SSM For Design of Nonlinear Control Systems

Student Solutions Manual for
Design of Nonlinear Control Systems

with the Highest Derivative
in Feedback
World Scientic, 2004
ISBN 981-238-899-0
Valery D. Yurkevich
Copyright c 2007 by Valery D. Yurkevich
Preface
Student Solutions Manual contains complete solutions of 20 % of Exercises from the
book Design of Nonlinear Control Systems with the Highest Derivative in Feedback,
World Scientic, 2004, (ISBN 9812388990). The manual aims to help students under-
stand a new methodology of output controller design for nonlinear systems in presence of
unknown external disturbances and varying parameters of the plant.
The solutions manual is accompanied by Matlab-Simulink les
1
for calculations and
simulations related with Exercises. The program les provide the student a possibility
to design the discussed control systems in accordance with the assigned performance
specications of output transients, and make a comparison of simulation results.
The distinguishing feature of the discussed throughout design methodology of dy-
namic output feedback controllers for nonlinear systems is that two-time-scale motions
are induced in the closed-loop system. Stability conditions imposed on the fast and slow
modes, and a suciently large mode separation rate, can ensure that the full-order closed-
loop system achieves desired properties: the trajectories of the full singularly perturbed
system approximate to the trajectories of the reduced model, where the reduced model is
identical to the reference model, by that the output transient performances are as desired,
and they are insensitive to parameter variations and external disturbances.
Robustness of the closed-loop system properties is guaranteed so far as the stability
of the fast mode and the suciently large mode separation rate are maintained in the
closed-loop system. Consequently, the ensuring of the fast mode stability by selection of
control law parameters is the problem requiring undivided attention and that constitutes
the core of the controller design procedure.
In general, the selection of the control law structure as well as selection of controller
parameters are not unique, inasmuch as a set of constraints has to be taken into account
such as a range of variations for plant parameters and external disturbances, required
control accuracy, requirements on load disturbance rejection as well as high frequency
measurement noise rejection. Therefore, it would be much more correctly, if the student
will take up the solution presented in the manual as an example or draft version of such
solution, and then one can make a try to extend the solution by taking into account some
additional practical limitations.
Overall, the above mentioned book, along with the Student Solutions Manual, as well
as accompanying Matlab-Simulink les are an excellent learning aid for advanced study
of real-time control system designing and ones may be used in such course as Design of
Nonlinear Control Systems, where prerequisites are Linear Systems and Nonlinear
Systems. Any comments about the solutions manual (including any errors noticed) can
be sent to 'yurkev@mail.ru` or 'yurkev@ieee.org` with the subject heading 'book`. They
will be sincerely appreciated.
Valery D. Yurkevich
1
A set of Matlab-Simulink les for the Student Solutions Manual can be downloaded from the website
http://ac.cs.nstu.ru/yurkev/books.html.
Student Solutions Manual for Design of nonlinear control systems . . . 3
Contents
Exercise 1.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Exercise 1.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Exercise 2.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Exercise 2.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Exercise 3.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Exercise 3.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Exercise 4.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Exercise 5.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Exercise 5.10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Exercise 6.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Exercise 6.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Exercise 7.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Exercise 7.10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Exercise 8.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Exercise 8.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Exercise 9.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Exercise 9.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Exercise 10.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Exercise 10.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Exercise 11.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Exercise 11.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Exercise 12.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Exercise 13.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Auxiliary Material (The optimal coecients based on ITAE criterion) . . . . . . . . . . . . . . . 61
Auxiliary Material (Euler polynomials) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Auxiliary Material (Describing functions) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Auxiliary Material (The Laplace Transform and the Z-Transform) . . . . . . . . . . . . . . . . . . 64
Errata for the book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Chapter 1
Exercise 1.2 The behavior of a dynamical system is described by the equation
x
(2)
+ 1.5x
(1)
+ 0.5x + 2x
2
+ [x
(1)
]
2
1/2
= 0. (1)
Determine the region of such that X = 0 is an exponentially stable equilibrium point
of the given system.
Solution.
Denote x
1
= x, x
2
= x
(1)
, and X = [x
1
, x
2
]
T
. Hence, we have
X = AX + g(X),
where
A =
0 1
0.5 1.5
, g(X) =
0
(2x
2
1
+ x
2
2
)
1/2
.
Hence, g(X)[
X=0
= 0, and so the perturbation g(X) is vanishing at the equilibrium point
of the linear nominal system

X = AX. We can nd that
|g(X)|
2
= (2x
2
1
+ x
2
2
)
1/2
(2x
2
1
+ 2x
2
2
)
1/2
=
2 |X|
2
.
Denote c
5
=
2. Then, from the Lyapunov equation

PA + A
T
P = Q (2)
with Q = I, we get
P =
2 1
1 1
,
where
min
(P) = 0.382 and
max
(P) = 2.618. Hence, if the inequalities
0 < <

min
(Q)
2
max
(P)c
5
= 0.135
hold, then X = 0 is an exponentially stable equilibrium point of the system (1).
The above results can be obtained by Matlab program e1 2 Lyap.m as well as the
initial value problem solution can be found by running e1 2.mdl.
Exercise 1.4 The behavior of a dynamical system is described by the equations
x
1
x
2
1 1
2 1

x
1
x
2
. (3)
Obtain and analyze the stability of the slow-motion subsystem (SMS) and the fast-motion
subsystem (FMS).
Solution.
From (3), we have
X = A()X,
where
A()=
1 1
2/ 1/
.
The characteristic polynomial of the system is given by
det [sI A()] = s
2
+ 1
s +
3
.
By passing over in silence, we have that > 0 is the permissible region for parameter .
Hence, the system (3) is unstable for all from that region.
By introducing the new time scale t
0
= t/ into the system (3), we obtain
d
dt
0
x
1
= [x
1
x
2
],
d
dt
0
x
2
= 2x
1
+ x
2
.
Take = 0. Hence, we get
d
dt
0
x
1
= 0, = x
1
= const,
d
dt
0
x
2
= 2x
1
+ x
2
.
By returning to the primary time scale t, the FMS
d
dt
x
2
= 2x
1
+ x
2
is obtained, where x
1
= const. The FMS is unstable.
Next, consider an equilibrium point of the FMS, that is dx
2
/dt = 0. Hence, 2x
1
+x
2
=
0 = x
2
= 2x
1
. As the result, from
d
dt
x
1
= x
1
x
2
,
0 = 2x
1
+ x
2
the equation of the SMS
d
dt
x
1
= 3x
1
follows. The SMS is unstable too.
Finally, plot the phase portrait of the given system by means of Matlab program
2
pplane.m for = 0.1 s.
2
Phase Plane Demo for Matlab by John Polking at Rice Univerisity contains the programs
deld.m, dfsolve, pplane.m, and ppsolve.m. The programs can be downloaded from the website
http://calclab.math.tamu.edu/docs/math308/MATLAB-pplane/ as well as the instructions for use.
Chapter 2
Exercise 2.1 Construct the reference model in the form of the 2nd order dierential
equation given by
T
n
y
(n)
+ a
d
n1
T
n1
y
(n1)
+ + a
d
1
Ty
(1)
+ y = r (4)
in such a way that the step response parameters of the output meet the requirements
t
d
s
6 s,
d
0 %. Plot by computer simulation the output response, and determine the
steady-state error from the plot for input signals of type 0 and 1.
Solution.
Take t
d
s
= 6 s and
d
= 0 %, then by
3
d
= tan
1

ln(100/
d
)
,
d
=
4
t
d
s
,
we get
d
= 0 rad,
d
= 1, and
d
=
n
= 0.6667 rad/s. By selecting the 2 roots
s
1
= s
2
= 0.6667, we obtain the desired characteristic polynomial given by
s
2
+ 1.333s + 0.4444.
Consider the desired transfer function given by
G
d
yr
(s) =
0.4444
s
2
+ 1.333s + 0.4444
.
Hence, the reference model in the form of the type 1 system
y
(2)
+ 1.333y
(1)
+ 0.4444y = 0.4444r (5)
follows. Denote e(t) = r(t) y(t).
Let r(t) be the input signal of type 0, that is, r(t) = r
s
1(t), where r
s
= const and
r
s
= 0. Hence, r(s) = r
s
/s and we get
e
s
= lim
s0
se(s)
= lim
s0
s[1 G
d
yr
(s)]
1
s
r
s
= lim
s0
s
2
+ 1.333s
s
2
+ 1.333s + 0.4444
r
s
= 0.
Let r(t) be the input signal of type 1, that is, r(t) = r
v
t 1(t), where r
v
= const and r
v
= 0.
Hence, r(s) = r
v
/s
2
and we get
e
v
r
= e
s
= lim
s0
se(s)
= lim
s0
s[1 G
d
yr
(s)]
1
s
2
r
v
= lim
s0
s + 1.333
s
2
+ 1.333s + 0.4444
r
v
=
1.333
0.4444
r
v
3r
v
.
3
z = tan
1
(x) denotes the arctangent of x, i.e., tan(z) = x.
Run the Matlab program e2 1 Parameters.m in order to calculate the reference model
parameters. Next, run the Simulink program e2 1.mdl to get a plot for the output response
of (5). Then, from inspection of the plot, determine the steady-state error for input signals
of type 0 and 1, respectively. The simulation results are shown in Fig. 1.
Figure 1: Responses of y(t) and e(t) for input signal r(t) of type 0 and 1.
Exercise 2.3 Construct the reference model in the form of the 2nd order dierential
equation as the type 1 system with the following roots of the characteristic polynomial:
s
1
= 1+j, s
2
= 1j. Plot by computer simulation the output response, and determine
the steady-state error from the plot for input signals of type 0, 1, and 2.
Solution.
By selecting the 2 roots s
1,2
= 1j, we obtain the desired characteristic polynomial
s
2
+ 2s + 2. Consider the transfer function given by
G
d
yr
(s) =
2
s
2
+ 2s + 2
.
From G
d
yr
(s), the reference model
y
(2)
+ 2y
(1)
+ 2y = 2r (6)
follows. Denote e(t) = r(t) y(t). By the same way as in Exercise 2.1, we obtain that
e
s
r
= 0 and e
v
r
= 1. Hence, the reference model (6) is the type 1 system. Next, let us
consider the type 2 system given by
y
(2)
+ 2y
(1)
+ 2y = 2r
(1)
+ 2r (7)
From (7), we obtain e
v
r
= 0 and e
acc
r
= 1/2, where e
acc
r
is the relative acceleration error
due to the reference input r(t).
Run the Matlab program e2 3 Parameters.m to calculate the reference model param-
eters as well as to obtain the step response of the reference model (6). Next, run the
Simulink program e2 3.mdl in order to get a plot for the output response of (6), and then,
from inspection of the plot, determine the steady-state error for input signals of type 0,
1 and 2. Repeat that for (7). The simulation results are shown in Figs. 2 3.
Chapter 3
Figure 2: Responses of y(t) and e(t) of the system (6) for input signal r(t) of type 0, 1,
and 2.
Figure 3: Responses of y(t) and e(t) of the system (7) for input signal r(t) of type 0, 1,
and 2.
Exercise 3.1 The dierential equation of a plant is given by
x
(2)
= x
2
+[x
(1)
[ + [1.2 cos(t)]u, (8)
where y(t) = x(t). The reference model for x(t) is assigned by
x
(2)
= 1.2x
(1)
x + r. (9)
Consider the control law
u = k
0
[F(

X, r) x
(n)
] (10)
with real dierentiating lter
q
x
(q)
+ d
q1
q1
x
(q1)
+ + d
1
x
(1)
+ x = x,

X(0) =

X
0
, (11)
where k
0
= 40, q = 2, = 0.1 s, d
1
= 3. Determine the fast-motion subsystem (FMS)
and slow-motion subsystem (SMS) equations. Perform a numerical simulation.
Solution.
The dierential equation of a plant is given by (8). Hence, n = 2 and x
(n)
= x
(2)
is
the highest derivative of the output signal. We have that the reference model for x(t) is
assigned by (9). Then, the control law with the highest derivative of the output signal in
feedback and an ideal dierentiating lter is given by
u = k
0
[F(x
(1)
, x, r) x
(2)
],
where F(x
(1)
, x, r) = 1.2x
(1)
x + r. As the result, we have the control law given by
u = k
0
[x
(2)
1.2x
(1)
x + r].
Hence, the closed-loop system with the ideal dierentiating lter is given by
x
(2)
= f(x
(1)
, x) + g(t)u,
u = k
0
[F(x
(1)
, x, r) x
(2)
],
where f(x
(1)
, x) = x
2
+[x
(1)
[ and g(t) = 1.2 cos(t). Then
x
(2)
= F(x
(1)
, x, r) +
1
1 + g(t)k
0
[f(x
(1)
, x) F(x
(1)
, x, r)] (12)
is the SMS equation.
Next, let us consider the system given by
2
x
(2)
+ d
1
x
(1)
+ x = x,
where x
(1)
and x
(2)
can be used as the estimates of x
(1)
and x
(2)
, respectively. Hence,
this system can play a role of a real dierentiating lter. Then, the closed-loop system
equations with the real dierentiating lter is given by
x
(2)
= f(x
(1)
, x) + g(t)k
0
[F( x
(1)
, x, r) x
(2)
],
2
x
(2)
+ d
1
x
(1)
+ x = x. (13)
Denote x
(1)
= x
1
and x
(2)
= x
2
. Consider the extended system given by
x
(2)
= f(x
(1)
, x) + g(t)k
0
[F( x
1
, x, r) x
2
],
2
x
(2)
+ d
1
x
(1)
+ x = x,
2
x
(2)
1
+ d
1
x
(1)
1
+ x
1
= x
(1)
,
2
x
(2)
2
+ d
1
x
(1)
2
+ x
2
= x
(2)
.
Substitution of the right member of the rst equation into the last one yields
x
(2)
= f(x
(1)
, x) + g(t)k
0
[F( x
1
, x, r) x
2
],
2
x
(2)
+ d
1
x
(1)
+ x = x,
2
x
(2)
1
+ d
1
x
(1)
1
+ x
1
= x
(1)
, (14)
2
x
(2)
2
+ d
1
x
(1)
2
+ [1 + g(t)k
0
] x
2
= f(x
(1)
, x) + g(t)k
0
F( x
1
, x, r).
From (14), taking = 0, we get the discussed above SMS (12). The FMS of the extended
system (14) is given by
2
x
(2)
+ d
1
x
(1)
+ x = x,
2
x
(2)
1
+ d
1
x
(1)
1
+ x
1
= x
(1)
,
2
x
(2)
2
+ d
1
x
(1)
2
+ [1 + g(t)k
0
] x
2
= f(x
(1)
, x) + g(t)k
0
F( x
1
, x, r)
where we assume that f = const, g = const. The behavior of x
(2)
is described by the last
dierential equation, where the characteristic equation is given by
2
s
2
+ d
1
s + = 0.
Note that = 1 + g(t)k
0
, k
0
= 40, d
1
= 3, and = 0.1 s. Hence,
max
= 89,
min
= 9.
By taking into account (9), we obtain the degree of time-scale separation between FMS
and SMS given by
3

