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Student Solutions Manual for

Design of Nonlinear Control Systems with the Highest Derivative in Feedback

World Scientific, 2004 ISBN 981-238-899-0

Valery D. Yurkevich

Preface

Student Solutions Manual contains complete solutions of 20 % of Exercises from the book “Design of Nonlinear Control Systems with the Highest Derivative in Feedback”, World Scientific, 2004, (ISBN 9812388990). The manual aims to help students under- stand a new methodology of output controller design for nonlinear systems in presence of unknown external disturbances and varying parameters of the plant. The solutions manual is accompanied by Matlab-Simulink files 1 for calculations and simulations related with Exercises. The program files provide the student a possibility to design the discussed control systems in accordance with the assigned performance specifications of output transients, and make a comparison of simulation results. The distinguishing feature of the discussed throughout design methodology of dy- namic output feedback controllers for nonlinear systems is that two-time-scale motions are induced in the closed-loop system. Stability conditions imposed on the fast and slow modes, and a sufficiently large mode separation rate, can ensure that the full-order closed- loop system achieves desired properties: the trajectories of the full singularly perturbed system approximate to the trajectories of the reduced model, where the reduced model is identical to the reference model, by that the output transient performances are as desired, and they are insensitive to parameter variations and external disturbances. Robustness of the closed-loop system properties is guaranteed so far as the stability of the fast mode and the sufficiently large mode separation rate are maintained in the closed-loop system. Consequently, the ensuring of the fast mode stability by selection of control law parameters is the problem requiring undivided attention and that constitutes the core of the controller design procedure. In general, the selection of the control law structure as well as selection of controller parameters are not unique, inasmuch as a set of constraints has to be taken into account such as a range of variations for plant parameters and external disturbances, required control accuracy, requirements on load disturbance rejection as well as high frequency measurement noise rejection. Therefore, it would be much more correctly, if the student will take up the solution presented in the manual as an example or draft version of such solution, and then one can make a try to extend the solution by taking into account some additional practical limitations. Overall, the above mentioned book, along with the Student Solutions Manual, as well as accompanying Matlab-Simulink files are an excellent learning aid for advanced study of real-time control system designing and ones may be used in such course as “Design of Nonlinear Control Systems”, where prerequisites are “Linear Systems” and “Nonlinear Systems”. Any comments about the solutions manual (including any errors noticed) can be sent to yurkev@mail.ru or yurkev@ieee.org with the subject heading book . They will be sincerely appreciated.

Valery D. Yurkevich

1 A set of Matlab-Simulink files for the Student Solutions Manual can be downloaded from the website http://ac.cs.nstu.ru/yurkev/books.html.

Student Solutions Manual for “Design of nonlinear control systems

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3

Contents

Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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Exercise

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.54

Exercise

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Exercise

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.58

. Auxiliary Material (The optimal coefficients based on ITAE criterion)

Exercise

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61

Auxiliary

Auxiliary

Material (Euler polynomials)

 

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Material (Describing functions)

 

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Auxiliary

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64

Errata for the book

 

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65

Student Solutions Manual for “Design of nonlinear control systems

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4

Chapter 1

Exercise 1.2 The behavior of a dynamical system is described by the equation

x (2) + 1.5x (1) + 0.5x + µ{2x 2 + [x (1) ] 2 } 1/2 = 0.

(1)

Determine the region of µ such that X = 0 is an exponentially stable equilibrium point of the given system. Solution.

Denote x 1 = x, x 2 = x (1) , and X = [x 1 , x 2 ] T .

Hence, we have

˙

X = AX + µg(X),

where

A =

0

0.5

1.5 ,

1

g(X) =

0

(2x 2 + x 2

1

2 ) 1/2

.

Hence, g(X)| X=0 = 0, and so the perturbation g(X) is vanishing at the equilibrium point

˙

of the linear nominal system X = AX . We can find that

g(X) 2 = (2x 2 + x 2 2 ) 1/2 (2x 2 + 2x 2 2 ) 1/2 = 2 X 2 .

1

1

Denote c 5 = 2. Then, from the Lyapunov equation

PA + A T P = Q

with Q = I , we get

P = 2

1

1

1

,

(2)

where λ min (P ) = 0.382 and λ max (P ) = 2.618. Hence, if the inequalities

0 < µ <

λ min (Q)

2λ max (P)c 5

= 0.135

hold, then X = 0 is an exponentially stable equilibrium point of the system (1). The above results can be obtained by Matlab program e1 2 Lyap.m as well as the initial value problem solution can be found by running e1 2.mdl.

Exercise 1.4

The behavior of a dynamical system is described by the equations

x˙ 1

µx˙

2

=

1