Control Theory II - Homework 1- Chapter 1

PhD. Walter Orozco Tupacyupanqui - Universidad Politécnica Salesiana

Semester (52): March - August 2018

Electronic Group: Release date: 27/03/2018 - Due date: 03/04/2018

Electrical Group: Release date: 28/03/2018 - Due date: 04/04/2018

1 Problems
1.1 In many mechanical positioning systems there is flexibility between one part of the system and another. Fig.
2 depicts such a situation, where a force u is applied to the mass M and another mass m is connected to it. The
coupling between the objects is often modeled by a spring constant k with a damping coefficient k, although the
actual situation is usually much more complicated than this. (a) Write the dynamic equations of motion governing
this system, (b) write the state equations for the system, and (c) Find the transfer function between the control
input u and the output y.

Figure 1: Schematic of a system with flexibility

1.2 Given the system

   
· −4 1 0
x= x+ u
−2 −1 1
with zero initial conditions, find the steady-state value (solution) of x for a step input u.

1.3 Consider the system shown in Fig. 4

Figure 2: A block diagram for problem 1.5

(a) Find the transfer function from U to Y

(b) Write state equations for the system using the state variables indicated. (x1 , x2 , x3 , x4 )
(c) Represent the system in canonical forms. ¿How many canonical forms do you have?

1.4 Consider the plant described by

   
· 0 1 1
x= x+ u
7 −4 2

 
y= 1 3 x

1
 (a) Find the transfer function.
(b) Find the steady-state value (solution) of x for a step input u.
(c) Is the system controllable?
(d) Is the system observable?

1.5 Consider the electric circuit shown in Fig. 5

Figure 3: Electric circuit

(a) Write state equations for the circuit. The input u(t) is a current, and the output y is a voltage. Let x1 = iL
and x2 = vc , (b) What condition(s) on R, L, and C will guarantee that the system is controllable?, (c) What
condition(s) on R, L, and C will guarantee that the system is observable?