376 Pole-Assignment Design and State Estimation Chap. 9 PROBLE! ‘9-1. The plant of Example 9.1 has the state equations ar ny=[} Oe ha» jin matrix K required to realize the closed-lo tic equation with have a damping ratio, %, of 0.86-and.a time constant + of 0.5 s. Use jgnment design. 9-22 Consider the plant of Problem 9-1, which has the transfer function, from Example 9.5, 1 004842 + 0.00468 OG) =" 5a ED] © 105s + 0.905 (@) Using the pole assignment design find the gain matrix K required to realize the | closed-loop characteristic equation with zeros that have the damping ratio { = 0.707 and the time constant + = 0.8 s. | (b) To verify the design, show that (9-15) yields the desired closed-loop characteristic equation. (©) Draw a flow graph of the form of Figure 4-20 for the plant. Then add the feedback | gains of part (a). (d) Write the state equations for the flow graph of part (c), to verify the system matrix | (A = BK) found in part (b). (©) Find all loop gains in the flow graph of part (c). Then use Mason's formula to verify that the flow graph of part (c) has the characteristic equation of parts (a) and (b). (f) Verify all calculations by computer. 9-3. Consider the pole-placement design of Problem 9-2. (@) Design a predictor observer for this system, with the time constant equal to one-half the value of Problem 9-2(a) and with the observer critically damped. (b) To check the results of part (a), use (9-46) to show that these results yield the desired observer characteristic equation. (©) Find the control-observer transfer function D.<(z) in Figure 9-8. Use control gain matrix of Problem 9-2(a). (@) The characteristic equation of the closed-loop system of Figure 9-8 is given by 1+ De(z)G(z) = 0 Use G(z) as given and D.«(z) in part (c) to show that this equation yields the same characteristic equation as a,(z)e,(z) = 0. (©) Verify all calculations by computer. 9.4. Consider the control system of Problem 9-2. (a) Design a reduced-order observer for this system with the time constant equal to one-half the value of Problem 9-2(a). (b) To check the results of part (a), use (9-63) to show that these results yield the desired observer characteristic equation. (©) Find the control-observer transfer function D(z) in Figure 9-8. Use the control gain matrix of Problem 9-2(a). (@) The characteristic equation of the closed-loop system of Figure 9-8 is given by 1+ Da(z)G(z) = 0Chap. 9 Problems 377 Use G(z) as given and D.(z) in part (c) to show that this equation yields the same characteristic equation as a.(z)ae(z) = 0. (e) Verify all calculations by computer. 9-5.) Repeat all parts of Problem 9-3 using a current observer. 9-6. A chamber temperature control system is modeled as shown in Figure P9-6. This sys- tem is described in Problem 1-10. For this problem, ignore the disturbance input, 7 = 0.6 s, and let D(z) = 1. It was shown in Problem 6-4 that z= 2 0.04147 ooF=4] + 5 * 70.7408 Note that the sensor gain is included in this transfer function. (2) Draw a flow graph of the plant and sensor. Write the state equations with the state variable x(k) equal to the system output and the output y(k) equal to the sensor output. (b) Find the time constant + for this closed-loop system. (©) Using pole-placement design, find the gain K that yield the closed-loop time constant 1 = 1 s. Note that the sensor gain does not enter these calculations. (@) Show that the gain K in part (b) yields the desired closed-loop characteristic equation, using (9-15). (©) Draw a block diagram for the system that includes the sensor. Let the digital computer realize a gain, Ki, such that the closed-loop time constant is as given in part (b), The sensor in this system must have the gain given. (f) Using the characteristic equation for the block diagram of part (e), 1+ K,G()H =0 verify that this block diagram yields the desired characteristic equation. (g) Verify all calculations by computer. Chamber Disturbance Ras) | Controller ! RO) + MG) } Dey Volts + 0.04 Figure P9.6 Chamber temperature control system. 9-7. Consider the chamber temperature control system of Problem 9-6. (a) Design a predictor observer for this system, with the time constant equal to one-half the value of Problem 9-6(b)..