min
/ = 30.
Finally, run the Simulink program e3 1.mdl to perform a numerical simulation of the
closed-loop system (13). The simulation results are shown in Fig. 4.
Figure 4: Simulation results of the closed-loop system (13).
Exercise 3.2 A system is given by (8). Consider the control law in the form of (10) with
the desired dynamics given by (9) and the real dierentiating lter (11), where k
0
= 40
and q = 2. Determine the parameters and d
1
of (11) such that the damping ratio
exceeds 0.5 in the FMS and the degree of time-scale separation between FMS and SMS
exceeds 10. Compare with simulation results.
Solution.
By following through solution of Exercise 3.1, we get the closed-loop system equations,
SMS and FMS equations as well, where
2
s
2
+ d
1
s + = 0 (15)
is the characteristic equation of the FMS for x
(2)
where
= 1 + g(t)k
0
, g(t) = 1.2 cos(t), k
0
= 40,
max
= 89,
min
= 9.
If d
2
1
4 < 0 when =
max
, then from (15) we obtain
s
1,2
=
d
1
2
j
[d
2
1
4[
2
=
FMS
=
d
1
2

min
FMS
=
d
1
2

max
,
min
FMS
= 0.5 = d
1
= 9.4340.
Next, let us nd estimates for based on dierent notions for degree of time-scale sepa-
ration between FMS and SMS in the closed-loop system. Let us take =
min
, then
2
s
2
+ d
1
s +
min
= s
2
+
1
a
FMS
1
s +
1
2
a
FMS
0
where a
FMS
1
= d
1
, a
FMS
0
=
min
= 9, and the state matrix of the FMS is given by
A
FMS
=
1
A
22
,
A
22
=
0 1
min
d
1
0 1
9 9.4340
.
Since d
2
1
4
min
> 0, then from (15) we obtain
s
1
=
d
1
2
+
d
2
1
4
min
2
s
2
=
d
1
2

d
2
1
4
min
2
.
Hence,
min
FMS
= [s
1
[.
From the reference model, we get
A
S
=
0 1
1 1.2
is the state matrix of the SMS, where

s
2
+ 1.2s + 1 = 0
is the characteristic equation of the SMS. Hence, we obtain
s
SMS
1,2
= 0.6 j0.8 =
max
SMS
= 0.6, (a
SMS
0
)
1/2
= 1.
By solving the Lyapunov equations
P
F
A
22
+ A
T
22
P
F
= Q
F
,
P
S
A
S
+ A
T
S
P
S
= Q
S
,
where Q
F
= I and Q
S
= I, we obtain
P
F
=
1.0541 0.0556
0.0556 0.0589
, P
S
=
1.4333 0.5
0.5 0.8333
.
Hence,
max
(P
F
) = 1.0572,
min
(P
F
) = 0.0558,
max
(P
S
) = 1.7164,
min
(P
S
) = 0.5502.
Finally, we get the following estimates for based on the various notions for degree of
time-scale separation between FMS and SMS in the closed-loop system, that are:
1
=

min
(P
S
)
max
(P
F
)
,
1
= 10 = = 0.052,
2
=

min
FMS
max
SMS
=
d
1
2
max
SMS
,
2
= 10 = = 0.1795,
3
=
(a
FMS
0
)
1/2
(a
SMS
0
)
1/2
=
min
,
3
= 10 = = 0.3.
Figure 5: Simulation results of the closed-loop system (13) for d
1
= 9.4340 and = 0.052
s.
Run the Matlab program e3 2 Parameters.m to calculate d
1
and the above estimates for
based on such criteria as
1
,
2
, and
3
. Next, run the Simulink program e3 2.mdl, to
get the step response of the closed-loop system for d
1
= 9.4340 and = 0.052 s. The
simulation results are shown in Fig. 5.
Chapter 4
Exercise 4.2 The dierential equation of a plant is
x
(2)
= x + x[x
(1)
[ +2 + sin(t)u, (16)
while that of the reference model is
x
(2)
= 3.2x
(1)
x + 3.2r
(1)
+ r.
Construct the control law in the form of
q
u
(q)
+ d
q1
q1
u
(q1)
+ + d
1
u
(1)
+ d
0
u
=
k
0
T
n
T
n
x
(n)
a
d
n1
T
n1
x
(n1)
a
d
1
Tx
(1)
x
+ b
d
r
()
+ b
d
1
1
r
(1)
+ + b
d
1
r
(1)
+ r. (17)
where q = 3. Determine the FMS and SMS equations from the closed-loop system equa-
tions.
Solution.
From (16), we have n = 2 and x
(2)
is the highest derivative of the output signal, where
x
(2)
= f(x
(1)
, x) + g(t)u (18)
and f(x
(1)
, x) = x + x[x
(1)
[ and g(t) = 2 + sin(t).
The reference model is given by x
(2)
= F(x
(1)
, x, r
(1)
, r), where
F(x
(1)
, x, r) = 3.2x
(1)
x + 3.2r
(1)
+ r.
Take q = 3 and consider the control law given by
3
u
(3)
+ d
2
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(x
(1)
, x, r
(1)
, r) x
(2)
,
that is
3
u
(3)
+ d
2
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
x
(2)
3.2x
(1)
x + 3.2r
(1)
+ r.
Then, the closed-loop system equations are given by
x
(2)
= f(x
(1)
, x) + g(t)u,
3
u
(3)
+ d
2
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(x
(1)
, x, r
(1)
, r) x
(2)
.
Denote x
1
= x, x
2
= x
(1)
, u
1
= u, u
2
= u
(1)
, and u
3
=
2
u
(2)
. From the above closed-loop
system equations, we obtain
d
dt
x
1
= x
2
,
d
dt
x
2
= f(x
1
, x
2
) + g(t)u
1
,
d
dt
u
1
= u
2
,
d
dt
u
2
= u
3
,
d
dt
u
3
= d
0
u
1
d
1
u
2
d
2
u
3
+ k
0
F(x
2
, x
1
, r
(1)
, r)
d
dt
x
2
.
Substitution of the right member of the second equation into the last one yields the
closed-loop system equations in the following form:
d
dt
x
1
= x
2
,
d
dt
x
2
= f(x
1
, x
2
) + g(t)u
1
,
d
dt
u
1
= u
2
,
d
dt
u
2
= u
3
, (19)
d
dt
u
3
= d
0
+ k
0
g(t)u
1
d
1
u
2
d
2
u
3
+k
0
F(x
2
, x
1
, r
(1)
, r) f(x
1
, x
2
)
.
In order to nd the FMS equations, let us introduce the new fast time scale t
0
= t/ into
the closed-loop system equations given by (19). We obtain
d
dt
0
x
1
= x
2
,
d
dt
0
x
2
= f(x
1
, x
2
) + g(t)u
1
,
d
dt
0
u
1
= u
2
,
d
dt
0
u
2
= u
3
,
d
dt
0
u
3
= d
0
+ k
0
g(t)u
1
d
1
u
2
d
2
u
3
+k
0
F(x
2
, x
1
, r
(1)
, r) f(x
1
, x
2
)
.
If 0, then we get the FMS equations in the new time scale t
0
, that is
d
dt
0
x
1
= 0,
d
dt
0
x
2
= 0,
d
dt
0
u
1
= u
2
,
d
dt
0
u
2
= u
3
,
d
dt
0
u
3
= d
0
+ k
0
g(t)u
1
d
1
u
2
d
2
u
3
+k
0
F(x
2
, x
1
, r
(1)
, r) f(x
1
, x
2
)
.
Then, returning to the primary time scale t = t
0
, we obtain the following FMS equations:
x
1
= const, x
2
= const,
d
dt
u
1
= u
2
,
d
dt
u
2
= u
3
, (20)
d
dt
u
3
= d
0
+ k
0
g(t)u
1
d
1
u
2
d
2
u
3
+k
0
F(x
2
, x
1
, r
(1)
, r) f(x
1
, x
2
)
.
These equations may be rewritten as
3
u
(3)
+ d
2
2
u
(2)
+ d
1
u
(1)
+d
0
+ k
0
g(t)u
= k
0
F(x
2
, x
1
, r
(1)
, r) f(x
1
, x
2
), (21)
where x
1
= const, x
2
= const, and g(t) = const during the transients in the FMS (21).
Next, by letting 0 in (19), we nd the SMS equations in the following form:
x
1
= x
2
,
x
2
= F(x
2
, x
1
, r
(1)
, r)
+
d
0
d
0
+ k
0
g(t)
f(x
1
, x
2
) F(x
2
, x
1
, r
(1)
, r). (22)
At the same time, we can nd the above SMS by some another way. Suppose the
FMS (20) is stable. Taking 0 in (21) we get u(t) = u
s
(t), where u
s
(t) is a steady
state (more precisely, quasi-steady state) of the FMS (20) and
u
s
=
k
0
d
0
+ k
0
g(t)
F(x
2
, x
1
, r
(1)
, r) f(x
1
, x
2
).
Substitution of u
s
into (18) yields the SMS equation given by
x
(2)
= F(x
(1)
, x, r
(1)
, r)
+
d
0
d
0
+ k
0
g(t)
f(x, x
(1)
) F(x
(1)
, x, r
(1)
, r),
which is the same as (22).
Chapter 5
Exercise 5.1 The dierential equation of a plant model is given by
x
(2)
= x + x[x
(1)
[ +1.5 + sin(t)u. (23)
Assume that the specied region is given by the inequalities [x(t)[ 2, [x
(1)
(t)[ 10, and
[r(t)[ 1, where t [0, ). The reference model for x(t) is chosen as x
(2)
= 2x
(1)
x+r.
Determine the parameters of control law to meet the requirements:
F
= 0.05,
r
= 0.02,
FMS
0.5,
3
20, q = 2. Compare simulation results with the assignment. Note that
3
is the degree of time-scale separation between stable fast and slow motions dened by
3
=
(a
FMS
0
)
1/m
(a
SMS
0
)
1/n
.
Solution.
Consider the system given by (23). Then n = 2 and x
(2)
= f(x
(1)
, x) + g(t)u, where
f(x
(1)
, x) = x + x[x
(1)
[ and g(t) = 1.5 + sin(t).
We have n = 2 and x
(2)
is the highest derivative of the output signal. The reference
model is given by x
(2)
= F(x
(1)
, x, r), where F(x
(1)
, x, r) = 2x
(1)
x + r. As far as
the requirement on the high frequency sensor noise attenuation is not specied, then take
q = n = 2. Therefore, consider the control law given by
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(x
(1)
, x, r) x
(2)
, (24)
that is
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
x
(2)
2x
(1)
x + r. (25)
Consider the closed-loop system equations given by
x
(2)
= f(x
(1)
, x) + g(t)u, (26)
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(x
(1)
, x, r) x
(2)
. (27)
From the above closed-loop system equations, we get the FMS given by
2
u
(2)
+d
1
u
(1)
+[d
0
+ k
0
g]u=k
0
F(x
(1)
, x, r)f(x
(1)
, x), (28)
where F = const, f = const, and g = const during the transients in (28), as well as the
SMS given by
x
(2)
= F(x
(1)
, x, r) +
d
0
d
0
+ k
0
g(t)
f(x
(1)
, x) F(x
(1)
, x, r). (29)
We have that the region of x, x
(1)
, r is specied by the inequalities [x(t)[ 2, [x
(1)
(t)[ 10,
[r(t)[ 1. Hence, we obtain
f
max
= [x + x[x
(1)
[[
max
= 2 + 2 10 = 22,
F
max
= [ 2x
(1)
x + r[
max
= 2 10 + 2 + 1 = 23,
g
min
= 0.5, g
max
= 2.5,
e
F
max
=
F
F
max
= 0.05 23 = 1.15.
We have g(t) > 0 t. Hence, take k
0
> 0. We have
r
= 0.02 = 0. Hence, take d
0
= 1.
From the requirement [e
F
(u
s
)[ e
F
max
= 1.15, we obtain
[k
0
[
d
0
g
min
max
X,R,w
[F(X, R) f(X, w)[
e
F
max
1
=
1
0.5
23 + 22
1.15
1
90.
Consider a steady state of the SMS, that is x
(2)
= x
(1)
= 0. Hence, we obtain
x
(2)
= F(x
(1)
, x, r) +
d
0
d
0
+ k
0
g
f(x
(1)
, x) F(x
(1)
, x, r) =
x
(2)
....
=0
= 2x
(1)
x + r
. .. .
=e
s
+
d
0
d
0
+ k
0
g
x + x[x
(1)
[
. .. .
=x
s
=re
s
2x
(1)
x + r
. .. .
=e
s
=
e
s
=
d
0
k
0
g d
0
r.
From the requirement
[e
s
[
d
0
k
0
g d
0
r

d
0
r
max
k
0
g
min
d
0
e
s
max
=
r
r
max
= 0.02,
we obtain
[k
0
[
d
0
r
max
e
s
max
d
0
1
g
min
=
1 1
0.02
1
1
0.5
= 98.
Let us take k
0
= 100.
From the SMS and reference model equations, it follows that
s
2
+ 2s + 1 = 0
is the characteristic equation of the SMS, where a
SMS
0
= 1, and
2
s
2
+ d
1
s + d
0
+ k
0
g = 0
is the characteristic equation of the FMS. Hence, we obtain
3
=
(a
FMS
0
)
1/2
(a
SMS
0
)
1/2
=
d
0
+ k
0
g
(a
SMS
0
)
1/2

d
0
+ k
0
g
min
(a
SMS
0
)
1/2

min
3
= 20
=
d
0
+ k
0
g
min
min
3
(a
SMS
0
)
1/2
=
1 + 100 0.5
20 1
0.3571 s.
From the characteristic equation of the FMS, we get
s
FMS
1,2
=
d
1
2
j
d
2
1
4(d
0
+ k
0
g)
2
= j,
where we assume that d
2
1
4(d
0
+ k
0
g) < 0 when g = g
max
. Hence, we can nd
FMS
= cos(
FMS
) = [[/
2
+
2
=
d
1
2
d
0
+ k
0
g

min
FMS
= 0.5 =
d
1
2
min
FMS
d
0
+ k
0
g
max
= 2 0.5
1 + 100 2.5 15.84.

