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AE 4525 CONTROL SYSTEMS DESIGN LABORATORY

Final Exam Take Home



Due: on or before May 2nd 11:30am
Please submit final online




Important Notes: The Georgia Tech Student Honor Code applies to this take home
exam. You must not consult with anyone except me or the Controls Lab TAs. You
must sign below; otherwise, your exam will not be graded.


I swear that I have followed the Georgia Tech Student Honor Code when working on this
Take Home Exam.

Signature ___________________________________
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Problem 1: Longitudinal SCAS Design (20 points)

Th e lon git u d in a l d yn a mics of a transport jet aircraft flying level at a speed of u
e
=
830 ft/sec is given as:


e
q
w
u
q
w
u
o
u u
(
(
(
(

+
(
(
(
(

(
(
(
(

=
(
(
(
(
(

0
08 . 2
7 . 32
0
0 1 0 0
0 668 . 0 00153 . 0 000222 . 0
0 820 624 . 0 0941 . 0
2 . 32 0 0263 . 0 00643 . 0

wh er e
u ch a n ge in lon git u d in a l veloci t y fr om t r im, ft / sec
w change in z-axis component of velocity, ft/sec
q pitch rate, rad/sec
u change in pitch attitude, rad
o
e
change in elevator deflection, rad
a) Check the open loop eigenvalues of the system to see if the aircraft meets the
following Level 1 flying qualities specifications:
- ,
phugoid
> 0.04
- 0.45 < ,
short period
< 1 & 2.5 rad/s < e
n short period
< 3.8 rad/s
b) Design a stability augmentation system using only pitch attitude and pitch rate
feedbacks to meet the above Level 1 flying qualities specifications. Select from the
following:
Pitch rate feedback K
q
= -0.75
Pitch rate feedback K
q
= -2.75
Pitch attitude feedback K
theta
= -4 and K
q
= -2
Pitch attitude feedback K
theta
= -5.5
After you have selected a controller figure out the new A,B,C,D matrices of your closed
loop system. Can you predict the system eigenvalues? How?
c) Design an altitude command system (CAS) as an outer loop to your SAS design from
Part (b). Use a proportional (P) controller. Adjust your controller gains to achieve a
2% settling time less than 20 seconds in the altitude response to a step command
input while meeting the Level 1 handling qualities specifications. Use the following
linearized equation for altitude rate ( ) h

for your SCAS design:

3
u
e
u w h + =

Hint: You will need to augment the system matrices to add the new state h.
d) Develop a SIMULINK model of the given aircraft model and your SCAS design and
simulate the response of the vehicle to an altitude step command input of 25 ft. Show
plots of altitude and actual elevator deflection versus time. Clearly label your plots.
You do not have to analyze/describe your responses.
e) Submit a neat report of your work (screen shots are acceptable). Include root locus
plots (you do not have to submit all of the possible controllers from part b) from parts
(b) and (c), SIMULINK diagram from part (d) and your MATLAB code. Include a
table with the closed loop system natural frequencies, damping, 2% settling time, etc.,
to show that your design meets the given specifications. Make sure to include
comments for anything in bold.


Problem 2. Lateral SCAS Design (20 points)

Th e la t er a l d yn a mics of a t r a n sp or t jet a ir cr a ft flyin g level a t a
sp eed of u
e
= 8 3 0 ft / sec is given a s:


(

(
(
(
(

+
(
(
(
(

(
(
(
(

=
(
(
(
(
(

r
a
p
r
p
r
o
o
|
|
|
|
02 . 0 0
34 . 0 12 . 1
74 . 0 03 . 0
0 0
12 . 0 0003 . 0 0 . 1 037 . 0
2 . 5 1 25 . 0 0
54 . 1 004 . 0 15 . 0 0
0 1 0 0

wh er e,
| ch a n ge in r oll a t t it u d e fr om t r im ( r a d )
r ch a n ge in ya w r a t e ( r a d / sec)
p ch a n ge in r oll r a t e ( r a d / sec)
| ch a n ge in sid eslip a n gle ( r a d )
o
a
ch a n ge in a iler on d eflect ion ( r a d )
o
r
ch a n ge in r u d d er d eflect ion ( r a d )
a) Check the eigenvalues of the open loop system to see if the aircraft meets the
following Level 1 flying qualities specifications.

-
sec / 4 . 0 sec / 15 . 0 ) ( 08 . 0 rad rad
DutchRoll n DutchRoll n DutchRoll
> > > e ,e ,

- sec 4 . 1 <
Roll
t
4
- sec 20
2
>
spiral
T
b) Design a stability augmentation system to meet the above Level 1 flying qualities
specifications. You may use any feedback you deem appropriate.
Note: You must use a washout filter if you feedback yaw rate.
c) Design a command augmentation system to perform a coordinated turn as an outer
loop to your SAS design from Part (b). The CAS will enable the pilot to input a bank
angle to perform a coordinated turn maneuver. You must consider the following in
your command augmentation system development:
(i) Only bank angle (|) and yaw rate (r) measurements are available for feedback.
(ii) The relationship between bank angle and yaw rate in a coordinated turn is given
by 0 sin = |
e
u
g
r . (this relation holds only for a coordinated turn)
Note: You must use the linearized version of this relationship in your controller
design
Hint: Remember: In the lateral lab, you wanted to keep a
y
= 0 during a
coordinated turn. Here, a
y
is not available.
(iii) The bank angle response to a step command input must have a 2% settling time
less than 10 seconds.
(iv) Your SCAS must meet the Level 1 handling qualities specifications given in part
(a).
d) Develop a SIMULINK model of the given aircraft model and your SCAS design and
simulate the response of the vehicle to a step bank angle command of 30 deg. Show
plots of bank angle (in degrees), yaw rate (in deg/sec) and sideslip (in degrees) versus
time. Clearly label all your plots. You do not have to analyze/describe your
responses.
e) Submit a neat report of your work (screen shots are acceptable). Include root locus
plots from parts (b) and (c), SIMULINK diagram and responses from part (d) and
your MATLAB code. . Include a table with the closed loop system natural
frequencies, damping, 2% settling time, etc., to show that your design meets the given
specifications. Make sure to include comments for anything in bold.







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Problem 3. LQR (10 points)

1. Give a short real life example (not done in class, lecture, or this final) where LQR
might be useful.
2. Say you have a medical device that inputs cheap antidote into a poisoned patent
and a side effect of the cheap antidote is that the patients heart rate is lowered.
Assume that there is a linear system that can be used to describe this process and
heart rate and amount of poison in the patent are easily measured. Define the
states of the system x, the input u, and C and D matrices (you dont have to define
A, B). Assume the poison is extremely life threatening, state how you would
select matrices Q and R in order for the system to work effectively and why
(looking for large/small type of explanation no need for real numbers). Now
assume the poison is mild and will not cause death but it is recommended that it is
removed, state how you would select matrices Q and R in order for the system to
work effectively and why.
3. From lab 8, how would you change Q if you where only concerned about
maintaining yaw angel and rate at 0 and why.
4. Suppose you can change the rod in the inverted pendulum system and you were
interested in having the system track the position, x, better. How would you
change the Q matrix and the physical rod to do this and why.