equation by selecting the third closed-loop pole
to cancel the closed-loop zero. Is this a good design choice? Explain.
Answer: (3 pts) s3 + 13s2 + 82.5s + 157.5 = 0
Note that this feedback does not change the open-loop zero. Since we can cancel the zero with
a stable pole, the closed-loop system behaves like a second-order system after cancellation, and
the design requirements can be satisfied exactly.
The desired closed-loop characteristic equation is

(s2 + 2n + n2 )(s + 3) = s3 + 13s2 + 82.5s + 157.5 = 0.

(d) Find the control gains k1 , k2 , k3 .

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EE C128 / ME C134 Fall 2014 HW 9 Solutions UC Berkeley

Answer: (2 pts) k1 = 157.5, k2 = 72.5, k3 = 6

The determinant of Is (A BK), where A and B are from part (a), gives the characteristic
equation:
s3 + (7 + k3 )s2 + (10 + k2 )s + k1 = 0.

Matching coefficients with the desired characteristic equation, we find k1 = 157.5, k2 = 72.5,
k3 = 6.
(e) Simulate the step response. Did you meet the design specifications?
Answer: (1 pt)

Step Response
0.18

0.16

0.14

0.12
Amplitude

0.1

0.08

0.06

0.04

0.02

0
0 0.5 1 1.5 2
Time (seconds)

The overshoot is 5 % and the settling time is 0.83 s, slightly greater than the desired settling
time.

2. More pole placement

Repeat the above for the following open-loop plant:

2(s + 15)(s + 20)

G(s) = .
(s + 3)(s + 5)(s + 7)

For part (c), choose the third pole to cancel one of the zeros. Which one should you choose?
For part (e), you should find that you did not meet all the design specifications. What went wrong
and where should you have placed the third pole instead?
(a) What is the closed-loop representation of the system in phase-variable form?
Answer: (2 pts)

0 1 0 0
x = 0 0 1 x + 0 r

(k1 + 105) (71 + k2 ) (15 + k3 ) 1

h i
y = 600 70 2 x

(b) Where should the second-order poles be to satisfy the design requirements?

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EE C128 / ME C134 Fall 2014 HW 9 Solutions UC Berkeley

Answer: (1 pt) same as 1(b): s = 5.0 j5.24

(c) Calculate the desired closed-loop characteristic equation by selecting the third closed-loop pole
to cancel the closed-loop zero. Which zero should you choose? Explain.
Answer: (3 pts) s3 + 25s2 + 202.5s + 787.4
We place the third pole at 15. We choose 15 instead of 20 to reduce overshoot. As the other
zero becomes larger negative, the closed-loop transfer function becomes closer to a second-order
approximation.
(d) Find the control gains k1 , k2 , k3 .
Answer: (2 pts) k1 = 682.4, k2 = 131.5, k3 = 10.
The determinant of Is (A BK), where A and B are from part (a), gives the characteristic
equation:
s3 + (15 + k3 )s2 + (71 + k2 )s + (k1 + 105) = 0.

Matching coefficients with the desired characteristic equation, we find k1 = 682.4, k2 = 131.5,
k3 = 10.
(e) Simulate the step response. You should find that you did not meet all the design specifications.
What went wrong and where should you have placed the third pole instead?
Answer: (2 pts) The step response is plotted below. The overshoot is 5.5% and settling time
is 0.78 s. The specifications were not met since the system is not close enough to second-order.

Step Response
0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 0.5 1 1.5 2
Time (seconds)

As we move the third pole in the desired characteristic equation closer to the origin, the over-
shoot decreases and settling time increases. At 12, the overshoot is 4.8% and settling time is
7.9 s, so it is possible to satisfy the design specifications. The step response is plotted below.

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EE C128 / ME C134 Fall 2014 HW 9 Solutions UC Berkeley

Step Response
1

0.9

0.8

0.7

Amplitude
0.6

0.5

0.4

0.3

0.2

0.1

0
0 0.5 1 1.5 2
Time (seconds)

3. Controllability and observability

For the following systems, compute by hand the observability matrix and determine whether the
system is observable.
(a)

1 2 4 8
x = 8 16 22 x + 0 u

26 38 62 8
h i
y = 2 2 7 x

Answer: (3 pts) Controllable and observable

8 40 3336
CM = [B AB A2 B] = 0 240 19648

8 704 53808
rank(CM ) = 3 = order of plant so system is controllable.

C 2 2 7
OM = CA = 164 230 382

CA2 11936 18524 29400

rank(OM ) = 3 = order of plant so system is observable.
(b)

1 1 2 1
x = 3 5 8 x + 0 u

13 21 34 1
h i
y = 0 3 5 x

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EE C128 / ME C134 Fall 2014 HW 9 Solutions UC Berkeley

Answer: (3 pts) Observable, not controllable

1 3 108
CM = [B AB A2 B] = 0 11 440

1 47 1868
rank(CM ) = 2 < order of plant so system is not controllable.

C 0 3 5
OM = CA = 56 90 146

CA2 2224 3572 5796

rank(OM ) = 3 = order of plant so system is observable.

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