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• 0 1 1 1
5. Find the optimal control law for the system X = X + U with the
1 1 0 1
∞
2
( 2 2
)
performance index J = ∫ x1 + u1 + u 2 dt.
0
6. With a block diagram, explain a multi-variable control system. Discuss the minimal
realization and minimal derivative operation realization in such systems.
1.a) With suitable example, explain the concept of controllability and observability of a
control system.
• 1 e −t
b) Consider the system X (t ) = X (t ) ; Y (t ) = [1 1] X (t ).
0 − 1
Is this system observable at t = 0? If yes, find X(0) when Y = et.
2.a) Discuss the direct method of Lyapunov applied to linear continuous time autonomous
systems.
•
b) Determine the stability of the system described by the equation X = AX where
− 1 − 2
A= . Choose Q as identity matrix.
1 − 4
π
4
π
5.a) Find the extremal for the following functional J ( x) = ∫ ( x 2 − x• 2 ) dt ; x(o) = 0, x
0 4
is free.
t1
t x• + x• 2 dt
b) Find the trajectory in the (t, x) plane which will extremize J ( x ) = ∫
0
if t1 = 1, x(0) = 1, x(1) = 5.
Contd….2.
Code No: 321304 :: 2 :: Set No: 2
7.a) Explain how logic operations are performed using MATLAB package.
b) Explain how MATLAB software package is useful in the design of a control system.
8.a) Using MATLAB, write a program script to compute the sum and product of two
square matrices with examples.
b) Describe the following functions.
(i) “zems”
(ii) “pzmap”
(iii) “grid”
(iv) “obsr”.
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Set No.
3.a) Explain the control and estimation problems of a linear time invariant discrete time
systems with dead beat observers.
b) Design a state observer so that the estimation error will decay in less than 4 seconds
• 0 1 1
for the system described by X = X + U ; Y = [1 0] X .
− 1 − 2 1
•
4. For the system expressed by X = − X + U , it is required to find an unconstrained
1
∫ (U
2
optimum control input u (t) for t such that 0 ≤ t ≤ 1, so that PI =
* + X 2 ) dt is
0
minimized. The initial state X(0) = 1 and the final state at t = 1 is free. Derive U(t)
and X(t) by solving the appropriate Riccati equation.
5.a) Discuss the time-invariant linear state regulator problem for continuous time systems.
∞
b) Obtain the optimal control which minimizes the performance index, J = ∫ x1 + u dt
2 2
( )
0
• 0 1 0
for the system X = X + u using reduced matrix Riccati equation.
0 0 1
Contd…..2.
Code No: 321304 :: 2 :: Set No: 3
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Set No.
• 0 1
2. For the system X = X . Find a suitable Lyapunov function V(x). Find an
− 2 − 3
upper bound on time that it takes the system to get from the initial condition
1
X(0) = to within the area defined by x12 + x 22 = 0.1 .
1
1 0 0 1 0
•
3. For the system X = 0 2 0 X + 0 1 U design a state variable feedback such that
0 0 3 1 1
the closed loop poles are located at -1, -2 and -3.
4.a) Formulate on optimal control problem for minimum energy and minimum time.
• 0 0 1
b) Test whether the optimal closed loop system for the plant X = X + U with
0 1 1
∞
( )
the performance index J = ∫ x1 + u dt is stable.
2 2
6. Explain
a) Controllable realization
b) Observable realization.
Contd…..2.
Code No: 321304 :: 2 :: Set No: 4
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