Take = 0.3 s and d
1
= 16.
Control law implementation. The discussed control law (25) can be rewritten in the
form given by
u
(2)
+
d
1
u
(1)
+
d
0
2
u
=
k
0
2
x
(2)
k
0
a
d
1
2
T
x
(1)
k
0
2
T
2
x +
k
0
2
T
2
r =
u
(2)
+ a
1
u
(1)
+ a
0
u = b
2
x
(2)
+ b
1
x
(1)
+ b
0
x + c
0
r (30)
where
a
1
=
d
1
, a
0
=
d
0
2
,
b
2
=
k
0
2
, b
1
=
k
0
a
d
1
2
T
, b
0
=
k
0
2
T
2
,
c
0
=
k
0
2
T
2
.
Then, in order to nd the block diagram of the discussed control law, from (30), we get
u
(2)
b
2
x
(2)
+ a
1
u
(1)
b
1
x
(1)
= a
0
u + b
0
x + c
0
r
. .. .
= u
2
=
u
(1)
b
2
x
(1)
+ a
1
u b
1
x = u
2
=
u
(1)
b
2
x
(1)
= u
2
a
1
u + b
1
x
. .. .
= u
1
=
u = u
1
+ b
2
x.
Hence, we obtain the equations of the controller given by
u
1
= u
2
a
1
u + b
1
x,
u
2
= a
0
u + b
0
x + c
0
r. (31)
u = u
1
+ b
2
x.
From (31), we obtain the block diagram of the controller as shown in Fig. 6.
Figure 6: Block diagram of (30) represented in the form (31).
In conclusion, run the Matlab program e5 1 Parameters.m to calculate the controller
parameters. Next, run the Simulink program e5 1.mdl, to get the step response of the
closed-loop system.
4
It can be veried that the simulation results conrm the analytical
calculations. The simulation results are shown in Fig. 7.
Note that the control law (25) may be expressed in terms of transfer functions as
u(s) =
k
0
2
s
2
+ d
1
s + d
0
r(s)
k
0
(s
2
+ 2s + 1)
2
s
2
+ d
1
s + d
0
x(s). (32)
Take d
0
= 0, then from (32) the conventional PID controller with low-pass ltering
u(s) =
1
LPF
s + 1
k
2x(s) +
1
s
[r(s) x(s)] sx(s)
results, where the low-pass lter (LPF) is given by 1/(

LPF
s + 1) and
k =
k
0
d
1
,
LPF
=

d
1
.
4
Throughout the simulation the following solver options are used: variable-step, ode113(Adams),
relative tolerance equals 1e-6.
Figure 7: Simulation results of the closed-loop system given by (23) and (31) for k
0
= 100,
d
1
= 15, d
0
= 1 and = 0.3 s.
Exercise 5.10 The dierential equation of a plant model is given by
x
(2)
= 2x
(1)
+ x + 2u, (33)
where y(t) = x(t). Determine the parameters of the control law such that
r
= 0, t
d
s
1
s,
d
10 %,
FMS
0.3, and
3
10. The additional requirement
[G
un
s
(j)[
un
s
(),
n
s
min
(34)
should be provided such that
un
s
() = 10
3
and
n
s
min
= 10
3
rad/s. Compare simulation
results with the assignment.
Solution.
Reference model. From (33), we have x
(2)
= f(x, x
(1)
)+gu, where f(x, x
(1)
) = 2x
(1)
+x
and g = g
min
= g
max
= 2. We have n = 2 and x
(2)
is the highest derivative of the output
signal. Hence, consider the reference model given by
x
(2)
= F(x
(1)
, x, r).
Take t
d
s
= 1 s,
d
= 10 %, then by
d
= tan
1

ln(100/
d
)
,
d
=
4
t
d
s
,
we get
d
= 0.9383 rad,
d
= 0.5912,
d
= 4 rad/s and
n
= 6.7664 rad/s. By selecting
the 2 roots s
1,2
= 4 j5.4575, where Re(s
1,2
) =
d
=
n
cos(
d
) and [Im(s
1,2
)[ =
n
sin(
d
), we obtain the desired characteristic polynomial s
2
+ 8s + 45.78. Hence, the
desired transfer function is given by
G
d
xr
(s) =
45.78
s
2
+ 8s + 45.78
and, from the above, the reference model in the form of the type 1 system
x
(2)
= 8x
(1)
45.78x + 45.78r (35)
follows.
Control law of the 2-nd order. At the beginning, let us take q = 2. Therefore, the
control law will be constructed in the form (24), where the reference model is given by
(35). Hence, the control law is
2
u
(2)
+ d
1
u
(1)
+ d
0
u
= k
0
x
(2)
8x
(1)
45.78x + 45.78r. (36)
The closed-loop system equations are given by (26)(27). Hence, the FMS and SMS
equations are given by (28) and (29), respectively.
Selection of control law parameters, when q = 2. The control law parameters k
0
, d
0
, d
1
,
can be selected by following through solution of Exercise 5.1, if d
0
= 1.
Let us consider a simplied version for the gain k
0
selection. In order to provide the
requirement
r
= 0, take d
0
= 0. Then the gain k
0
can be selected such that k
0
g
min
= 10.
Hence, we get k
0
= 5.
From (28), (29), and (35), we have that
s
2
+ 8s + 45.78 = 0
is the characteristic equation of the SMS, where a
SMS
0
= 45.78, and
2
s
2
+ d
1
s + d
0
+ k
0
g = 0
is the characteristic equation of the FMS. Hence, we obtain
3
=
(a
FMS
0
)
1/2
(a
SMS
0
)
1/2
=
d
0
+ k
0
g
(a
SMS
0
)
1/2

d
0
+ k
0
g
min
(a
SMS
0
)
1/2

min
3
= 10
=
d
0
+ k
0
g
min
min
3
(a
SMS
0
)
1/2
=
0 + 5 2
10 6.766
0.04673 s.
s
FMS
1,2
=
d
1
2
j
d
2
1
4(d
0
+ k
0
g)
2
= j,
where we assume that the FMS is underdamped-stable, that is
d
2
1
4(d
0
+ k
0
g) < 0
when g = g
max
. Hence, we can nd
FMS
= cos(
FMS
) = [[/
2
+
2
=
d
1
2
d
0
+ k
0
g

min
FMS
= 0.3 =
d
1
2
min
FMS
d
0
+ k
0
g
max
= 2 0.3
0 + 5 2 1.8974.
High-frequency sensor noise attenuation, when q = 2. Let us replace x(t) by y(t) =
x(t) + n
s
(t). Then, from the above, we can obtain that
G
un
s
(s) = k
un
s
A
d
(s)
D
FMS
(s)
=
5 45.78
d
0
+ k
0
g

(1/45.78)s
2
+ (8/45.78)s + 1
[
2
/(d
0
+ k
0
g)]s
2
+ [d
1
/(d
0
+ k
0
g)]s + 1
is the input sensitivity function with respect to noise for high frequencies, where the re-
quirement on high-frequency sensor noise attenuation is given by the following inequality:
[G
un
s
(j)[
un
s
= 10
3
,
n
s
min
= 10
3
rad/s. (37)
Take = 0.04673 s and d
1
= 1.8974, then [G
un
s
(j
n
s
min
)[ 2208 (where 20 lg 2208
66.88 dB), or, for the sake of simplicity, we can nd the limit given by
lim
[G
un
s
(j)[ =
[k
0
[
q
2289,
where 20 lg 2289 67.19 dB. Hence, the requirement (37) on high-frequency sensor noise
attenuation doesnt hold. The Bode plots of G
un
s
(j) and G
uf
(j) are shown in Fig. 8.
Figure 8: The Bode plots of G
un
s
(j) and G
uf
(j).
Note, the same conclusion can be obtained by inspection the Bode amplitude plot of
G
uf
(j), where
G
uf
(s) = k
uf
1
D
FMS
(s)
,
k
uf
=
k
0
d
0
+ k
0
g
,
D
FMS
(s) =

2
d
0
+ k
0
g
s
2
+
d
1
d
0
+ k
0
g
s + 1.
Hence, we get
L
uf
(
n
s
min
) = 20 lg [G
uf
(j
n
s
min
)[ 53 dB
and
L
HFA
max
(
n
s
min
) = 20 lg
n
s
20[n + ] lg
n
s
min
= 60 dB,
where = 0. Hence, the requirement for high-frequency sensor noise attenuation
L
uf
(
n
s
min
) L
HFA
max
(
n
s
min
)
doesnt hold.
Run the Matlab program e5 10 A Parameters.m to calculate the reference model
parameters, Bode plots of G
un
s
(j) and G
uf
(j), as well as parameters of the controller
given by (36), where q = 2. Next, run the Simulink program e5 10 a.mdl, to get a step
response as well as ramp response (by using Switch 1) of the closed-loop system. The
simulation results are shown in Fig. 9.
Figure 9: Simulation results of the closed-loop system (33), (36) for k
0
= 5, d
0
= 0,
d
1
= 1.8974, and = 0.04673 s, where y(t) = x(t).
Note that, by Switch 2, the type of the reference model can be changed from 1 to 2
in the program e5 10 a.mdl.
By Switch 3, add the hign frequiency sensor noise n
s
(t) to the output y(t) = x(t) +
n
s
(t), where n
s
(t) = 10
3
sin(10
3
t). The simulation results are shown in Fig. 10.
0
= 5, d
0
= 0,
d
1
= 1.8974, and = 0.04673 s in the presence of the noise n
s
(t), where y(t) = x(t)+n
s
(t).
Control law of the 3-rd order. In order to provide the requirement for high-frequency
sensor noise attenuation given by (37), let us take q = 3 and consider the control law
given by
3
u
(3)
+ d
2
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(y
(1)
, y, r) y
(2)
,
where y(t) = x(t) +n
s
(t) and the reference model is the same as (35). Hence, the control
law can be rewritten as
3
u
(3)
+d
2
2
u
(2)
+d
1
u
(1)
+d
0
u=k
0
y
(2)
a
d
1
y
(1)
a
d
0
y+ a
d
0
r, (38)
where
a
d
1
= 8, a
d
0
= 45.78.
Note that the control law (38) may be expressed in terms of transfer functions as
u(s) =
k
0
a
d
0
3
s
3
+ d
2
2
s
2
+ d
1
s + d
0
r(s)
k
0
(s
2
+ a
d
1
s + a
d
0
)
3
s
3
+ d
2
2
s
2
+ d
1
s + d
0
x(s). (39)
Take d
0
= 0, then from (39) the conventional PID controller with low-pass ltering
u(s) =
1
2
lpf
s
2
+ a
LPF
LPF
s + 1
k
a
d
1
x(s) +
a
d
0
s
[r(s) x(s)] sx(s)
results, where the low-pass lter is given by 1/(

2
LPF
s
2
+ a
LPF
LPF
s + 1) and
k =
k
0
d
1
,
LPF
=

d
1
, a
LPF
LPF
=
d
2
d
1
.
The FMS characteristic polynomial in the closed-loop system is given by
3
s
3
+ d
2
2
s
2
+ d
1
s + d
0
+ k
0
g.
Let us consider the selection of the control law parameters based on Bode amplitude plot
of the closed-loop FMS given by
L
uf
() = 20 lg [G
uf
(j)[,
where
G
uf
(s) = k
uf
1
D
FMS
(s)
, k
uf
=
k
0
d
0
+ k
0
g
,
D
FMS
(s) =

3
d
0
+ k
0
g
s
3
+
d
2
2
d
0
+ k
0
g
s
2
+
d
1
d
0
+ k
0
g
s + 1. (40)
By the same way as was shown above, take d
0
= 0 and k
0
= 5. Hence, k
uf
= 0.5. Then,
let us perform G
d
uf
(s) in the corner frequency factored form given by
G
d
uf
(s) = k
uf
1
[T
2
1
s
2
+ 2
1
T
1
s + 1][T
2
s + 1]
. (41)
Then, the roots of quadratic factor
T
2
1
s
2
+ 2
1
T
1
s + 1
are the dominant poles of G
d
uf
(s), where the damping ratio
1
is selected such that
1
=
min
FMS
= 0.3.
Take t
d
s
t
d
s,
SMS
and t
d
s,
FMS
= t
d
s
/, where = 10. Then, we can obtain
1

4
t
d
s,
FMS
=
4
1
t
d
s
=
4 10
1
1
133 = T
1
=
1
1
= 0.0075 s.
Let us calculate a lower bound for T
2
from the condition
L
d
uf
(
n
s
min
) = L
HFA
max
(
n
s
min
),
where
L
HFA
max
(
n
s
min
) = 20 lg
n
s
20[n + ] lg
n
s
min
= 20 lg 10
3
20[2 + 0] lg 10
3
= 60 dB.
Denote L =
n
s
/(
n
s
min
)
n+
= 10
3
. Hence, we get
[G
d
uf
(j
n
s
min
, T
min
2
)[ = L =
k
uf
[[1 T
2
1
[
n
s
min
]
2
+ j2
1
T
1
[
n
s
min
]][jT
min
2

n
s
min
+ 1][
= L =
T
min
2
=
1
n
s
min
[k
uf
/L]
2
(1 [T
1
n
s
min
]
2
)
2
+ (2
1
T
1
n
s
min
)
2
1
1/2
=
T
min
2
=
1
10
3
[0.5/10
3
]
2
(1[0.007510
3
]
2
)
2
+(20.30.007510
3
)
2
1
1/2
0.009 s.
The time constant T
2
should be selected such that the inequalities T
min
2
T
2
T
1
hold.
We see, there is apparent contradiction. Therefore, let us replace the degree of time-scale
separation between fast and slow modes = 10 by = 8 and redesign the parameter
T
1
again. We get T
1
= 0.0094 s. Accordingly, by the same way as above, we obtain
T
min
2
= 0.0057 s. Hence, the condition T
min
2
T
2
T
1
holds and then, we can take
T
2
= T
min
2
= 0.0057 s.
As a result of the above, we obtain
D
d
FMS
(s) = [T
2
1
s
2
+ 2
1
T
1
s + 1][T
2
s + 1]
= 4.9699 10
7
s
3
+ 1.197 10
4
s
2
+ 0.0113s + 1.
From (40), and by taking into account that d
0
= 0 as well as the requirement
D
FMS
(s) = D
d
FMS
(s),
we obtain
= d
d
q
k
0
g
1/3
0.0171,
d
1
=
d
d
1
[k
0
g]
(2)/3
[d
d
3
]
1/3
6.6097, (42)
d
2
=
d
d
2
[k
0
g]
(1)/3
[d
d
3
]
2/3
4.1101.
Finally, the control law (38) can be rewritten in the form given by
u
(3)
+
d
2
u
(2)
+
d
1
2
u
(1)
+
d
0
3
u
=
k
0
3
y
(2)
k
0
a
d
1
3
T
y
(1)
k
0
3
T
2
y +
k
0
3
T
2
r =
u
(3)
+a
2
u
(2)
+a
1
u
(1)
+a
0
u = b
2
y
(2)
+b
1
y
(1)
+b
0
y+c
0
r. (43)
From (43), we can obtain the equations of the controller given by
u
1
= u
2
a
2
u
1
+ b
2
y,
u
2
= u
3
a
1
u
1
+ b
1
y,
u
3
= a
0
u
1
+ b
0
y + c
0
r, (44)
u = u
1
,
where
a
2
=
d
2
, a
1
=
d
1
2
, a
0
=
d
0
3
,
b
2
=
k
0
3
, b
1
=
k
0
a
d
1
3
, b
0
=
k
0
a
0
3
, c
0
=
k
0
a
0
3
.
The Bode plots of G
un
s
(j) and G
uf
(j) are shown in Fig. 11, where the parameters
, d
1
, d
2
are given by (42) with d
0
= 0 and k
0
= 5.
In conclusion, run the Matlab program e5 10 B Parameters.m to calculate the refer-
ence model parameters, Bode plots of G
un
s
(j), and G
uf
(j), as well as the parameters
of the controller given by (44), where q = 3. Next, run the Simulink program e5 10 b.mdl,
to get a step response as well as ramp response (by using Switch 1) of the closed-loop
system. By Switch 3, add the hign frequiency sensor noise n
s
(t) to the output, that is
y(t) = x(t) + n
s
(t), where n
s
(t) = 10
3
sin(10
3
t). The simulation results are shown in
Fig. 12. It can be veried that the simulation results conrm the analytical calculations.
Note that in the program e5 10 b.mdl, by Switch 2, the type of the reference model
can be changed from 1 to 2. Then, instead of (43), we have the controller given by
u
(3)
+ a
2
u
(2)
+ a
1
u
(1)
+ a
0
u
= b
2
y
(2)
+ b
1
y
(1)
+ b
0
y + c
1
r
(1)
+ c
0
r, (45)
Figure 11: The Bode plots of G
un
s
(j) and G
uf
(j).
0
= 5, d
0
= 0,
= 0.0171 s, d
1
= 6.6097, d
2
= 4.1101 in the presence of the noise n
s
(t), where y(t) =
x(t) + n
s
(t).
where c
1
= b
1
and c
0
= b
0
. Hence, instead of (44), we get
u
1
= u
2
a
2
u
1
+ b
2
y,
u
2
= u
3
a
1
u
1
+ b
1
y + c
1
r,
u
3
= a
0
u
1
+ b
0
y + c
0
r, (46)
u = u
1
.
From (46), we can obtain the block diagram of the controller as shown in Fig. 13.
Chapter 6
Exercise 6.1 The plant model is given by
x
(2)
(t) = 0.5x(t)x
(1)
(t) + 0.1x
(1)
(t)
+0.5x(t) + 0.5 sin(0.5t) + gu(t ), (47)
where g = 1 and the reference model x
(2)
=F(x
(1)
, x, r) is assigned by
x
(2)
= T
2
a
1
Tx
(1)
x + r. (48)
The control law has the form
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(x
(1)
, x, r) x
(2)
, (49)
where T = 1 s, a
1
= 2, k
0
= 10, = 0.1 s, d
0
= 0, d
1
= 4. Determine the region of
stability for of the FMS. Compare with simulation results of the closed-loop system.
Solution.
The closed-loop system equations are given by
x
(2)
= f(x
(1)
, x, t) + gu(t ),
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(x
(1)
, x, r) x
(2)
,
where f(x
(1)
, x, t) = 0.5x(t)x
(1)
(t) + 0.1x
(1)
(t) + 0.5x(t) + 0.5 sin(0.5t), F(x
(1)
, x, r) =
T
2
a
d
1
Tx
(1)
x + r, g = 1, T = 1 s, a
d
1
= 2, k
0
= 10, = 0.1 s, d
0
= 0, and d
1
= 4.
Hence, from the above equations, we get the FMS given by
2
u
(2)
+d
1
u
(1)
+d
0
u+k
0
gu(t)=k
0
F(x
(1)
, x, r)f(x
(1)
, x), (50)
where F = const and f = const during the transients in (50). The block diagram
representation of the FMS (50) is shown in Fig. 14, where
D(s) =
2
s
2
+ d
1
s + d
0
. (51)
Figure 14: Block diagram of the FMS (50) with delay , where F = const, f = const.
By the Nyquist stability criterion, the FMS (50) is marginally stable if
c
= 0 exists
such that the condition
k
0
ge
j
m
c
D(j
c
)
= 1 + j0, (52)
holds, where
c
is the crossover frequency and
m
is an upper bound for delay . The
value
m
determines the region of stability for of the FMS.
From (52) and by taking into account the condition d
0
= 0, we get
k
0
ge
j
m
c
j
c
(j
c
+ d
1
)
= 1 =
4
c
+ d
2
1
2
c
k
2
0
g
2
= 0 = (53)
y =
2
c
> 0,
4
y
2
+ d
2
1
2
y k
2
0
g
2
= 0 =
y =
d
2
1
+
d
4
1
+ 4k
2
0
g
2
2
2
=
4
2
+
4
4
+ 4 10
2
1
2
2 0.1
2
481 =
c
=