= 378 Pole-Assignment Design and State Estimation Chap.g | (b) To check the results of part (a), use (9-46) to show that these results yield the desireq | observer characteristic equation, (©) Find the control-observer transfer function Dz,(z) in Figure 9-8. Use the value of control gain of Problem 9-6(b). Do not include the sensor gain in D..(2). (@) Draw a block diagram of the system in part (b), with D(z) in Figure P9-6 equal tg Dez). © vests the system characteristic equation using the block diagram in part (d) (f) What would be the effect of designing a reduced-order estimator for this system? (@) Verify all calculations by computer. 9-8. Repeat all parts of Problem 9-7, using a current observer. 9.9, (a) Find the closed-loop state equations for the system of Problem 9-7(a), of the form of (9-56). (b) Find the system characteristic equation using the results in part (a), and show that this is the desired equation (©) Repeat parts (a) and (b) for the closed-loop system of Problem 9-8. (@) Verify all calculations by computer. 9-10, Consider the chamber temperature control system of Figure P9-6. For this problem, replace the sensor gain H = 0.04 with the gain H = 1. The system is now a unity. feedback-gain system (@) Work Problem 9-6 with H = 1. (b) Work Problem 9-7 with H = 1 (©) Work Problem 9-8 with H = 1. (@) Work Problem 9-9 with H = 1. 9-11, A satellite control system is modeled as shown in Figure P9-11. This system is described in Problem 1.12, For this problem, let D(z) = 1. In addition, K = 1, T= 1s,J = and Hy = 1. From the z-transform tables, z-1 [4 z 54s A state model for this system is given by apeltt 0.125 x(k v-[5 the + [$235 joo yk) = [1 Ofe(k) where x,(k) is angular position and x.(k) is angular velocity. 25(z + 1) e- Digital Amplifier and controller thrustors Satelite Ro) + bw oa Lo, Le Lee aD ‘) 4 ~ rit) Torque |_Js* (0, Sensor Hy Figure P9-11 Block diagram fora satellite control system. $$ |Chap.9 Problems 379 9-12, 9-13, 14. 9.15, (a) Show that the closed-loop system is unstable. (b) Using pole-placement design, find the gain matrix K that yields the closed-loop damping ratio { = 0.707 and the time constant 1 = 4 s, (©) Show that the gain matrix K in part (b) yields the desired closed-loop characteristic equation, using (9-15). (@) Verify all calculations by computer. Consider the satellite contro! system of Problem 9-11. (a) Design a predictor observer for this system, with the time constant equal to one-half the value of Problem 9-11(b) and with the observer critically damped. (b) To check the results of part (a), use (9-46) to show that these results yield the desired observer characteristic equation. (©) Find the control-observer transfer function D.«(z) in Figure 9-8, Use the control {gain matrix of Problem 9-11(b), K = [0.3893 1.769}. (@) The characteristic equation of the closed-loop system of Figure 9-8 is given by 1+ De(2)G(2) = 0 Use G(z) as given and D..(z) in part (c) to show that this equation yields the same characteristic equation as ac(z)a,(z) = 0. (©) Verify all calculations by computer. Consider the satellite control system of Problem 9-11. (a) Design a reduced-order observer for this system, with the time constant equal to one-half the value of Problem 9-11(b). (b) To check the results of part (a), use (9-63) to show that these results yield the desired observer characteristic equation. (©) Find the control-observer transfer function D..(z) in Figure 9-8. Use the control gain matrix of Problem 9-11(b), K = [0.3893 1.769] (@) The characteristic equation of the closed-loop system of Figure 9-8 is given by 1+ De(z)G(z) = 0 Use G(z) as given and D-,(z) in part (c) to show that this equation yields the same characteristic equation as ae(z)a,(z) = 0. (©) Verify all calculations by computer. Repeat all parts of Problem 9-12, using a current observer. Consider the reduced-order observer designed in Problem 9-13. In this problem, velocity [dy/dt] is estimated, using position { y] plus other information. We could simply calculate velocity, using one of the numerical differentiators described in Section 8.8. This calculated velocity would then replace the estimate of velocity in the control system. (This is the approach taken in the PID controller.) (@) Consider the plant-observer as an open-loop system, as shown in Figure 9-4, Calculate the transfer function Q(z)/¥(z) with U(z) = 