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SL - 657
b) Consider regulator system. The plant is given by. [8]
x Ax Bu
0 1 0¯ 0¯
¡ ° ¡ °
A¡ 0 0 1 ° , B ¡0°
¡ ° ¡ °
¡1 5 6° ¡1°
¢ ± ¢ ±
The system uses the state feedback control u = -kx. Let us choose the
desired closed loop poles at,
S = -2 + j * 4, S = -2 j * 4, S = - 10
Determine the state feedback gain matrix k using transformation matrix.
c) Consider the system [8]
x Ax Bu
y Cx
0 20.6¯ 0¯
A ¡ ° , B ¡ ° , C <0 1>
¡¢1 0 °± ¡¢1°±
We use the observed state feedback such that u = -kx. Design full
order state observer using Direct substitution. Assume that the desired
eigenvalues of the observer matrix are : m1 = -10, m2 = -10.
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SL - 657
Q6) Attempt all [20]
a) Obtain the block diagrams for the following pulse transfer function
system by direct programming.
Y ( z) 2 0.6 z 1
G ( z) [4]
X ( z) 1 0.5 z 1
b) Obtain state transition matrix of the following discrete time system.[8]
x (k 1) Gx (k ) Hu (k )
y (k ) Cx (k )
0 1¯ 1¯
G¡ ° , H ¡ ° , C <1 0>
¡¢0.16 1°± ¡¢1°±
c) Solve the discrete time state space equation using recursion procedure
and z - transform approach. [8]
0 1 ¯ 0.8¯
G¡ ° , H ¡ ° , C <0 1>
¡¢0.4 1.3°± ¡¢ 1 °±
0 1 0¯ 0¯
¡ ° ¡ °
G ¡ 0 0 1 ° , H ¡0° , C < 0 1 0>
¡ ° ¡ °
¡0.5 0.2 1.1° ¡1°
¢ ± ¢ ±
c) State Necessary and sufficient condition for discrete state controllability
and observability. [8]
iii
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