y 22 rad/s.
From (52), we have
5
m
= [/2 tan
1
(
c
/d
1
)]/
c
. (54)
Hence, the region of stability for of the FMS is dened as
0 < <
m
= 0.049 s.
Finally, the discussed control law can be rewritten in the form given by
u
(2)
+
d
1
u
(1)
+
d
0
2
u
=
k
0
2
x
(2)
k
0
a
d
1
2
T
x
(1)
k
0
2
T
2
x +
k
0
2
T
2
r =
u
(2)
+ a
1
u
(1)
+ a
0
u = b
2
x
(2)
+ b
1
x
(1)
+ b
0
x + c
0
r,
where
a
1
=
d
1
, a
0
=
d
0
2
, b
2
=
k
0
2
, b
1
=
k
0
a
d
1
2
T
, b
0
=
k
0
2
T
2
, c
0
=
k
0
2
T
2
.
Run the Matlab program e6 1 Parameters.m to calculate the region of stability for of
the FMS and the controller parameters. Next, run the Simulink program e6 1.mdl, to get
the step response of the closed-loop system.
Exercise 6.4 Determine the phase margin and gain margin of the FMS based on the
input data of Exercise 6.1 for the time delay = 0.3
m
, where =
m
corresponds to the
marginally stable FMS.
5
y = tan
1
(x) denotes the arctangent of x, i.e., tan(y) = x.
Solution.
By following through the solution of Exercise 6.1, the block diagram representation
of the FMS (50) is shown in Fig. 14, where the phase margin (PM) of the FMS (50) is
given by
PM = ArgD(j
c
)
c
. (55)
From (51) and d
0
= 0, we get
ArgD(j
c
) =

2
+ tan
1
(
c
/d
1
). (56)
Hence, we obtain
PM =

2
tan
1
(
c
/d
1
)
c
. (57)
In order to nd the gain margin (GM) of the FMS, consider the equation
Arg[G
O
FMS
(j
)] = . (58)
From (58), we get
2
tan
1
(
/d
1
)
= 0, (59)
where ,
m
,
and
c
are calculated by joint numerical resolution of (53), (54), and (59).
Finally, we can nd that
l
= [G
O
FMS
(j
)[ =
k
0
ge
j
(j
+ d
1
)
k
0
g
j
(j
+ d
1
)
=
k
0
g
)
4
+ (d
1
)
2
Hence, the gain margin (GM) of the FMS is given by GM = 1/l
.
By running the Matlab program e6 4 Parameters.m, we obtain
c
22 rad/s,
47.7 rad/s,
m
0.049 s,
= 0.3
m
0.0146 s, PM = 0.7486 rad, GM 2.9685.
Next, run the Simulink program e6 4.mdl, to get the step response of the closed-loop
system where = 0.0146 s.
Chapter 7
Exercise 7.1 The dierential equations of a plant model are given by
x
1
= x
1
+ x
2
,
x
2
= x
1
+ x
2
+ x
3
+ u, (60)
x
3
= 2x
1
x
2
+ 2x
3
+ a u,
y = x
1
.
Verify the invertibility and internal stability of the given system (60), where (a) a = 1,
and (b) a = 3. Find the degenerated system.
Solution.
From (60), we obtain
y = x
1
+ x
2
= y = x
1
+ x
2
= y = 2x
1
+ 2x
2
+ x
3
+ u.
Hence, the system (60) is invertible and the relative degree is given by = 2. Let us
introduce a state-space transformation dened by
y
1
= y = x
1
,
y
2
= y = x
1
+ x
2
, (61)
z = x
3
From (61), we have
x
1
= y
1
,
x
2
= y
2
y
1
, (62)
x
3
= z.
By the change of variables (62), we get the normal form of (60) given by
y
1
= y
2
,
y
2
= 2y
2
+ z + u, (63)
z = y
1
+ y
2
+ 2z + a u,
y = y
1
.
Let the desired stable output behavior is dened by y = F( y, y, r), which can be rewritten
as y
1
= F( y
1
, y
1
, r) or y
1
= y
2
, y
2
= F(y
2
, y
1
, r). In order to nd the equations of the
internal subsystems, take F(y
2
, y
1
, r) = 2y
2
+z+u. Hence, we obtain the inverse dynamics
solution given by
u
id
= F(y
2
, y
1
, r) 2y
2
z.
Substitution of u = u
id
into (63) yields
y
1
= y
2
,
y
2
= F(y
2
, y
1
, r), (64)
z = (2 a)z + y
1
+ (1 2a)y
2
+ aF(y
2
, y
1
, r),
y = y
1
,
where z = (2a)z+y
1
+(12a)y
2
+aF(y
2
, y
1
, r) is the equation of the internal subsystem
and y
2
, y
1
, r are treated as bounded external disturbances of the internal subsystem. If
a = 1, then 2 a > 0 and the unique equilibrium point of the internal subsystem is
unstable. If a = 3, then 2 a < 0. Hence, the solutions of the internal subsystem are
bounded when variables y
2
, y
1
, r are bounded, that is the bounded-input-bounded-state
(BIBS) stability of the internal subsystem. Next, from (64), by taking y
1
= r = const
(hence, y
2
= 0 and F(y
2
, y
1
, r) = 0), we nd the degenerated system given by
z = (2 a)z + r,
where the unique equilibrium point of the degenerated subsystem is exponentially stable
when 2 a < 0.
Exercise 7.10 Verify the invertibility and internal stability of the system
x
1
= x
2
1
x
3
2
+ u,
x
2
= [x
2
[ u, (65)
y = x
1
,
Assume that the inequalities [x
1
(t)[ 1.5, [x
2
(t)[ 1.5, [r(t)[ 1 hold for all t [0, ).
Find the control law such that
r
= 0, t
d
s
3 s,
d
0%. Run a computer simulation
of the closed-loop system with zero initial conditions. Compare simulation results of the
output response with the assignment for r(t) = 1, t > 0.
Solution.
Invertibility and internal stability. By the change of variables y = x
1
and z = x
2
, we
get
y = y
2
z
3
+ u,
z = [z[ u. (66)
Hence, the system (66) is invertible and the relative degree is given by = 1.
Let the desired stable output behavior is dened by y = F(y, r). Take F(y, r) =
y
2
z
3
+ u. Hence, we obtain the inverse dynamics solution given by
u
id
= F(y, r) y
2
+ z
3
.
Substitution of u = u
id
into (66) yields
y = F(y, r), (67)
z = f(z) + (y, r),
where (y, r) = y
2
F(y, r) and f(z) = [z[ z
3
.
Denote c = (y, r) where c is an arbitrary real number. Take z = 0 in the internal
subsystem given by
z = f(z) + c. (68)
Hence, from f(z) +c = 0, depending on value c, it can be up to three equilibrium points
of the internal subsystem. It can be easily veried, all solutions of the internal subsystem
(68) are bounded.
Control law. We have = 1. Hence, y
(1)
is the highest derivative of the output signal.
As far as the requirement on the high frequency sensor noise attenuation is not specied,
then, for simplicity, take q = = 1 and consider the control law given by
u
(1)
+ d
0
u = k
0
[F(y, r) y
(1)
],
where the reference model is
y
(1)
= F(y, r).
Take t
d
s
= 3 s,
d
= 0 %, then we get
d
= 0 rad,
d
= 1, a =
d
=
n
= 1.3333 rad/s.
By selecting the root s
1
= a, we obtain the desired characteristic polynomial s + a.
Consider the desired transfer function given by
G
d
yr
(s) =
a
s + a
. (69)
Hence, we get the reference model given by
y
(1)
= ay + ar.
Finally, the control law is
u
(1)
+ d
0
u = k
0
[y
(1)
ay + ar]. (70)
Closed-loop system. The closed-loop system equations are given by
y = y
2
z
3
+ u,
z = [z[ u, (71)
u + d
0
u = k
0
[F(y, r) y].
Denote f(y, z) = y
2
z
3
. From (71), by following through solution of Exercise 4.2, we
obtain the FMS equation, that is
u + [d
0
+ k
0
]u = k
0
[F(y, r) f(y, z)],
where F = const, f = const during the transients in (72), and
s + d
0
+ k
0
g = 0
is the characteristic equation of the FMS, where g = 1.
Suppose the FMS (72) is stable. Then, in order to provide the requirement
r
= 0,
we take d
0
= 0. Next, taking 0 in (72) we get u(t) = u
s
(t), where u
s
(t) is a steady
u
s
= u
id
= F(y, r) f(y, z).
Substitution of u
s
into the equation of the plant model (67) yields the SMS.
Selection of control law parameters. Let us consider a simplied version for the gain
k
0
selection. We have d
0
= 0, then the gain k
0
can be selected such that k
0
g
min
= 10,
where g
min
= g
max
= g = 1. Hence, we get k
0
= 10.
From (69), we have that the natural frequency of the reference model is given by
d
n
= 1.3333 rad/s. Denote
max
SMS
=
d
n
= 1.3333 rad/s,
min
FMS
=
d
0
+ k
0
g
min
rad/s.
Then, without the taking into account the rate of dynamics of the internal subsystem, let
us consider the ratio
2
=

min
FMS
max
SMS
(72)
as a criterion for the degree of time-scale separation between fast and slow motions. Take
min
2
2
=
d
0
+ k
0
g
min
max
SMS

min
2
= 20 =

max
=
d
0
+ k
0
g
min
min
2

max
SMS
=
0 + 10 1
20 1.3333
0.375 s.
As a result, take = 0.375 s.
Control law implementation. Finally, the control law (70) can be rewritten in the
form given by
u
(1)
+
d
0
u =
k
0
y
(1)
k
0
T
y +
k
0
T
r =
u
(1)
+ a
0
u = b
1
y
(1)
+ b
0
y + c
0
r = u
(1)
b
1
y
(1)
= a
0
u + b
0
y + c
0
r
. .. .
= u
1
, (73)
where T = 1/a. From (73), we obtain the equations of the controller given by
u
1
= a
0
u + b
0
y + c
0
r, (74)
u = u
1
+ b
1
y,
where
a
0
=
d
0
, b
1
=
k
0
, b
0
=
k
0
T
, c
0
=
k
0
T
.
From (74), we obtain the block diagram of the controller as shown in Fig. 15. Run the
Matlab program e7 10 Parameters.m to calculate the reference model parameter T, as
well as the parameters k
0
, of the controller given by (70). Next, run the Simulink
program e7 10.mdl, to get a step response of the closed-loop system with zero initial
conditions.
Chapter 8
Exercise 8.1 Verify the invertibility and internal stability of the system given by
x
1
= x
1
+ 3x
2
+ u
1
+ u
2
,
x
2
= x
1
+ x
2
+ u
1
2u
2
, (75)
y
1
= x
1
+ x
2
, y
2
= x
1
+ 2x
2
.
j
(t)[ 2 j and [r(t)[ 1 hold for all t [0, ). Find
the control law of the form
q
i
i
u
(q
i
)
i
+ d
i,q
i
1
q
i
1
i
u
(q
i
1)
i
+ + d
i,1
u
(1)
i
+ d
i,0
u
i
= k
i
e
F
i
,

U
i
(0) =

U
0
i
, i = 1, . . . , p, (76)
u = K
0
u, u = u
1
, u
2
, . . . , u
p
T
, u = u
1
, u
2
, . . . , u
p
T
,
where
i
> 0, k
i
> 0,

