Assignment 1 ADVANCED CONTROL 48580- Spring 2010

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Advanced Control 48580

(d) Plot the system root locus with respect to kd. Obtain the value for kd and plot the system unit step responses for Butterworth and ITAE cases. (e) The motor load is now subject to viscous friction B in addition to inertia J. Discuss the influence of B on the control system dynamics.

Some analogue controllers 3. In a SISO unity feedback system, the transfer function of the plant is given as Y ( s) s 2 + 2 s + 50 G ( s) = = . U ( s ) s ( s + 4)( s + 6) (a) Obtain a state space model for the system and design a full state feedback by pole placement with desired closed loop poles -3, and -1 j1. (b) Design a full-order observer (with poles <-5) and a minimum-order observer. Compare the unit-step responses of the systems and also the bandwidth of both systems. (c) Design a linear quadratic regulator for this system. Show the unit step responses. Quang Ha-UTS Advanced Control 48580

(d) Design an observer-based output-feedback with integral control for the system. Show the unit step responses.

Quang Ha-UTS

Advanced Control 48580

Quang Ha-UTS

Advanced Control 48580

9. (a) Derive state-space equations for the systems shown respectively in Figures 4(a) and 4(b).

Quang Ha-UTS

Advanced Control 48580

In each case that observability or controllability is lost, show that the corresponding eigenvalue does not appear as a pole of the transfer function, because of a pole-zero cancellation.

Figure 4(a)

Figure 4(b) (c) Design a feedback controller for the system shown in Figure 4(a), which places both closed loop poles at - , assuming both states are available for feedback. 10. A pirate ship swinging from a pivot above it, as usually seen at a fairground, is controlled by a suitable electric motor. An idealised and simplified model of the system is given by:

Quang Ha-UTS

Advanced Control 48580

11.

Quang Ha-UTS

Advanced Control 48580

12. Consider the motion of a crane with hanging load and an inverted pendulum shown respectively in Fig. 5(a) and (b). Derive their equations of motion using the Lagrangian formulation and obtain a state space model for each system. Linearise these models to obtain the transfer function from the control force u to the swinging angle . y I,m x u

mt

& bx , friction

I,mp

mt
x

(a)
Figure 5

(b)

13. (a) Consider a planar 2-link manipulator shown in Figure P6(a). Choose q = [1 d 2 ]T where 1 is the joint angle of link 1 and d 2 is the distance between joint 1 and the centre of mass of link 2. Let the constants l g1 , and mi and I i (i=1,2) be

respectively the distance between joint 1 and the centre of mass of link 1, and the mass of link i and the moment of inertia about the centre of mass of link i (i=1,2). Derive the dynamic equations of this manipulator using the Lagrangian formulation. (b) A robotic rope shovel can be modelled as shown in Figure 6(b). In this model, m and M are respectively the mass of the motional link and the payload, g is the gravitational acceleration, a is the distance from the link centre of mass C to the payload located at the end-effector E, d is the distance from the origin O to the payload ( 0 d 2a ), is the angle between the X-axis and the motional link ( 1 2 ), and the control actions are f and which are respectively a linear force and a torque required to execute the desired

Quang Ha-UTS

Advanced Control 48580

q1 = d a ( a q1 a ) and motion. The joint variables are chosen as q 2 = ( 1 q 2 2 ). Given J 1 and J 2 , the moments of inertia of the motional link and the payload with respect to the axis that is parallel to the Z-axis and going through C and E, respectively. Obtain a model for the rope shovel using the Lagrangian formulation.

* G 2 (m2 , I 2 )

d2
l g1

* G 1 (m1 , I 1 )

1
(a)

Y y a

E Mg

O Z f

C mg

x X

(b) Figure 6

- End -

(A MATLAB program should be included for Questions 1, 3, 4, 6, and 11).

Quang Ha-UTS

Advanced Control 48580