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e = r − (y + w) (3)
In the equation above r is the reference (attitude) and w is the measurement noise.
1. Neglect the effects of the disturbance torque and of the measurement noise setting
Td = w = 0, and obtain the differential equation of the closed-loop system. (0,5 points)
3. Consider the constant reference r(t) = r, and determine the corresponding expression of
Y (s). (0,5 points)
Assume that 2
Kd Kp
−4 <0 (4)
I I
and consider the poles of Y (s) from question 3, which are equal to
p1 = σ + jω
p2 = σ − jω
p3 = 0
where s 2
Kd Kp Kd
σ=− ω= − (5)
2I I 2I
1
4. Consider Y (s) from question 3, set y(0) = ẏ(0) = 0, and determine y(t) = L−1 [Y (s)] expressed
in terms of I, Kp , Kd , σ, ω, r. Simplify the expression of y(t) so that it does not contain
imaginary parts. (6 points)
6. Using Eq. (5), show that limt→∞ y(t) = r and limt→∞ e(t) = 0. (1 point)
2
USEFUL RESULTS
f (t) F (s)
1
1
s
tn 1
n! sn+1
1
e−at
s+a
tn −at 1
e
n! (s + a)n+1
ω
sin(ωt)
s2 + ω 2
s
cos(ωt)
s2 + ω 2
ω
e−at sin(ωt)
(s + a)2 + ω 2
s+a
e−at cos(ωt)
(s + a)2 + ω 2
a0 sm + a1 sm−1 + · · · + am−1 s + am
X(s) = n>m k≥0
(s − p)k (s − pk+1 ) · · · (s − pn )
c1 c2 ck ck+1 cn
X(s) = + + ··· + + + ··· +
s − p (s − p)2 (s − p)k s − pk+1 s − pn
1 di
ck−i = lim [X(s)(s − p)k ] i = 0, . . . , k − 1
s→p i! dsi
ci = lim [X(s)(s − pi )] i = k + 1, . . . , n
s→pi