U
i
= u
i
, u
(1)
i
, . . . , u
(q
i
1)
i

T
, q
i

i
.
Provide the following requirements:
r1
= 0,
r2
= 0, t
d
s1
1 s,
d
1
0%, t
d
s2
3 s,
d
2
0%. Compare simulation results for the step response of the closed-loop control
system with the assignment.
Solution.
Invertibility and internal stability. From (75), by following through solution of Exer-
cise 7.1, we get
y
1
= x
1
+ x
2
= y
1
= 2x
1
+ 4x
1
+ 2u
1
u
2
,
y
2
= x
1
+ 2 x
2
= y
2
= x
1
x
2
+ u
1
5u
2
,
where
det G
= det
2 1
1 5
= 9 = 0.
Hence, the system (75) is invertible and the relative degrees are given by
1
=
2
= 1.
We have that
1
+
2
= n = 2. Then, the internal subsystem does not exist.
Reference model. By following through solution of Exercise 7.10, take t
d
s1
= 1 s,
d
1
= 0 %, then we get
d
1
= 0 rad,
d
1
= 1, a
1
=
d
1
=
1,n
= 4 rad/s. By selecting the root
s
1
= a
1
, we obtain the desired characteristic polynomial s + a
1
. The desired transfer
function G
d
y1r1
(s) = y
1
(s)/r
1
(s) is given by
G
d
y1r1
(s) =
a
1
s + a
1
.
Hence, we get the reference model for y
1
given by
y
(1)
1
= a
1
y
1
+ a
1
r
1
= y
(1)
1
=
1
T
1
[r
1
y
1
], (77)
where T
1
= 1/a
1
. By the same way as above, take t
d
s2
= 3 s,
d
2
= 0 %, then
y
(1)
2
= a
2
y
2
+ a
2
r
2
= y
(1)
2
=
1
T
2
[r
2
y
2
], (78)
where a
2
= 1.3333 and T
2
= 1/a
2
. Hence, the reference model (77)(78) has be con-
structed as
y
(1)
1
= F(y
1
, r
1
), y
(1)
2
= F(y
2
, r
2
). (79)
Control law . Take q
1
= q
2
= 1, then the control law is
1
u
(1)
1
+ d
1,0
u
1
= k
1
[y
(1)
1
a
1
y
1
+ a
1
r
1
], (80)
2
u
(1)
2
+ d
2,0
u
2
= k
2
[y
(1)
2
a
2
y
2
+ a
2
r
2
], (81)
u
1
= k
11
u
1
+ k
12
u
2
, u
2
= k
21
u
1
+ k
22
u
2
. (82)
Take
K
0
= [G
]
1
=
k
11
k
12
k
21
k
22
0.5556 0.1111
0.1111 0.2222
.
Hence, the controller of the discussed 2I2O system consists of 2 separate linear controllers
generating the auxiliary controls u
1
, u
2
and accompanied by the matching matrix K
0
where the linear controllers are described by (80) and (81), as well as the matrix K
0
is
implemented by (82).
Fast-motion subsystem and slow-motion subsystem. From the closed-loop system
equations given by (75) and (80)(82), by following through solution of Exercise 7.10
again, we obtain the FMS equations, that are
1
u
(1)
1
+ [d
1,0
+ k
1
] u
1
= k
1
[F(y
1
, r
1
) f
1
(x
1
, x
2
)], (83)
2
u
(1)
2
+ [d
2,0
+ k
2
] u
2
= k
2
[F(y
2
, r
2
) f
2
(x
1
, x
2
)], (84)
where y
1
= const, y
2
= const, x
1
= const, x
2
= const, f
1
= const, and f
2
= const during
the transients in (83)(84). Due to K
0
= [G
]
1
, the characteristic polynomial of the
FMS is factorized, this is
(
1
s + d
10
+ k
1
)(
2
s + d
20
+ k
2
). (85)
In order to provide the requirements
r1
= 0 and
r2
= 0, take d
10
= 0, d
20
= 0.
Suppose the FMS (83)(84) is stable. Then, it easy to show, the SMS equations are the
same as the reference model given by (79) as
1
0 and
2
0.
Selection of control law parameters. Let us take k
1
= 10 and k
2
= 10. The natural
frequency of the reference model for y
1
is given by
d
1,n
= 4 rad/s. Denote
max
1,
SMS
=
d
1,n
= 4 rad/s,
min
1,
FMS
=
d
1,0
+ k
1
1
rad/s.
Then, let us consider the ratio
2
=
min
1,
FMS
max
1,
SMS
(86)
as a criterion for the degree of time-scale separation between fast and slow motions in the
rst input-output channal. Take
min
2
2
=
d
1,0
+ k
1
max
1,
SMS

min
2
= 20 =
1

1,max
=
d
1,0
+ k
1
min
2

max
1,
SMS
=
0 + 10
20 4
= 0.125 s.
As a result, take
1
= 0.125 s. By the same way, we get
2

2,max
=
d
2,0
+ k
2
min
2

max
2,
SMS
=
0 + 10
20 1.3333
0.375 s.
As a result, take
2
= 0.375 s.
Much more conservative selection of
1
,
2
is to take
i
= i, where

max
=
min
i
d
i,0
+ k
i
min
2
max
i
max
i,
SMS
=
0 + 10
20 4
= 0.125 s.
Control law implementation. Finally, the separate controllers given by (80) and (81)
can be rewritten as
u
(1)
i
+
d
i,0
i
u
i
=
k
i
i
y
(1)
i

k
i
i
T
i
y
i
+
k
i
i
T
i
r
i
=
u
(1)
i
+ a
i,0
u
i
= b
i,1
y
(1)
i
+ b
i,0
y
i
+ c
i,0
r
i
, (87)
where i = 1, 2. From (87), we obtain
u
(1)
i,1
= a
i,0
u
i
+ b
i,0
y
i
+ c
i,0
r
i
, (88)
u
i
= u
i,1
+ b
i,1
y
i
, i = 1, 2
where
a
i,0
=
d
i,0
i
, b
i,1
=
k
i
i
, b
i,0
=
k
i
i
T
i
, c
i,0
=
k
i
i
T
i
.
From (88), the block diagram follows, which is similar to the block diagram as shown in
Fig. 15 (see p. 33).
eters T
i
, as well as the parameters k
i
,
i
, and k
ij
of the controller given by (80)(82)
for
2
= 20. Next, run the Simulink program e8 1.mdl, to get a step response of the
closed-loop system with zero initial conditions. Make calculations and simulations for the
degree of time-scale separation between fast and slow motions assigned as
2
= 5 and
2
= 10. Compare the simulation results.
Exercise 8.2 Verify the invertibility and internal stability of the system given by
x
1
= x
2
1
+ x
1
x
2
+ 0.5u
1
[1 + 0.2 sin(t)]u
2
,
x
2
= x
1
+ sin(x
2
) u
1
2[1 + 0.5 sin(2t)]u
2
, (89)
y
1
= x
1
x
2
, y
2
= x
1
+ x
2
.
j
(t)[ 2 j and [r(t)[ 1 hold for all t [0, ). Find
the control law of the form (76) such that
r1
= 0,
r2
= 0, t
d
s1
3 s,
d
1
0%, t
d
s2
3
s,
d
2
0%. Compare simulation results for the step response of the closed-loop control
system with the assignment.
Solution.
Invertibility and internal stability. From (89), we get
y
1
= x
1
x
2
=
y
1
= x
2
1
x
1
+ x
1
x
2
sin(x
2
) + 1.5u
1
+ [1 0.2 sin(t) + sin(2t)]u
2
,
y
2
= x
1
+ x
2
=
y
2
= x
2
1
+ x
1
+ x
1
x
2
+ sin(x
2
) 0.5u
1
[3 + 0.25 sin(t) + sin(2t)]u
2
,
where
G
g
11
g
12
g
21
g
22
and g
11
= 1.5, g
21
= 0.5, g
12
= 1 0.2 sin(t) + sin(2t), g
22
= 3 0.25 sin(t) sin(2t).
By Matlab program e8 2 Parameters.m, we can nd that
det G
(t) [5.4, 2.6], t [0, ).

Hence, the invertibility condition det G
(t) = 0 holds t [0, ) and the relative degrees

of the system (89) are given by
1
=
2
= 1. We have that
1
+
2
= n = 2. Then, the
internal subsystem does not exist.
Reference model. By following through solution of Exercise 8.1, take t
d
s1
= 3 s,
d
1
=
0 %, t
d
s2
= 3 s,
d
2
= 0 %, then we get the reference model for y
1
and y
2
given by (77)(78),
where a
1
= a
2
=
d
= 1.3333 rad/s. Denote
max
SMS
=
d
rad/s.
Control law . Take q
1
= q
2
= 1, then the control law can be constructed in the form
(80)(82). Denote g
12
and g
22
as the average values of g
12
and g
22
, respectively, where
g
12
= 1 and g
22
= 3. Denote
g
11
g
12
g
21
g
22
1.5 1
0.5 3
.
Take, for instance,
K
0
= [

G
]
1
=
1
8
6 2
1 3
.
Fast-motion subsystem. From the closed-loop system equations given by (89) and
(80)(82), we obtain the FMS equation, that is
u
(1)
+D
0
+ K
1
G
K
0
u = K
1
F H
, (90)
where = diag
1
,
2
, K
1
= diagk
1
, k
2
, D
0
= diagd
10
, d
20
, u = [ u
1
, u
2
]
T
, and
F = const, H
= const during the transients in the FMS (90). Assume that G
(t) is the
matrix with frozen parameters during the transients in (90).
If K
0
= [G
(t)]
1
, then the characteristic polynomial of the FMS is factorized as
shown by (85). As far as K
0
= [G
(t)]
1
, then the characteristic equation of the FMS
can not be factorized on the two separate equations. Take, for simplicity, d
10
= d
20
= 0,
=
1
=
2
and k = k
1
= k
2
= 10, and denote = /k, then the characteristic equation
of the FMS (90) is given by

2
s
2
+ a
1
s + a
2
,
where
a
1
= 1 0.125g
12
0.375g
22
,
a
2
=
3
32
g
12
g
22
30
64
g
22
1
8
g
12
,
and
g
12
[0.144, 2.144], g
22
[1.82, 4.182], t [0, ).
Let > 0, then, it can be veried, that
(1)
1
K
1
G
K
0
is Hurwitz matrix. For example, by Matlab program e8 2 Parameters.m, we get that
6
max
t[0,)
Re
i
(G
K
0
) 0.6628
for all i = 1, 2. Take
min
FMS
= 0.6628 and
min
2
= 10, then can be selected such that the
inequality

max
=
k
min
FMS
min
2

max
SMS
=
10 0.6628
10 1.3333
0.4971 s.
holds. As a result, take
1
=
2
= 0.4971 s. Note, the control law implementation of
(80)(82) was discussed in Exercise 8.1.
6
Re
i
(A) is the real part of the eigenvalue
i
of A.
eters of the controller given by (80)(82) for
2
= 10. Next, run the Simulink program
e8 2.mdl, to get a step response of the closed-loop system with zero initial conditions.
Make calculations and simulations for the degree of time-scale separation between fast
and slow motions assigned as
2
= 5 and
2
= 20. Compare the simulation results.
Chapter 9
Exercise 9.1 Stabilize the internal subsystem by selective exclusion of redundant con-
trol variables in the system given by
x
1
= x
1
+ x
2
+ u
1
+ u
2
,
x
2
= x
1
+ 3x
2
2u
1
, (91)
y = x
1
.
Solution.
Assume that x
1
, x
2
are measurable state variables. We have y = x
1
and denote
z = x
2
. Hence, from (91), we get
y = y + z + u
1
+ u
2
,
z = y + 3z 2u
1
.
The reference model can be constructed in the form
y = F(y, r) = y = ay + ar. (92)
Exclusion of control variable u
1
. Take u
1
= 0 t. From (92), we get
y = y + z + u
2
,
z = y + 3z.
Let assume that the control law is given by
u
2
+ d
0
u
2
= k
0
F(y, r) y =
u
2
+ d
0
u
2
= k
0
y ay + ar. (93)
Hence, the closed-loop system equations are given by
y = y + z + u
2
,
z = y + 3z, (94)
u
2
+ d
0
u
2
= k
0
y ay + ar.
The closed-loop system equations (94) can be rewritten as
y = y + z + u
2
,
z = y + 3z, (95)
u
2
+ [d
0
+ k
0
]u
2
= k
0
ay + ar y z.
By following through solutions of Exercises 4.2 and 4.3, from (95), we obtain the FMS
equation, that is
u
2
+ [d
0
+ k
0
]u
2
= k
0
ay + ar y z, (96)
where y, r, u
2
are frozen variables during the transients in (96).
Suppose the FMS (96) is stable and take, for simplicity, d
0
= 0. Hence, taking 0
in (96) we get u
2
(t) = u
s
2
(t), where u
s
2
(t) is a steady state (more precisely, quasi-steady
state) of the FMS (96) and
u
s
2
= ay + ar y z.
Substitution of u
s
2
into (93) yields the SMS given by
y = ay + ar, (97)
z = 3z + y, (98)
where the internal subsystem (98) is unstable.
Exclusion of control variable u
2
. Take u
2
= 0 t. From (92), we get
y = y + z + u
1
, (99)
z = y + 3z 2u
1
. (100)
Let assume that the control law is given by
u
1
+ d
0
u
1
= k
0
y ay + ar. (101)
y = y + z + u
1
,
z = y + 3z 2u
1
, (102)
u
1
+ d
0
u
1
= k
0
y ay + ar.
The closed-loop system equations (102) can be rewritten as
y = y + z + u
1
,
z = y + 3z 2u
1
, (103)
u
1
+ [d
0
+ k
0
]u
1
= k
0
ay + ar y z.
From (103), we obtain the FMS equation, that is
u
1
+ [d
0
+ k
0
]u
1
= k
0
ay + ar y z, (104)
where y, r, u
2
0
= 0. Hence, taking
0 in (104) we get u
1
(t) = u
s
1
(t), where u
s
1
(t) is a steady state of the FMS (104) and
u
s
1
= ay + ar y z. Substitution of u
s
1
into (99), (100) yields the SMS given by
y = ay + ar, (105)
z = 5z + 3y + 2a(y r), (106)
where the internal subsystem (106) is unstable again. Hence, the method of selective
exclusion of redundant control variables does not allow to obtain the stable internal sub-
system.
Internal dynamics stabilization by redundant control u
2
. Let us consider the system
(92) with the control law given by (101). Hence, the closed-loop system equations are
given by
y = y + z + u
1
+ u
2
,
z = y + 3z 2u
1
. (107)
u
1
+ d
0
u
1
= k
0
y ay + ar,
where u
2
can be utilized for internal dynamics stabilization. From (107) we obtain
y = y + z + u
1
+ u
2
,
z = y + 3z 2u
1
, (108)
u
1
+ [d
0
+ k
0
]u
1
= k
1
ay + ar y u
2
.
From (108), we obtain the FMS equation, that is
u
1
+ [d
0
+ k
1
]u
1
= k
1
ay + ar y u
2
, (109)
where y, r, u
2
0
= 0. Hence, taking 0
in (109) we get u
1
(t) = u
s
1
(t), where u
s
1
(t) is a steady state (more precisely, quasi-steady
state) of the FMS (109) and
u
s
1
= ay + ar y u
2
Substitution of u
s
1
into (92) yields the SMS given by
y = ay + ar, (110)
z = 5z + 2u
2
+ 2y 2a(r y), (111)
where the internal subsystem (111) can be stabilized by applying u
2
= k
int
z. Thus, we
obtain
y = ay + ar, (112)
z = [5 + 2k
int
]z + 2y 2a(r y). (113)
From (113), the characteristic polynomial of the internal subsystem
A
int
(s) = s [5 + 2k
int
]
follows. Consider, for example, the desired characteristic polynomial given by A
d
int
(s) =
s + a
int
where a
int
> 0. Then, from the requirement A
int
(s) = A
d
int
(s), we get k
int
=
(5 + a
int
)/2. Take, for example, a
int
= 1, then k
int
= 3.
Let us take k
0
= 10 and a = 1.3333 rad/s. Denote
max
SMS
= maxa, a
int
rad/s,
min
FMS
=
d
0
+ k
0
rad/s.
Let us consider the ratio
2
=
min
FMS
/
max
SMS
as a criterion for the degree of time-scale
separation between fast and slow motions in the closed-loop system. Take
min
2
= 20.
Hence, we obtain
2
=
d
0
+ k
0
max
SMS

