Tutorial_8 solutions (1)

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The University of Newcastle *

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3410

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Mechanical Engineering

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Oct 30, 2023

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pdf

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9

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Problem 9 I I I 3 i II Hu C EB AB I 4 rank C I s n i The system is uncontrollable Transfer fruitier from htt to X Lt c I o Gls CC SI A B i o Is 3 I i s I a El desists i a SIE s 3 k l s t I ss 2 s s l 5 13 S l 5 14 s12.5 s l 5 2.5 1 5 s l 1 S 1 An eigenvalue will only appear as a pole of thetransfer faction if its both controllable and observable X 2 5 didn't appear as a pole since it's uncontrollable mum too M y o l o X C E B AB A'B rank C 2 s n The system is not controllable Since A is an upper triangular matrix its eigenvalues appear on its diagonal cnet.es d l t 1 Gls 161 A B Io i od Is II to S I 0 0 IT 5 O n l
a G To 1 o Eg to set 03 S 1 Problem 3 x p I b y o 1 I X C E B AB A 733 it L rankle 2 a n The system is uncontrollable Since the A matrix is upper triangular d I I I Gls CC S1 A B co is It E I e is III To I I I s 1 Problem 4 x f x 191 u y E I I X O Ea L S1 Det G 3 14 I f 0 O has full rank The system is observable
Problem 5 X Ek 113 fly x 5123 f u Ek yl K 5 I x Ek o Kal II ul Det O 5 2 9 2 z f O i 0 has feel rank The system is observable
Tutorial 7 Exercise 4 Revisited A B ii tt iI Itxi.Iii I t t y I o l o 1 contd input disturbance input Open logs system analysis a C T B AB A'B it i If rankle 3 n i The system is controllable State feedback design a Settling time a 5 s Mp Overshoot s 15 Zero steady state troukiy error to constant reference Mp exp o 15 E log o 15 T 11 log D 2 0 36472 E I 0.36 71 to 3647 0.5169 For Mp 15 we require 0.5169 choose 0.55 t s 4 2 criterion Wn 4 In 5 4 W n 5X o 55 Wn 1.4545 choose Wn l 5 We choose the third eigenvalue to be faster than the 2nd order ch characteristics polynomial Dcu d X 12 0.55 1.5 1 I 52 X 5 X 11 65 1 2 5 X 15 X 6.65 It to 5 11.25
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