HCM City University of Technology MIDTERM EXAM

Faculty of EE Engineering Second Semester, Academic year 2015-2016

Department of Automatic Control Subject: Nonlinear and Adaptive Control
---o0o--- Exam date: 01/06/2016. Exam duration: 90 min
(Students are allowed to use references and laptops)

Problem 1: (2.5 points) Consider a nonlinear control system in the block diagram below, in which
8
N(M) is a two-state relay and G ( s ) = . Calculate the amplitude and frequency of the
s( s + 5) 4
oscillation at the output of the system. u
9
r(t)=0 e(t) u(t) y(t) e
+ N(M) G(s)


9

Problem 2: (2.5 points) Given a nonlinear system described by the state equation:
ì
ï x1 = x1 ( x12 + x22 - 3) - 2 x1 x22
ï
í
ï
î x 2 = 4 x1 x2 + x2 ( x1 + x2 - 3)
ï
2 2 2

- Verify that x  [0;0]T is an equilibrium point

- Analyze the stability of the system at the equilibrium point x  [0;0]T

Problem 3: (2.5 points) Given a nonlinear system described by the state equation:
ìï x1 = sin x1 + x2
ï
í
ïï x 2 = 2 x2 + u 1 + x12
î
y  x1
Design the feedback linearization controller such that the characteristic equation of the error
dynamics has a pair of complex roots with x = 0.8 and wn = 5 .

Problem 4: (2.5 points) Given a nonlinear system described by the state equation:
 x1  x2
 x   x 2  x
 2 2 3
 x   sin x  u 1  x 2
 3 1 2

y  x1
Design a sliding mode controller such that the characteristic equation of the sliding surface has all
the roots at –6.

(End)

Instructor