min
2
= 20 =

max
=
d
0
+ k
0
min
2

max
SMS
=
0 + 10
20 1.3333
= 0.375 s.
As a result, take
1
= 0.375 s.
The implementation of the control law (101) is similar to the block diagram as shown
in Fig. 15. Run the Matlab program e9 1 Parameters.m to calculate the reference model
and controller parameters. Next, run the Simulink program e9 1.mdl, to get a step
response of the closed-loop system with zero initial conditions.
Exercise 9.2 Consider the system given by
x
1
= x
1
+ x
2
+ u
1
+ u
2
,
x
2
= x
1
+ 3x
2
2u
1
, (114)
y = x
1
.
Stabilize the internal subsystem by insertion of supplementary conditions.
Solution.
From (114), we get
y = x
1
+ x
2
+ u
1
+ u
2
.
Hence, we have the relative degree = 1. Let us insert the supplementary condition for
control variables such that
u
1
+ u
2
= 0. (115)
Then u
2
= u
1
and we get the relative degree = 2. From (114) and (115), we obtain
x
1
= x
1
+ x
2
,
x
2
= x
1
+ 3x
2
2u
1
, (116)
y = x
1
.
By taking into account that y = x
1
and y = x
1
+ x
2
, the system (116) can by rewritten
in the form
y
(2)
= 4y
(1)
2y 2u
1
.
By following through solution of Exercises 5.9, consider the reference model given by
y
(2)
= F(y
(1)
, y, r).
Take t
d
s
= 2 s,
d
= 5 %, then by
d
= tan
1

ln(100/
d
)
,
d
=
4
t
d
s
,
we get
d
= 0.8092 rad,
d
= 0.6901,
d
= 2 rad/s and
n
the 2 roots s
1,2
= 2 j2.0974 where Re(s
1,2
) =
d
=
n
cos(
d
) and [Im(s
1,2
)[ =
n
sin(
d
), we obtain the desired characteristic polynomial s
2
+ 4s + 8.399. The desired
transfer function is given by
G
d
yr
(s) =
a
d
0
s
2
+ a
d
1
s + a
d
0
=
8.399
s
2
+ 4s + 8.399
.
Hence, we get the reference model in the form of the type 1 system
y
(2)
= 4y
(1)
8.399y + 8.399r = y
(2)
= F(y
(1)
, y, r).
Let us consider the control law given by
2
u
(2)
1
+ d
1
u
(1)
1
+ d
0
u
1
= k
0
F(y
(1)
, y, r) y
(2)
.
y
(2)
= f(y
(1)
, y) + gu
1
,
2
u
(2)
1
+ d
1
u
(1)
1
+ d
0
u
1
= k
0
F(y
(1)
, y, r) y
(2)
,
where f(y
(1)
, y) = 4y
(1)
2y and g = 2. By following through solution of Exercise 4.2,
we obtain the FMS equation, that is
2
u
(2)
1
+ d
1
u
(1)
1
+ [d
0
+ k
0
g]u
1
= k
0
F(y
(1)
, y, r) f(y
(1)
, y),
where F = const and f = const during the transients in (116), as well as the SMS
equation, that is
y
(2)
= F(y
(1)
, y, r) +
d
0
d
0
+ k
0
g
f(y
(1)
, y) F(y
(1)
, y, r).
We have g = 2 < 0. Take d
0
> 0 and k
0
= 10/g = 5.
From the SMS and reference model equations, it follows that
s
2
+ a
d
1
s + a
d
0
is the characteristic polynomial of the SMS where a
SMS
0
=
a
d
0
, and
2
s
2
+ d
1
s + d
0
+ k
0
g
is the characteristic polynomial of the FMS. Denote a
FMS
0
= d
0
+ k
0
g. Hence, we obtain
3
=
(a
FMS
0
)
1/2
(a
SMS
0
)
1/2
=
d
0
+ k
0
g
(a
SMS
0
)
1/2

min
3
= 10
=
d
0
+ k
0
g
min
3
(a
SMS
0
)
1/2
=
0 5 (2)
10
8.399
0.1091 s.
s
FMS
1,2
=
d
1
2
j
d
2
1
4(d
0
+ k
0
g)
2
= j,
2
1
4(d
0
+ k
0
g) < 0. Take
min
FMS
= 0.5. Hence, we can nd
FMS
= cos(
FMS
) = [[/
2
+
2
=
d
1
2
d
0
+ k
0
g

min
FMS
= 0.5 =
d
1
2
min
FMS
d
0
+ k
0
g
= 2 0.5
0 + (5) (2) 3.1623.

1
= 3.1623.
In conclusion, run the Matlab program e9 2 Parameters.m to calculate the controller
parameters. Next, run the Simulink program e9 2.mdl, to get the step response of the
closed-loop system.
Chapter 10
Exercise 10.1 The system is given by
x = x
2
+ 4u. (117)
Find the parameters of the control law in the form given by
u
k
=
q
j=1
d
j
u
kj
+
q
j=0
a
j
y
kj
+
q
j=0
b
j
r
kj
(118)
to meet the following specications:
r
= 0, t
d
s
3 s,
d
0%, q = 1. Determine the
sampling period T
s
such that the phase margin of the FMS will meet the requirement
0.7 rad. Compare simulation results of the step output response of the closed-loop
control system with the assignment.
Solution.
Reference model. Consider the reference model given by x = F(x, r). Take t
d
s
= 3 s,
d
= 0 %, then we get
d
= 0 rad,
d
= 1, a =
d
=
n
= 1.3333 rad/s. By selecting the
root s
1
= a, we obtain the desired characteristic polynomial s +a. The desired transfer
function is given by
G
d
xr
(s) =
a
s + a
.
Hence, we get the reference model given by
x = ax + ar = x =
1
T
[r x], (119)
where T = 1/a.
Continuous-time controller. We have that x
(1)
is the highest derivative of the output
signal, then = 1. As far as the requirement on the high frequency sensor noise atten-
uation is not specied, then, for simplicity, take q = = 1 and consider the control law
given by
u + d
0
u = k
0
[F(x, r) x]. (120)
Hence, the control law has the following form:
u + d
0
u = k
0
[ x ax + ar]. (121)
Closed-loop system. The closed-loop system equations are given by
x = x
2
+ 4u, (122)
u + d
0
u = k
0
[F(x, r) x]. (123)
Denote f(x) = x
2
. From (122) and (123), by following through solution of Exercise 4.2,
we get the FMS given by
u + [d
0
+ k
0
g]u = k
0
F(x, r) f(x), (124)
where g = g
max
= g
min
= 4 and F = const, f = const during the transients in (124).
Hence, we obtain that
s + d
0
+ k
0
g (125)
is the characteristic polynomial of the FMS.
Suppose the FMS (124) is stable. Then, in order to provide the requirement
r
= 0,
we take d
0
= 0. Next, taking 0 in (124) we get u(t) = u
s
(t), where u
s
(t) is a steady
u
s
= u
id
= g
1
[F(x, r) f(x)].
Substitution of u
s
into the equation of the plant model (117) yields the SMS, that is the
same as the reference model.
Selection of continuous-time controller parameters. Let us consider a simplied ver-
sion for the gain k
0
selection. We have d
0
= 0, then the gain k
0
can be selected such that
k
0
g
min
= 10, where g
min
= g
max
= g = 4. Hence, we get k
0
= 5/2.
From (119), we have that the natural frequency of the reference model is given by
d
n
= a = 1.3333 rad/s. Denote
max
SMS
=
d
n
= 1.3333 rad/s,
min
FMS
=
d
0
+ k
0
g
min
rad/s.
Let us consider the ratio
2
=

min
FMS
max
SMS
(126)
as a criterion for the degree of time-scale separation between fast and slow motions. Take
min
2
2
=
d
0
+ k
0
g
min
max
SMS

min
2
= 20 =

max
=
d
0
+ k
0
g
min
min
2

max
SMS
=
0 + 2.5 4
20 1.3333
0.375 s.
As a result, take = 0.375 s.
From (121), we obtain the block diagram of the controller as shown in Fig. 15 (see
p. 33). Run the Matlab program e10 1 Parameters.m to calculate the continuous-time
controller parameters. Next, run the Simulink program e10 1 Continuous.mdl, to get the
step response of the closed-loop system.
Selection of the sampling period. From (117) we get the following pseudo-continuous-
time model:
x(t) = x
2
(t) + 4u(t ), (127)
where = T
s
/2 and T
s
is the sampling period.
Closed-loop system. In accordance with (120) and (127), the closed-loop system equa-
tions are given by
x(t) = f(x(t)) + gu(t ),
u(t) + d
0
u(t) = k
0
[F(x(t), r(t)) x(t)].
From the above equations, we get the FMS given by
u(t) + d
0
u(t) + k
0
gu(t ) = k
0
F(x(t), r(t)) f(x(t)), (128)
where F = const and f = const during the transients in (128). The block diagram
representation of the FMS (128) is shown in Fig. 16.
The corresponding transfer function of the open-loop FMS with time delay is given
by
G
O
FMS
(s) =
k
0
g exp (s)
D(s)
, (129)
Figure 16: Block diagram of the FMS (128) with delay , where F = const, f = const.
where D(s) = s + d
0
. From (129) and the condition given by
[G
O
FMS
(j
c
, )[ = 1,
we get
[D(j
c
)[ = k
0
g = [j
c
+ d
0
[ = k
0
g =
c
=
k
2
0
g
2
d
2
0
(130)
where
c
is the crossover frequency on the Nyquist plot of (129).
Denote by the value of the phase margin of the FMS (128). Then, by inspection of
the Nyquist for (129), we get that the requirement

d
> 0 (131)
holds if the inequality
T
s
2[
d
ArgD(j
c
)]/
c
(132)
is satised. Finally, from (130) and (132), by taking into account d
0
= 0, we get
T
s

( 2
d
)
k
0
g
(133)
where
d
< /2.
Take, for example,
d
= 0.7 rad (that is about 40 degrees of arc), k
0
g = 10, and
= 0.375 s. Then, by (133), we get T
s
= 0.1742 s.
Digital realization of continuous-time controller. We have the continuous control law
given by
u + d
0
u = k
0
[ x ax + ar]. (134)
[s + d
0
]u(s) = k
0
[s + a]x(s) + ar(s) = s =
2
T
s
z 1
z + 1
=
[(2 + d
0
T
s
)z + (d
0
T
s
2)]u(z) =
k
0
[(2 + aT
s
)z + (2 aT
s
)]x(z) + k
0
aT
s
[z + 1]r(z) =
(2 + d
0
T
s
)u
k+1
+ (d
0
T
s
2)u
k
=
k
0
(2 + aT
s
)x
k+1
+ k
0
(2 aT
s
)u
k
+ k
0
aT
s
r
k+1
+ k
0
aT
s
r
k
. (135)
From (135), the control law given by the dierence equation
u
k+1
=

d
1
u
k
+ a
0
y
k+1
+ a
1
y
k
+
b
0
r
k+1
+
b
1
r
k
(136)
results, where
d
0
= 2 + d
0
T
s
,

d
1
= (2 d
0
T
s
)/
d
0
,
a
0
= k
0
(2 + aT
s
)/
d
0
, a
1
= k
0
(2 aT
s
)/
d
0
, (137)
b
0
=

b
1
= k
0
aT
s
/
d
0
.
Implementation of control law. From (136), we obtain
u
k+1
a
0
x
k+1
b
0
r
k+1
=

d
1
u
k
+ a
1
x
k
+
b
1
r
k
. .. .
= u
k+1
=
u
k+1
a
0
x
k+1
b
0
r
k+1
= u
k+1
= u
k
= a
0
x
k
+
b
0
r
k
+ u
k
.
Finally, we get
u
k+1
=

d
1
u
k
+ a
1
x
k
+
b
1
r
k
, (138)
u
k
= u
k
+ a
0
x
k
+
b
0
r
k
.
From (138), we obtain the block diagram as shown in Fig. 17.
Figure 17: Block diagram of the control law (136) represented in the form (138).
Run the Simulink program e10 1 Discrete.mdl, to get the step response of the closed-
loop system with zero initial conditions. Make simulations for
d
= 0.5 rad and
d
= 1
rad. Compare the simulation results.
Exercise 10.3 The system is given by
x
(2)
= x + x[x
(1)
[ +1.5 + sin(t)u. (139)
Find the parameters of the control law (118) to meet the following specications:
r
= 0,
t
d
s
1 s,
d
20%, q = 2. Determine the sampling period T
s
such that the phase margin
of the FMS will meet the requirement 0.25 rad. Compare simulation results of the
step output response of the closed-loop control system with the assignment.
Solution.
Reference model. From (139), we obtain n = 2, x
(2)
= f(x
(1)
, x) + g(t)u where
f(x
(1)
, x) = x + x[x
(1)
[ and g(t) = 1.5 + sin(t). Hence g [g
min
, g
max
] = [0.5, 2.5].
We have n = 2 and x
(2)
is the highest derivative of the output signal. Therefore, the
reference model will be constructed in the form
x
(2)
= F(x
(1)
, x, r).
Take t
d
s
= 1 s,
d
= 20 %, then by
d
= tan
1

ln(100/
d
)
,
d
=
4
t
d
s
,
we get
d
= 1.0974 rad,
d
= 0.4559,
d
= 4 rad/s and
n
the 2 roots s
1,2
= 4 j7.8079, where Re(s
1,2
) =
d
=
n
cos(
d
) and [Im(s
1,2
)[ =
n
sin(
d
), we obtain the desired characteristic polynomial
(s s
1
)(s s
2
) = s
2
+ a
1
s + a
0
, (140)
where a
1
= 8, a
0
= 76.9637. Hence, we can get the reference model in the form of the
type 1 system, this is
x
(2)
= a
1
x
(1)
a
0
x + b
0
r,
or type 2 system, this is
x
(2)
= a
1
x
(1)
a
0
x + b
1
r
(1)
+ b
0
r (141)
where b
0
= a
0
and b
1
= a
1
.
Continuous-time controller. Take q = n = 2 Therefore, consider the control law given
by
2
u
(2)
+ d
1
u
(1)
+ d
0
u
= k
0
a
2
x
(2)
a
1
x
(1)
a
0
x + b
1
r
(1)
+ b
0
r, (142)
which can be rewritten, for short, as
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(x
(1)
, x, r) x
(2)
(143)
where a
2
= 1. Hence, the closed-loop system equations are given by
x
(2)
= f(x
(1)
, x) + g(t)u,
2
u
(2)
+ d
1
u
(1)
+ d
0
u = k
0
F(x
(1)
, x, r) x
(2)
.
From the above closed-loop system equations, we get the FMS given by
2
u
(2)
+ d
1
u
(1)
+d
0
+ k
0
gu = k
0
F(x
(1)
, x, r) f(x
(1)
, x), (144)
where F = const, f = const, and g = const during the transients in (144), as well as the
SMS given by
x
(2)
= F(x
(1)
, x, r) +
d
0
d
0
+ k
0
g(t)
f(x
(1)
, x) F(x
(1)
, x, r).
Selection of continuous-time controller parameters. Parameters of the continuous-
time controller given by (143) can be found by following through solution of Exercise 5.1.
In order to provide the requirement
r
= 0, take d
0
= 0 and let us take, for simplicity,
the gain k
0
such that the condition k
0
g
min
= 10 holds. Hence we get k
0
= 20.
From the SMS and reference model equations, it follows that the characteristic poly-
nomial of the SMS is given by (140), where a
SMS
0
= a
0
= 76.9637. and
2
s
2
+ d
1
s + d
0
+ k
0
g
is the characteristic polynomial of the FMS. Take
min
3
= 10. Then, from the requirement
3

min
3
, we obtain
3
=
(a
FMS
0
)
1/2
(a
SMS
0
)
1/2
=
d
0
+ k
0
g
(a
SMS
0
)
1/2

d
0
+ k
0
g
min
(a
SMS
0
)
1/2

min
3
= 10
=
d
0
+ k
0
g
min
min
3
(a
SMS
0
)
1/2
=
0 + 20 0.5
10
76.9637
0.036 s.
s
FMS
1,2
=
d
1
2
j
d
2
1
4(d
0
+ k
0
g)
2
= j,
2
1
4(d
0
+k
0
g) < 0 when g = g
max
. Take, for instance,
min
FMS
= 0.6.
Then we can nd
FMS
= cos(
FMS
) = [[/
2
+
2
=
d
1
2
d
0
+ k
0
g

