Exercise Chapter 3

Model Reference Control

y (t ) B ( p ) 10
Problem 1: Given a plant: G ( p ) 2
u (t ) A( p ) p 2 p 8
Design the controller Ru (t ) Tu c (t ) Sy (t ) such that that response of the closed loop system
follow the output of the reference model:
B ( p) 4
Gm ( p ) m 2
Am ( p ) p 4 p 4

y (t ) B ( p ) 10
Problem 2: Given a plant: G ( p ) 2
u (t ) A( p ) p 5 p 1
Design the controller Ru (t ) Tu c (t ) Sy (t ) such that that response of the closed loop system
follow the output of the reference model:
B ( p) 8
Gm ( p ) m 2
Am ( p ) p 4 p 8

y (t ) B ( p ) 10 ( p 1)
Problem 3: Given a plant: G ( p )
u (t ) A( p ) ( p 2)( p 4)
Design the controller Ru (t ) Tu c (t ) Sy (t ) such that that response of the closed loop system
follow the output of the reference model:
B ( p) 25
Gm ( p ) m
Am ( p ) ( p 5) 2

y (t ) B ( p ) 10
Problem 4: Given a plant: G ( p )
u (t ) A( p ) p ( p p 4)
2

Design the controller Ru (t ) Tu c (t ) Sy (t ) such that that response of the closed loop system
follow the output of the reference model:
B ( p) 16
Gm ( p ) m
Am ( p ) ( p 8)( p 2 2 p 2)

6( p 1)
Problem 5: Given a plant: y ( t ) u (t )
p 2 ( p 2)
Design the controller Ru (t ) Tu c (t ) Sy (t ) such that that response of the closed loop system
follow the output of the reference model:
18
ym (t ) 2 uc ( t )
p 6 p 18

12( p 3)
Problem 6: Given the plant: y ( t ) u(t )
( p 2 2 p 5)
Design the controller Ru (t ) Tu c (t ) Sy (t ) such that that response of the closed loop system
follow the output of the reference model:
4
ym (t ) uc ( t )
p4

Problem 7: Given a discrete plant (sampling time 0.2sec):

y (k ) B (q ) 0.752
G (q )
u ( k ) A( q ) ( q 0.545)
Design the disrecte linear controller Ru ( k ) Tu c ( k ) Sy ( k ) such that the output of the plant
follows the output of the reference model:
y ( k ) Bm ( q) 0.0349 q 0.0306
Gm ( q ) m 2
uc ( k ) Am ( q) q 1.605q 0.670

Problem 8: Discretize a linear plant at the sampling time 0.5 sec, we have the model:
Y ( z) 0.2 z
G( z) 2
U ( z ) z 1.5 z 0.8
Design the disrecte linear controller Ru ( k ) Tu c ( k ) Sy ( k ) such that the output of the plant
follows the output of the reference model:
Ym ( z ) 0.06 z + 0.09
Gm ( z ) = = 2
U c ( z ) z - 1.2 z + 0.35

Problem 9: Given a discrete plant (sampling time 0.1sec):

Y ( z ) 0.8 z 0.6
G( z)
U ( z ) z 2 0.5 z
Design the disrecte linear controller Ru ( k ) Tu c ( k ) Sy ( k ) such that the output of the plant
follows the output of the reference model:
Y ( z ) 0.17 z 0.13
Gm ( z )
U c ( z ) z 2 z 0.3

Problem 10: Given a discrete plant (sampling time 0.3sec):

Y ( z) 0.046 z 0.044
G( z) 2
U ( z ) z 1.747 z 0.819
Design the disrecte linear controller Ru ( k ) Tu c ( k ) Sy ( k )
such that the output of the plant follows the output of the reference model:
Y ( z) 0 .4
Gm ( z ) m
U c ( z ) z 0 .6

Problem 11: Given a discrete plant (sampling time 0.1sec):

Y ( z ) 0.8 z 0.6
G( z)
U ( z ) z 2 ( z 0.5)
Design the disrecte linear controller Ru ( k ) Tu c ( k ) Sy ( k ) such that the output of the plant
follows the output of the reference model:
Y ( z) 0.06 z 0.04
Gm ( z ) m
U c ( z ) z ( z 2 1.5 z 0.6)

Model Reference Adaptive System (MRAS)

K
Problem 1: Given a plant: y (t ) u (t ) (K>0).
p
Design a MRAS such that the output of the plant follows that output of the reference model:
8
ym (t ) uc ( t )
p8

b
Problem 2: Given a plant: y (t ) u (t )
p( p a)
Suppose that a and b are unknown and b>0. Design a MRAS such that the output of the plant
follows the output of the reference model:
16
y m (t ) uc (t )
( p 4) 2

K ( p b)
Problem 3: Given a plant: y (t ) u (t )
p( p a)
Suppose that K, a and b are unknown and K>0. Design a MRAS such that the output of the plant
follows the output of the reference model:
9
y (t ) u c (t )
( p 3) 2

K
Problem 4: Given a plant: y (t ) u(t )
pa
Suppose that K and a are unknown and K>0. Design a MRAS such that the output of the plant
follows the output of the reference model:
8
y (t ) 2 u c (t )
p 4p 8
Draw the Simulink diagram to update the parameter s0

K
Problem 5: Given a plant: y (t ) u (t )
p2
Suppose that K is unknown and K>0. Design a MRAS such that the output of the plant follows
the output of the reference model:
9
y (t ) 2 u c (t )
p 6p 9
Draw the Simulink diagram to update the parameter s0
 K ( p b)
Problem 6: Given a plant: y (t ) u (t )
p 2 ( p a)
18
and the reference model: y m ( t ) 2 uc ( t )
p 6 p 18

1. Let K = 6, a = 1, b = 2. Design the linear controller Ru (t ) Tu c (t ) Sy (t ) such that the

response of the closed loop system follows perfectly the output of the above reference
model.
2. Assume that we don't know the parameters of the plant. Design a MRAS such that the
output of the plant follows the output of the reference model.

