ECE 509 Analysis of Linear Systems

Project 1
Due: April 12, 2015 by 11:55 p.m.
The following three problems are to be used for practice, and are not to be turned
in. While you can use MATLAB to verify your results, be sure to work out all the
control design details by hand. Solutions to these problems are available on
Isidore for your reference.
1. Problem 8.4
2. Problems 8.5, 8.6
The following problems constitute the actual project. You are expected to turn in a
typewritten report with your results. The report should be concise and to the
point.
1. Problem 8.7, but instead of the system given there use this one:
1 0 1
1
= 2 4 3 + 1
1 5 5
1
= 2 0 0

First, verify whether this system is controllable and observable. Here, set the reference
r to be a train of steps alternating between 4 and 4 with a period of your choice. Make
sure the period is chosen long enough that steady-state can take place. What happens
as you decrease the period of your reference? Simulate the system with your feedback
controller, and plot the reference and the output in the same plot to demonstrate
tracking. You may use the MATLAB command place to come up with the state feedback
gain.
2. Consider the inverted pendulum on a cart. You will design a state-feedback controller for
this system that regulates all states to zero.
a. Open-loop NONLINEAR simulation
In order to help you, I have uploaded MATLAB code to Isidore, which uses the
original nonlinear equations for the inverted pendulum on a cart. Use this code to
simulate the pendulum on a cart in open-loop (that is, without control - note that
the actuating force is set to F=0), with the given initial conditions. Plot the four
states versus time. You do not need to include a movie in your report this is
just there for your benefit.
b. Control of the pendulum
Using the linearized equations of the system, design a state-feedback controller
that balances the pendulum and regulates the carts position to zero. You may
want to try the command place in MATLAB to speed your design. Make sure you
use the numerical parameters in the file pend_ol.m to derive the linearized
equations.
Apply your controller to the original nonlinear equations (not the linearized
ones!) and simulate it for the initial conditions given in the code. Plot the four
states versus time. Note that the control signal is F.

Assume that the control hardware only allows up to 4 N of force to the cart. This
is the variable Fmax in the code. Use the provided function sat to saturate your
control signal F, in such a manner that it does not exceed 4N of force. Make
sure you select your closed loop poles carefully, in order for your control signal
not to go beyond the limit long enough that instability will ensue.
Hints:
1. First design your control system without the saturation, to make sure you are
able to balance the pendulum.
2. Then apply the saturation function, and modify your pole selection as
necessary to maintain closed-loop stability.
3. The code provided shows how to obtain the control signal and plot it in the
main file.
4. If you cannot make your controller work with the saturation, you will still get
points for it, minus a 10% deduction.
Report guidelines:
In your report, include your code only for Problem 2, part b. But be sure to upload all
your project code to Isidore.
A short and concise report is best four or five pages at most, not counting code. All
you need to do is show me your design steps, and prove that your controller works
by including the requested plots. No movies are necessary.
Handwritten equations are not allowed. Use Latex or Word to produce your report.
All figures must be carefully labeled. The x and y axes should be labeled, a title used,
and a legend should be included when more than one signal is plotted in the same
figure.
Presentation, English, and professional appearance count 5% of the total grade. A
poorly presented report will automatically be deducted 5%.
Submit your report in electronic form via Isidore! No hard copies will be accepted.
All reports must be in PDF format. Any other format will not be accepted.