min
FMS
= 0.6 =
d
1
2
min
FMS
d
0
+ k
0
g
max
= 2 0.6
0 + 20 2.5 8.4853.
1
= 8.4853.
From (143), we obtain the block diagram of the controller as shown in Fig. 6 (see
p. 18). Run the Matlab program e10 3 Parameters.m to calculate the controller parame-
ters. Next, run the Simulink program e10 3 Continuous.mdl, to get the step response of
the closed-loop system.
The block diagram representation of the FMS (144) is shown in Fig. 18, where
D(s) =
2
s
2
+ d
1
s + d
0
.
The corresponding transfer function of the open-loop FMS is given by
G
O
FMS
(s) =
k
0
g
D(s)
. (145)
Take d
0
= 0 and g = g
max
, then from (145) and
[G
O
FMS
(j
c
, )[ = 1,
Figure 18: Block diagram of the FMS (144), where F = const, f = const.
where
c
is the crossover frequency on the Nyquist plot of the FMS (144) given that
g = g
max
= 2.5. Hence, we get
[D(j
c
)[ = k
0
g
max
= [j
c
(j
c
+ d
1
)[ = k
0
g
max
=
4
c
+ d
2
1
2
c
k
2
0
g
2
max
= 0 =
y =
2
c
> 0,
4
y
2
+ d
2
1
2
y k
2
0
g
2
max
= 0 = (146)
y =
d
2
1
+
d
4
1
+ 4k
2
0
g
2
max
2
2
=
8.4853
2
+
8.4853
4
+ 4 20
2
2.5
2
2 0.036
2
19712 =
c
=

y 140 rad/s.
Hence, by taking into account that d
0
= 0, and, by inspection of the Nyquist plot for
(145), we can found the phase margin of the FMS given by (144), this is
FMS
= /2 tan
1
(
c
/d
1
)
/2 tan
1
(0.036 140/8.4853) 1.033 rad
when g = g
max
= 2.5.
Selection of the sampling period. From (139) we get the following pseudo-continuous-
time model:
x
(2)
(t) = f(x
(1)
(t), x(t)) + g(t)u(t ), (147)
where = T
s
/2, T
s
is the sampling period. From the closed-loop system equations given
by (143) and (147), we get the FMS equation given by
2
u
(2)
(t) + d
1
u
(1)
(t) + d
0
u(t) + k
0
g(t)u(t )
= k
0
F(x
(1)
(t), x(t), r(t)) f(x
(1)
(t), x(t)), (148)
where F = const, f = const, and g is the frozen parameter during the transients in (148).
The block diagram representation of the FMS (148) is shown in Fig. 19.
The corresponding transfer function of the open-loop FMS with delay = T
s
/2 is
given by
G
O
FMS
(s) =
k
0
ge
js
D(s)
. (149)
Figure 19: Block diagram of the FMS (148) with delay = T
s
/2, where F = const,
f = const, and g = const.
Then, by (146), the crossover frequency
c
on the Nyquist plot of the FMS (148) can be
found, this is
c
=

y 140 rad/s given that g = g
max
= 2.5.
Let us select
d
such that the inequalities
0 <
d
<
FMS
= 1.033 rad
hold. Denote is the phase margin of the FMS given by (148) Then, by inspection of
the Nyquist plot for (149), the condition
0 <
d
<
FMS
= 1.033 rad (150)
holds for all g [g
min
, g
max
] = [0.5, 2.5], if the sampling period T
s
is selected such that
the condition
0 < T
s
2[
d
ArgD(j
c
)]/
c
(151)
is satised. Take, for instance,
d
= 0.25 rad. From (151), by taking into account d
0
= 0,
we get
0 < T
s
[ 2
d
2 tan
1
(
c
/d
1
)]/
c
[ 2 0.25 2 tan
1
(0.036 140/8.4853)]/140 0.0112 s.
Take for numerical simulation T
s
= 0.0112 s.
Digital realization of continuous-time controller. From (142), we obtain
[
2
s
2
+ d
1
s + d
0
]u(s)
= k
0
[a
2
s
2
a
1
s a
0
]x(s) + k
0
[b
1
s + b
0
]r(s). (152)
Then, from (152), by the Tustin transformation
s = 2(z 1)/[T
s
(z + 1)],
the discrete-time control law in the form of the dierence equation
u
k
=

d
1
u
k1
+

d
2
u
k2
+ a
0
x
k
+ a
1
x
k1
+ a
2
x
k2
+
b
0
r
k
+
b
1
r
k1
+
b
2
r
k2
(153)
results, where
d
0
= 4
2
+ 2d
1
T
s
+ d
0
T
2
s
,
d
1
= 8
2
2d
0
T
2
s
/
d
0
,
d
2
= 4
2
2d
1
T
s
+ d
0
T
2
s
/
d
0
,
a
0
= k
0
4a
2
+ 2a
1
T
s
+ a
0
T
2
s
/
d
0
,
a
1
= 2k
0
4a
2
a
0
T
2
s
/
d
0
, (154)
a
2
= k
0
4a
2
2a
1
T
s
+ a
0
T
2
s
/
d
0
,
b
0
= k
0
2b
1
T
s
+ b
0
T
2
s
/
d
0
,
b
1
= 2k
0
b
0
T
2
s
/
d
0
,
b
2
= k
0
2b
1
T
s
b
0
T
2
s
/
d
0
.
u
k+2
a
0
x
k+2
b
0
r
k+2
d
1
u
k+1
a
1
x
k+1
b
1
r
k+1
=

d
2
u
k
+ a
2
x
k
+
b
2
r
k
. .. .
=u
2,k+1
= u
k+1
a
0
x
k+1
b
0
r
k+1
= u
2,k
+

d
1
u
k
+ a
1
x
k
+
b
1
r
k
. .. .
=u
1,k+1
=
u
k
= u
1,k
+ a
0
x
k
+
b
0
r
k
From the above, we get
u
1,k+1
= u
2,k
+

d
1
u
k
+ a
1
x
k
+
b
1
r
k
,
u
2,k+1
=

d
2
u
k
+ a
2
x
k
+
b
2
r
k
, (155)
u
k
= u
1,k
+ a
0
x
k
+
b
0
r
k
.
Then, from (155), the block diagram can be obtained as shown in Fig. 20.
Figure 20: Block diagram of the control law (153).
Run the Simulink program e10 3 Discrete.mdl, to get the step response of the closed-
loop system with zero initial conditions. Make simulations for
d
= 0.5 rad and
d
= 0.175
rad. Compare the simulation results.
Chapter 11
Exercise 11.1 Construct the reference model in the form of the 2nd-order dierence
equation
y
k
=
n
j=1
a
d
j
y
kj
+
n
j=1
b
d
j
r
kj
(156)
based on the Z-transform in such a way that the step output response with zero initial
conditions meets the requirements t
d
s
1 s,
d
0 % given that the sampling period is
T
s
= 0.05 s. Compare simulation results with the assignment.
Solution.
By following through the solution of Exercise 2.1, let us construct the desired continuous-
time transfer function G
d
yr
(s). Take t
d
s
= 1 s,
d
= 0 %, then by
d
= tan
1

ln(100/
d
)
,
d
=
4
t
d
s
,
we get
d
= 0 rad,
d
= 1,
d
=
n
= 4 rad/s. By selecting the 2 roots s
1
= s
2
= 4, we
obtain the desired characteristic polynomial s
2
+ 8s + 16. Consider the desired transfer
function given by
G
d
yr
(s) =
16
s
2
+ 8s + 16
=
16
(s + 4)
2
. (157)
Let us denote a =
n
= 4 and expand G
d
yr
(s)/s as
a
2
s(s + a)
2
=
A
s
+
B
s+a
+
C
(s+a)
2
=
(A+B)s
2
+(2Aa+Ba+C)s+Aa
2
s(s + a)
2
.
Hence, we obtain A = 1, B = 1, and C = a. Next, by the Z-transform of G
d
yr
(s)
preceded by a ZOH, we get the desired pulse transfer function given by
H
d
yr
(z) =
z 1
z
Z
L
1
a
2
s(s + a)
2
t=kT
s
=
z 1
z
Z
L
1
A
s
+
B
s+a
+
C
(s+a)
2
t=kT
s
=
b
d
1
z + b
d
2
z
2
a
d
1
z a
d
2
, (158)
where
b
d
1
= 1 e
aT
s
aT
s
e
aT
s
,
b
d
2
= e
aT
s
[e
aT
s
1 + aT
s
], (159)
a
d
1
= 2e
aT
s
, a
d
2
= e
2aT
s
.
Hence, from (158), we obtain the desired dierence equation, this is
y
k
= a
d
1
y
k1
+ a
d
2
y
k2
+ b
d
1
r
k1
+ b
d
2
r
k2
. (160)
Run the Matlab program e11 1 Parameters.m in order to calculate the reference model
parameters. Next, run the Simulink program e11 1.mdl to get a plot for the output
response of (160). Then, from inspection of the plot, determine the steady-state error for
input signals of type 0 and 1, respectively.
Exercise 11.4 Determine by the Z-transform the discrete-time model of the system
y
(2)
y = 2u (161)
preceded by ZOH. Design the control law
u
k
=
n
j=1
d
j
u
kj
+
0
y
k
+
n
j=1
a
d
j
y
kj
+
n
j=1
b
d
j
r
kj
. (162)
to meet the following specications: t
d
s
2 s;
d
0%; 10. Compare simulation
results of the step output response of the closed-loop control system with the assignment.
Solution.
Dierence equation of the plant. We have the system (161) preceded by ZOH. Hence,
we have y(s) = G
yu
(s)u(s), where
G
yu
(s) =
2
s
2
1
=
2
(s + 1)(s 1)
.
Let us expand G
yu
(s)/s as
2
s(s + 1)(s 1)
=
A
s
+
B
s + 1
+
C
s 1
=
(A+B+C)s
2
+(CB)sA
s(s + 1)(s 1)
.
We get A = 2, B = 1, and C = 1. Next, by the Z-transform of G
yu
(s)/s, we obtain the
pulse transfer function given by
H
yu
(z) =
z 1
z
Z
L
1
2
s(s + 1)(s 1)
t=kT
s
=
b
1
z + b
2
z
2
a
1
z a
2
, (163)
where
b
1
= b
2
= e
T
s
+ e
T
s
2, a
1
= e
T
s
+ e
T
s
, a
2
= 1. (164)
Hence, from (163), we obtain the dierence equation of the plant, this is
y
k
= a
1
y
k1
+ a
2
y
k2
+ b
1
r
k1
+ b
2
r
k2
. (165)
Reference model. By following through the solution of Exercise 11.1, let us construct the
desired continuous-time transfer function G
d
yr
(s). Take t
d
s
= 2 s,
d
= 0 %, then we get
d
= 0 rad,
d
= 1,
d
=
n
= 2 rad/s. By selecting the 2 roots s
1
= s
2
= 2, we obtain
the desired characteristic polynomial s
2
+ 4s + 4. The desired transfer function can be
constructed in the following form:
G
d
yr
(s) =
4
s
2
+ 4s + 4
=
4
(s + 2)
2
.
Denote a =
n
= 2. By the Z-transform of G
d
yr
(s) preceded by a ZOH, we get the desired
pulse transfer function given by (158), (159). Hence, the desired dierence equation is
given by (160).
Control law. Consider the control law given by
u
k
= d
1
u
k1
+ d
2
u
k2
+
0
y
k
+ a
d
1
y
k1
+ a
d
2
y
k2
+ b
d
1
r
k1
+ b
d
2
r
k2
. (166)
The closed-loop system equations have the following form:
y
k
=
2
j=1
a
j
y
kj
+
2
j=1
b
j
u
kj
, (167)
u
k
=
2
j=1
d
j
u
kj
+
0
y
k
+
2
j=1
a
d
j
y
kj
+
2
j=1
b
d
j
r
kj
. (168)
Substitution of (167) into (168) yields
y
k
=
2
j=1
a
j
y
kj
+
2
j=1
b
j
u
kj
, (169)
u
k
=
2
j=1
[d
j
0
b
j
]u
kj
+
0
2
j=1
[a
d
j
a
j
]y
kj
+b
d
j
r
kj
, (170)
where the FMS is governed by
u
k
=
2
j=1
[d
j
0
b
j
]u
kj
+
0
2
j=1
[a
d
j
a
j
]y
kj
+b
d
j
r
kj
, (171)
where y
k
= const during the transients in the system (171).
The controller parameters
0
and d
j
can be selected such that
0
= [b
1
+ b
2
]
1
, d
1
=
0
b
1
, d
2
=
0
b
2
, (172)
where b
1
, b
2
are dened by (164). Hence, we get the deadbeat response of the FMS.
Finally, take the sampling period such that
T
s
=
t
d
s
q
=
2
2 10
= 0.1 s. (173)
Then, the parameters of the control law (166) can be found by (159), (164), and (172).
Implementation of control law. The control law (166) can be rewritten as
u
k+2
= d
1
u
k+1
+d
2
u
k
y
k+2
+a
d
1
y
k+1
+a
d
2
y
k
+b
d
1
r
k+1
+b
d
2
r
k
, (174)
u
k
=
0
u
k
. (175)
u
k+2
d
1
u
k+1
+ y
k+2
a
d
1
y
k+1
b
d
1
r
k+1
= d
2
u
k
+ a
d
2
y
k
+ b
d
2
r
k
. .. .
=u
2,k+1
=
u
k+1
+ y
k+1
= u
2,k
+ d
1
u
k
+ a
d
1
y
k
+ b
d
1
r
k
. .. .
=u
1,k+1
=
u
k
= y
k
+ u
1,k
Finally, we get
u
1,k+1
= u
2,k
+ d
1
u
k
+ a
d
1
y
k
+ b
d
1
r
k
,
u
2,k+1
= d
2
u
k
+ a
d
2
y
k
+ b
d
2
r
k
, (176)
u
k
= u
1,k
y
k
, u
k
=
0
u
k
.
From (176), we obtain the block diagram as shown in Fig. 21.
Figure 21: Block diagram of the control law (166) represented in the form (176).
Run the Matlab program e11 4 Parameters.m in order to calculate the reference
model parameters. Next, run the Simulink program e11 4.mdl to get a plot for the
output response of the closed-loop system. Make simulations for = 7, = 20. Compare
the simulation results.
Chapter 12
Exercise 12.1 Consider the system (60) preceded by ZOH where a = 3. Design the
discrete-time control law given by
u
k
=
q
j=1
d
j
u
kj
+ (T
s
)[F
k
y
k
], (177)
to meet the following specications:
r
= 0, t
d
s
2 s,
d
5%. Run a computer simulation
of the closed-loop system with zero initial conditions. Compare simulation results of the
output response with the assignment for r(t) = 1, t > 0.
Solution.
By following through solution of Exercise 7.1, the invertibility and internal stability
of the system (60) are veried for a = 3, where the relative degree of (60) is = 2. From
(63), we have y
2
= 2y
2
+ z + g
u, where g
= 1 and g
is so called a high-frequency gain

of the system (60) (or for linear systems that is called as the -th Markov parameter m
,
that is g
= m
= m
2
= 1).
Control law structure. Take, for simplicity, the control law given by (177) with q =
= 2. Then (177) can be rewritten in the following form
u
k
= d
1
u
k1
+ d
2
u
k2
+
0
y
k
+ a
d
1
y
k1
+ a
d
2
y
k2
+ b
d
1
r
k1
+ b
d
2
r
k2
. (178)
Sampling period. Take, for instance, = 20, where is the required degree of time-
scale separation between the fast and slow modes in the closed-loop system. Then, the
sampling period T
s
can be selected by
T
s
=
t
d
s
q
(179)
=
2
2 20
= 0.05 s.
Reference model. By following through the solution of Exercise 11.1, let us construct
the desired continuous-time transfer function G
d
yr
(s). Take t
d
s
= 2 s,
d
= 5 %, then we
get
d
= 0.8092 rad,
d
= 0.6901,
n
= 2.8981 rad/s,
d
= 2 rad/s. By selecting the 2
roots s
1,2
= 2j2.0974, we obtain the desired characteristic polynomial s
2
+4s +8.399.
The desired transfer function can be constructed in the following form:
G
d
yr
(s) =
8.399
s
2
+ 4s + 8.399
.
By the Z-transform of G
d
yr
(s) preceded by a ZOH with the sampling period T
s
= 0.05 s,
we get the desired pulse transfer function G
d
yr
(z) given by
G
d
yr
(z) =
b
d
1
z + b
d
2
z
2
a
d
1
z a
d
2
(180)
where b
d
1
= 0.009816, b
d
2
= 0.009182, a
d
1
= 1.8, and a
d
2
= 0.8187.
Control law parameters. Consider the Euler polynomial c
(z) for = 2, that is

c
(z) = z + 1 (see p. 62).