Parameter Estimation

Problem 1: Given a discrete system described be the following transfer function:

Y ( z) K
G( z)
U ( z ) z ( z a)
Suppose that a set of data was collected:
u (k ) 0.5897 0.2057 0.5991 0.9019 0.9753
y (k ) 0.0150 0.0345 1.1743 1.1307 1.9072
Estimate the parameters of the system using the sampled data.

Problem 2: Given a discrete system described be the following transfer function:

Y ( z ) K ( z a)
G( z)
U ( z) z2
Suppose that a set of data was collected:
u (k ) 1.1314 0.9113 1.0109 1.0982 0.1244
y (k ) 0.0007 2.2896 3.4091 3.2758 3.5708
Estimate the parameters of the system using the sampled data

Problem 3: Given a discrete system described be the following transfer function:

Y ( z) 7
G( z)
U ( z) ( z a)
Suppose that a set of data was collected:
u(k ) 0.3565 2.3867 0.8574 1.2853 0.1962
y (k ) 0 2.4956 18.7031 8.9605 16.1657
Estimate the parameters of the system using the sampled data

Self Tuning Regulator

Problem 1: Discretizing a linear plant at the sampling period T = 0.1 sec, we obtain the transfer
function:
 Y ( z) K
G( z)
U ( z) z a
Design a self tuning regulator such that the output of the plant will follow the output of the
reference model:
Y ( z) 0.01752 z 0.01534
Gm ( z ) 2
U c ( z ) z 1.637 z 0.6703

Problem 2: Discretizing a linear plant at the sampling period T = 0.2 sec, we obtain the transfer
function:
Y ( z) K
G( z)
U ( z ) z ( z a)
Design a self tuning regulator such that the output of the plant will follow the output of the
reference model:
Ym ( z ) 0.01752 z + 0.01534
Gm ( z ) = =
U c ( z ) z ( z 2 - 1.637 z + 0.6703)

Problem 3: Discretizing a linear plant at the sampling period T = 0.1 sec, we obtain the transfer
function:
Y ( z) b1 z b2
G( z)
U ( z ) z ( z a1 z a2 )
2

Design a self tuning regulator such that the output of the plant will follow the output of the
reference model:
Y ( z) 0.1769 z 0.1264
Gm ( z )
U c ( z ) z ( z 2 1.065 z 0.3679 )

Problem 4: Discretizing a linear plant at the sampling period T = 0.1 sec, we obtain the transfer
function:
Y ( z) bz
G( z) 2
U ( z ) z a1 z a2
Design a self tuning regulator such that the output of the plant will follow the output of the
reference model:
Ym ( z ) 0.06 z + 0.09
Gm ( z ) = = 2
U c ( z ) z - 1.2 z + 0.35

Problem 5: Discretizing a linear plant at the sampling period T = 0.1 sec, we obtain the transfer
function:
Y ( z ) b1 z b2
G( z)
U ( z ) z 2 a1 z
Design a self tuning regulator such that the output of the plant will follow the output of the
reference model:
Y ( z ) 0.17 z 0.13
Gm ( z )
U c ( z ) z 2 z 0.3
Problem 6: Discretizing a linear plant at the sampling period T = 0.1 sec, we obtain the transfer
function:
Y ( z) b1 z b2
G( z)
U ( z ) ( z 1)( z a1 )
Design a Self Tuning Regulator such that the closed-loop system has a pair of complex poles
with = 0.8 and n=5.

Gain scheduling control

Prolem 1: Given a vehicle speed control:

m2 m1 u(t)

Y (s) 1
G (s)
U ( s ) ( m1 m2 ) s b
in which: y(t) is vehicle speed, u(t) is the force generated by the engine.
Physical parameters of the system are as follow:
Mass of the engine m1 2 (ton)
Mass of good carriage m2 2 42 (ton)
Friction constant b 0.2
a) Design a gain scheduling controller such that the respone of the system
will follow the output of the reference model:
n2
G m ( s ) 2 (vi 1;n 0.05)
s 2 n s n2
b) Design a gain scheduling PI controller such that the closed-loop system has a pair of complex
poles with 0.8 and n 0.1

Problem 2: Pendulum control

The differential equation describing the dynamics of the pendulum is:
ml 2(t ) B (t ) mgl sin u (t )
Assume that m=1-5kg, l=0.5m, B=0.2. Design a gain scheduling controller such that the
response of the system to square waveform input has POT < 5% and settling time less than 1
second.

Bi 3: Control the cascade tanks

u(t)
h1(t)

h2(t)

The mathematical model of the cascade tanks:

1

h1 (t ) A k1u1 (t ) a1C 2 gh1 (t )
1

h2 (t )

1
A2

k 2u2 (t ) a1C 2 gh1 (t ) a2C 2 gh2 (t )
The parameters of the system are below:
A1 A2 200cm2 , a1 2cm2 , a2 1cm2 , C 1 ,
k1 150cm3 /(s.V ) , k2 50cm3 /(s.V ) ;
g 981cm / s 2
Design the gain scheduling controller such that the response of the system follows the output of
the reference model:
0.01
Gm ( s ) 2
s 0.2 s 0.01