Laboratory in Automatic Control

LAB 13
System Design Using Simulink
The Design of State Variable
Feedback Systems (1/10)
Consider the third-order system
The Design of State Variable
Feedback Systems (2/10)
Determine a full-state feedback gain matrix and an
observer gain matrix to place the closed-loop system
poles at and the observer
poles at Construct the state
variable compensator using Figure 11.1 as a guide
and simulate the closed-loop system using Simulink.
Select several values of initial states and initial state
estimates in the observer and display the tracking
results on an xy-graph.
The Design of State Variable
Feedback Systems (3/10)
The compensator can be represented as
Since , we can write
Similarly, with
we obtain
The Design of State Variable
Feedback Systems (4/10)
In matrix form, we have
With initial conditions
The Design of State Variable
Feedback Systems (5/10)
Matlab code
A=[0 1 0;0 0 1;-4.3 -1.7 -6.7]; B=[0;0;0.35]; C=[0 1 0]; D=[0];
% Controller Gains
p=[-1.4+1.4*j; -1.4-1.4*j; -2];
K=place(A,B,p)
% Observer Gains
q=[-18+5*j; -18-5*j; -20];
L=acker(A',C',q); L=L'
% Simulation of closed-loop system with the observer
Ac=[A -B*K;L*C A-B*K-L*C];
Bc=[zeros(6,1)];
Cc=eye(6);
Dc=zeros(6,1);
%Developement of the state-space model
sys=ss(Ac,Bc,Cc,Dc);
x0=[1;0;0;0.5;0.1;0.1]; t=[0:0.001:3.5];
%initial() plots the undriven response of the state-space model
[y,t]=initial(sys,x0,t);
subplot(311)
plot(t,y(:,1),t,y(:,4),'--'),grid
subplot(312)
plot(t,y(:,2),t,y(:,5),'--'),grid
subplot(313)
plot(t,y(:,3),t,y(:,6),'--'),grid
Compute the initial
condition response of
state-space models
Identity matrix
Pole placement design
for single-input systems
:A-BK<0design K
A-LC<0A-CL<0
L=place(A,C,q)
PS: acker() only for SISO; place(): Can't place poles with multiplicity greater
than rank(B)
The Design of State Variable
Feedback Systems (6/10)
Result
0 0.5 1 1.5 2 2.5 3 3.5
-2
0
2
4
0 0.5 1 1.5 2 2.5 3 3.5
-1
-0.5
0
0.5
0 0.5 1 1.5 2 2.5 3 3.5
-2
-1
0
1
The Design of State Variable
Feedback Systems (7/10)
Simulink | Sources | Clock Simulink | Sinks | XY Graph
Simulink | Continuous | State-Space
The Design of State Variable
Feedback Systems (8/10)
, x Ax Bu
y Cx
= +
=
( )
,

x A LC BK x Ly
y u Kx
= +
= =
Block diagram in simulink simulations
The Design of State Variable
Feedback Systems (9/10)
Ctrl+Rchange
the function
The Design of State Variable
Feedback Systems (10/10)
Result
Lab Assignments
Lab 13:
Lab report should at least contain the
MATLAB code, Simulink model, and plots

Lab Assignments
Consider the third-order system
| | | |
0 1 0 0 0
0 0 1 0 0
,
0 0 0 1 0
2 5 1 13 1
1 0 0 0 0
x x u
y x u
( (
( (
( (
= +
( (
( (


= +
The Design of State Variable
Feedback Systems (2/10)

1,2 3,4
18 5 , 20 s j s = =
Determine a full-state feedback gain matrix and an
observer gain matrix to place the closed-loop system
poles at and the observer
poles at Construct the state
variable compensator using Figure 11.1 as a guide
and simulate the closed-loop system using Simulink.
Select several values of initial states and initial state
estimates in the observer and display the tracking
results on an xy-graph.
1,2 3,4
1.4 1.4 , 2 s j s j = =