Assume that the sampling period T
s
is small enough to provide the required degree of
time-scale separation between the fast and slow modes in the closed-loop system. Then,
consider the discrete-time approximate model of the input-output mapping that corre-
sponds to continuous-time linear system (60) preceded by a ZOH with high sampling
rate, that is the following dierence equation
y
k
=
=2
j=1
a
,j
y
kj
+ T
s
=2
j=1
g
,j
!
[u
kj
+ f
kj
], (181)
where
y
k
= y(t)[
t=kT
s
, u
k
= u(t)[
t=kT
s
, f
k
= f(x
1
(t), x
3
(t))[
t=kT
s
,
(z 1)
= z
a
,1
z
1
a
,2
z
2
a
,
,
a
,j
= (1)
j+1
!
( j) ! j !
.
Denote
B(z) = b
1
z
1
+ b
2
z
2
+ + b
= g
s
!
c
(z) (182)
= g
T
2
s
2
c
2
(z) = 0.00125(z + 1).
In order to get the deadbeat response of the FMS, the controller parameters d
1
, d
2
and
0
are selected such that
0
= [b
1
+ b
2
]
1
= 400,
d
1
=
0
b
1
= 0.5, d
2
=
0
b
2
= 0.5.
Implementation of control law. The implementation of the control law (178) was
discussed in Exercise 11.4, and the block diagram of the control law is as shown in Fig. 21
(see p. 57).
Run the Matlab program e12 1 Parameters.m in order to calculate the control law
parameters. Next, run the Simulink program e12 1.mdl to get a plot for the output
response of the closed-loop system. Redesign controller and make simulations for = 15,
= 30, = 40. Compare the simulation results.
Chapter 13
Exercise 13.1 Prove that
n
(z) are the eigenfunctions of the system
x
t
(z, t) =
2
2
x
z
2
(z, t) + c(t)x(z, t) + w(z, t) + u(z, t), (183)
where [x(z, t)/z][
z=0
= 0, [x(z, t)/z][
z=1
= 0 are the boundary conditions,
2
= 1,
and
n
(z) =
0
n
cos(
n
z),
n
= n
2
2
,
0
0
= 1,
0
n
=
2 n = 1, 2, . . ..
Solution.
Consider the homogeneous one-dimensional heat equation
7
x
t
(z, t) =

2
x
z
2
(z, t) (184)
with the boundary conditions given by
[x(z, t)/z][
z=0
= 0, [x(z, t)/z][
z=1
= 0. (185)
In accordance with the method of separating variables, take
x(z, t) = x(t)(z). (186)
From (184), we get
x(z, t)/t = (z)[dx(t)/dt],
2
x(z, t)/z
2
= x(t)[d
2
(z)/dz
2
]. (187)
Hence, from (184) and (187), we obtain
dx(t)/dt
x(t)
=
d
2
(z)/dz
2
(z)
, (188)
where (188) holds for all t and z. Then
dx(t)/dt
x(t)
=
d
2
(z)/dz
2
(z)
= , (189)
where = const. Hence, from (189), we obtain
d
2
(z)
dz
2
(z) = 0, (190)
dx(t)
dt
x(t) = 0, (191)
In accordance with (185) and (186), we have
x(t)
d(z)
dz
z=0
= 0, x(t)
d(z)
dz
z=1
= 0, (192)
for all x(t). Then
d(z)
dz
z=0
= 0, (193)
d(z)
dz
z=1
= 0, (194)
7
From this point the solution can be done by following, for instance, Chapter 11 of the book: Kreyszig
E. Advanced engineering mathematics, 8th ed., New York: John Wiley & Sons, Inc., 1999.
If > 0, then (z) = Ae
z
+ Be
z
is the general solution of (190). From (193) and
(194), it follows that (z) 0 is the unique solution of (190), (193), and (194).
If = 0, then (z) = az + b is the general solution of (190), where
d(z)
dz
= a. (195)
From (193), (194), and (195), it follows that b = 0 and a = 0. Denote
0
(z) =
0
0
= b = 1.
Take = p
2
< 0, p > 0, and from (190), (191) we get
d
2
(z)
dz
2
+ p
2
(z) = 0, (196)
dx(t)
dt
+ p
2
x(t) = 0. (197)
Then (z) = Acos(pz) + Bsin(pz) is the general solution of (196), where
d(z)
dz
= pAsin(pz) + pBcos(pz). (198)
From (193) and (198), it follows that B = 0. Take A = 0 since otherwise (z) 0. From
(194) and (198), it follows that sin(p) = 0. Hence p = n for all n = 1, 2, . . ..
We have innitely many dierent solutions given by
n
(z) =
0
n
cos(nz). Let us
assume that

z=1
z=0

2
n
(z)dz = 1. Then
(
0
n
)
2
z=1
z=0
cos
2
(nz)dz = ((
0
n
)
2
/(n))
y=n
y=0
cos
2
(y)dy = (
0
n
)
2
/2 = 1.
Hence
0
n
=
2 for all n = 1, 2, . . ..
So, for all n = 0, 1, . . ., we get that
n
(z) =
0
n
cos(nz),
n
= [n]
2
are eigenfunctions
and eigenvalues, respectively, of the boundary value problem consisting of (196), (193),
and (194) (that is called as a Sturm-Liouville problem).
The solution of (197) is given by x
n
(t) = x
n
(0)e
n
t
for all n = 0, 1, . . .. As a result,
we get that
x
n
(z, t) = x
n
(t)
n
(z) = x
n
(0)e
n
t
0
n
cos(nz), n = 0, 1, . . .
are the eigenfunctions of the problem (184), (185), corresponding to the eigenvalues
n
.
Auxiliary Material (The optimal coecients based on ITAE criterion)
The optimal coecients based on ITAE criterion for a step input. The optimal coef-
cients of the normalized transfer function
8
G
d
yr
(s) =
a
d
0
s
n
+ a
d
n1
s
n1
+ + a
d
1
s + a
d
0
(199)
8
Some additional details concerned with the optimal coecients of the normalized transfer function
based on ITAE criterion can be found in the following references: Dorf, R.C. and Bishop, R.H. Modern
control systems, 9th ed., Upper Saddle River, NJ: Prentice Hall, 2001; Franklin, G.F., Powell, J.D. and
Emami-Naeini A. Feedback control of dynamic systems, 4th ed., Prentice Hall, 2002; Kuo, B.C. and
Golnaraghi, F. Automatic control systems, 8th ed., New York: John Wiley & Sons, Inc., 2003.
based on the integral of time multiplied by absolute error (ITAE) criterion
ITAE =

0
t[e(t)[ dt (200)
for a step input are given by
s +
n
,
s
2
+ 1.4
n
s +
2
n
,
s
3
+ 1.75
n
s
2
+ 2.15
2
n
s +
3
n
,
s
4
+ 2.1
n
s
3
+ 3.4
2
n
s
2
+ 2.7
3
n
s +
4
n
,
s
5
+ 2.8
n
s
4
+ 5.0
2
n
s
3
+ 5.5
3
n
s
2
+ 3.4
4
n
s +
5
n
,
s
6
+ 3.25
n
s
5
+ 6.60
2
n
s
4
+ 8.60
3
n
s
3
+ 7.45
4
n
s
2
+ 3.95
5
n
s +
6
n
,
where
n
is the natural frequency.
The optimal coecients based on ITAE criterion for a ramp input. The optimal
coecients of the normalized transfer function
G
d
yr
(s) =
a
d
1
s + a
d
0
s
n
+ a
d
n1
s
n1
+ + a
d
1
s + a
d
0
(201)
based on the ITAE criterion (200) for a ramp input are given by
s
2
+ 3.2
n
s +
2
n
,
s
3
+ 1.75
n
s
2
+ 3.25
2
n
s +
3
n
,
s
4
+ 2.41
n
s
3
+ 4.93
2
n
s
2
+ 5.14
3
n
s +
4
n
,
s
5
+ 2.19
n
s
4
+ 6.50
2
n
s
3
+ 6.30
3
n
s
2
+ 5.24
4
n
s +
5
n
.
Auxiliary Material (Euler polynomials)
c
1
(z) = 1,
c
2
(z) = z + 1,
c
3
(z) = z
2
+ 4z + 1,
c
4
(z) = z
3
+ 11z
2
+ 11z + 1,
c
5
(z) = z
4
+ 26z
3
+ 66z
2
+ 26z + 1.
Auxiliary Material (Describing functions)
Let us consider a symmetric nonlinearity
9
v = (z) as shown in Fig. 22. Assume that
the nonlinearity input is z(t), where z(t) = Asin(t). Consider the output v(t) of the
nonlinearity represented by its Fourier series
v(t) = b
1
sin(t) + c
1
cos(t) +
k=2
b
k
sin(kt) + c
k
cos(kt). (202)
9
The angle denes the slope k of the backlash hysteresis, that is k = tan().
In accordance with the describing function method, the nonlinearity v = (z) can by
replace by its quasi-linear approximation. Hence, we get a sinusoidal describing function
10
G
n
(j, A) = q
1
+ jq
2
, where q
1
= b
1
/A and q
2
= c
1
/A.
Figure 22: Nonsmooth nonlinearities.
Nonlinear function Describing function G
n
(j, A) = q
1
+ jq
2
Saturation q
1
=
2M
sin
1
,
q
2
= 0, A
Relay with dead zone q
1
=
4M
A
2
, q
2
= 0, A
Ideal relay q
1
=
4M
A
, q
2
= 0
Hysteresis q
1
=
4M
A
2
, q
2
=
4M
A
2
, A
Backlash hysteresis q
1
=
k
2
+ sin
1
1
2
A
+2
1
2
A
1
A/
,
q
2
=
4k
(
A
1)
(A/)
2
, k = tan(), A
10
y = sin
1
(x) denotes the inverse sine of x, i.e., sin(y) = x.
Auxiliary Material (The Laplace Transform and the Z-Transform)
f(t) F(s) = L[f(t)] F(z) = Z[f(kT
s
)]
1
1
s
z
z 1
t
1
s
2
T
s
z
(z 1)
2
t
2
2!
1
s
3
T
2
s
z(z + 1)
2! (z 1)
3
t
3
3!
1
s
4
T
3
s
z(z
2
+ 4z + 1)
3! (z 1)
4
e
at
1
s + a
z
z d
, d = e
aT
s
a
s(s + a)
(1 d)z
(z 1)(z d)
te
at
1
(s + a)
2
zdT
s
(z d)
2
1
(s + a)
3
z(z + d)dT
2
s
2! (z d)
3
sin t

s
2
+
2
z sin T
s
z
2
2z(cos T
s
) + 1
cos t
s
s
2
+
2
z(z cos T
s
)
z
2
2z(cos T
s
) + 1
e
at
sin t

(s + a)
2
+
2
zd sin T
s
z
2
2zd(cos T
s
) + d
2
e
at
cos t
s + a
(s + a)
2
+
2
z
2
zd cos T
s
z
2
2zd(cos T
s
) + d
2
b a
(s + a)(s + b)
(d c)z
(z d)(z c)
, c = e
bT
s
s
(s + a)
2
z[z d(1 + aT
s
)]
(z d)
2
a
s
2
(s + a)
z[(aT
s
1 + d)z + (1 d aT
s
d)]
a(z 1)
2
(z d)
a
2
s(s + a)
2
z[z(1 d aT
s
d) + d
2
d + aT
s
d]
(z 1)(z d)
2
(b a)s
(s + a)(s + b)
z[z(b a) (bd ac)]
(z d)(z c)
Errata for the book
Design of nonlinear control systems with the highest derivative in feedback, 2004.
Page Line It is printed Should be printed
30 5 from top +6.30
2
n
s
2
+ +6.30
3
n
s
2
+
60 12 from top
V (u)
dt
dV (u)
dt
74 5 from top u
NID
= (X, R, w) U
s
1
(t)=U
NID
1
(t)=[u
NID
, 0,
, 0]
T
, U
NID
1
=(X, R, w)
74 14 from top + (X, R,

R, w, w) (X, R,

R, w, w)
91 1 from below L
d
uf
() G
d
uf
(s)
92 2 from top L
d
uf
() G
d
uf
(s)
92 10 from top G
uf
(s) G
d
uf
(s)
97 4 from below L
HFA
uf
() L
HFA
un
s
()
102 15 from top L
un
s
() L
uf
()
113 14 from top x
(2)
=x
(1)
+x+5u x
(2)
=x
(1)
+x+5u+w
114 2 from below
n
s
min
= 10
2
n
s
min
= 10
3
184 13 from top T
1
2
[r
2
r] r
(1)
T
1
2
[r
2
x
2
] x
(1)
2

188 9 from below u
(1)
1
+d
10
u = u
(1)
1
+d
0
u
1
=
188 3 from below
b
d
1
T
2
a
d
1
T
200 2 from below
2
i
u
(2)
i
+d
i1
i
u
(1)
i
+d
i0
u
i

2
i
u
(2)
i
+d
i1
i
u
(1)
i
+d
i0
u
i
216 4 from top y
1
=x
1
+x
2
, y
2
=x
1
+2x
2
y
1
=x
1
, y
2
=x
2
250 16 from top () 0.35 rad 0.7 rad
250 9 from below () 0.2 rad 0.7 rad
251 9 from top () 0.3 rad 0.7 rad
251 19 from top () 0.25 rad 0.5 rad
252 2 from top () 0.3 rad 0.7 rad
310 2 from below sampling period sampling rate
311 11 from below
d
20%
d
0%
324 11 from top () 0.2 rad 0.7 rad

SSM For Design of Nonlinear Control Systems

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Student Solutions Manual for

Design of Nonlinear Control Systems

2. Then, from the Lyapunov equation

is the state matrix of the SMS, where

1 + 100 2.5 15.84.

results, where the low-pass lter (LPF) is given by 1/(

results, where the low-pass lter is given by 1/(

(t) [5.4, 2.6], t [0, ).

(t) = 0 holds t [0, ) and the relative degrees

= const during the transients in the FMS (90). Assume that G

0 + (5) (2) 3.1623.

is so called a high-frequency gain

(z) for = 2, that is

(z) = z + 1 (see p. 62).

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