0, where q(k7) is the observer estimate of velocity. Hint: Use (9-62) with u(k) = 0. (©) Plot the Bode diagram for the transfer function in part (a) versus wy. (©) One numerical differentiator given in Section 8.8 is 1 Diz) = e Plot the Bode diagram for this transfer function on the same graph as in part (b).380 Pole-Assignment Design and State Estimation Chap. 9 (4) Comment on the similarities and differences in the two frequency responses, 9-16. Consider that in Figure 9-8, the observer is reduced order, and that the system is single-input single-output. Show that the transfer function D.,(z) of the equivalent controller is given by (9-66). 9-17. (a) Show that for the current observer specified in Section 9.5, the transfer matrix from, the input U(z) to the estimated states Q(z) is equal to that from the input to the states X(z); that is, show that Q(z)/U(z) = X(z/U(z). (b) Show that for the current observer specified in Section 9.5, the transfer function of the control-observer combination of Figure 9-8 is given by (9-73), which is De(2) = 2K[21 - A + GCA + BK ~ GCBK]"G 9-18. Consider a system described by (9-82). x(k + 1) = Ax(k) + Bu(k) ¥(k) = Cx(k) For the case that u(K) is not zero, derive the conditions for observability. 9-19. Consider the plant of Problem 9-2, which is xk +1) = [} 3 ha + [essa Suppose that the output is given by” y(k) = [0 tx) {a) Is this system observable? (b) Explain the reason for your answer in part (a) in terms of the physical aspects of the system. 9-20, Consider the satellite control system of Problem 9-11. Suppose that the output is the ‘measurement of angular velocity, such that y(k) = [0 x(k) (a) Is this system observable? (b) Explain your answer in part (a) in terms of the physical aspects of the system. We are attempting to estimate position, given velocity. 9-21. Consider the temperature control system of Problem 9-6. (a) Determine if this system is controllable. (b) An observer is added to this system in Problem 9-7, with the equation [see (9-38)] alk + 1) = (A ~ GO)q(k) + Gy(k) + Buk) = 0.30129(k) + 10.99y(k) + 1.0368u(K) Construct a single set of state equations for the plant-observer system, with the state vector [x(k) q(k)]” and the input u(k) (i.e., there is no feedback). (©) Show that this plantobserver system is uncontrollable. (@) Based on the results of part (a), which state is uncontrollable?Chap. 9 Problems 381 9.22, 9.23, 9-24, 9-25, 9.26. 9.21, 9-28, 9.29, 9-30, Consider the first-order plant described by x(k +1) = Ax(k) + Bu(k) (k) = Cx(k) and a prediction observer described by (9-38). (a) Construct a single set of state equations for the plant~observer system, with the state vector (x(k) q(k)]’ and the input u(k) (i.e., there is no feedback). (b) Show that this system is always uncontrollable, regardless of the value of observer gain G. Repeat Problem 9-22 for the current observer. For the system of Problem 9-22, use a transfer function approach to show that the transfer function Q(z)/U(z) is first order (even though the system is second order) and is equal to X(z)/U(z). Hence the mode of Q(z), which is (A — GC)*, is not excited by the input signal u(k). Problem 9-24 is to be repeated for the current observer, with the mode of Q(z) equal to (4 - GCA)* In Problem 9-11, a pole-placement design for a satellite control system results in the gain matrix K = [0.3893 1.769]. Itis desired to have an input signal r(t) applied to the system, so as to realize the system of Figure 9-12. Write the resulting state equations in the form x(k + 1) = Arx(k) + Byr(k) Y(k) = Cix(k) Evaluate all matrices. Repeat Problem 9-26 for the temperature control system of Problem 9-6, where the state equations are given by x(k + 1) = 0.7408x(k) + 1.0368u(k) ¥(k) = 0.04z(k) and where the control gain is K = 0.1852. ‘Assume that equation (9-25), Ackermann’s formula for pole-assignment design, is the solution of (9-15). Based on this result, show that (9-48), Ackermann’s formula for observer design, is the solution of (9-46). Given in (9-56) isthe closed-loop state model for the pole-placement prediction-estima- tor design. Extend this model to include plant disturbances and sensor noise, as described in (9-44). Derive the closed-loop state model for the pole-placement current-estimator design, given in (9-74).