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FACULTY OF SCIENCE
SSCM 4813
OPTIMAL CONTROL
ASSIGNMENT 1
Prepared by:
Lecturer:
Date:
19/3/18
QUESTION 1
𝜑(𝑡0 , 𝑡0 ) = 𝐼 (4)
𝑡
𝑥(𝑡) = 𝜑(𝑡, 𝑡0 )𝑥(𝑡0 ) + ∫ 𝜑(𝑡, 𝜏)𝐵(𝜏)𝑢(𝜏) 𝑑𝜏
𝑡0
Solution
𝜕𝜑(𝑡, 𝑡0 )
𝑥̇ (𝑡) = 𝜀(𝑡) + 𝜑(𝑡, 𝑡0 )𝜀̇(𝑡)
𝜕𝑡
By comparison, we have
𝑡
[𝜀(𝑡)]𝑡𝑡0 = ∫ [𝜑(𝜏, 𝑡0 )]−1 𝐵(𝜏)𝑢(𝜏) 𝑑𝜏
𝑡0
𝑡
𝜀(𝑡) − 𝜀(𝑡0 ) = ∫ [𝜑(𝜏, 𝑡0 )]−1 𝐵(𝜏)𝑢(𝜏) 𝑑𝜏
𝑡0
𝑡
𝜀(𝑡) = 𝜀(𝑡0 ) + ∫ [𝜑(𝜏, 𝑡0 )]−1 𝐵(𝜏)𝑢(𝜏) 𝑑𝜏 (7)
𝑡0
At 𝑡0 ,
𝑥(𝑡0 ) = 𝜑(𝑡0 , 𝑡0 )𝜀(𝑡0 )
𝑥(𝑡0 ) = 𝐼𝜀(𝑡0 )
𝑡
𝑥(𝑡) = 𝜑(𝑡, 𝑡0 ) 𝑥(𝑡0 ) + ∫ 𝜑(𝑡, 𝑡0 ) [𝜑(𝜏, 𝑡0 )]−1 𝐵(𝜏)𝑢(𝜏) 𝑑𝜏
𝑡0
𝑡
𝑥(𝑡) = 𝜑(𝑡, 𝑡0 ) 𝑥(𝑡0 ) + ∫ 𝜑(𝑡, 𝑡0 )𝜑(𝑡0 , 𝜏) 𝐵(𝜏)𝑢(𝜏) 𝑑𝜏
𝑡0
𝑡
𝑥(𝑡) = 𝜑(𝑡, 𝑡0 ) 𝑥(𝑡0 ) + ∫ 𝜑(𝑡, 𝜏) 𝐵(𝜏)𝑢(𝜏) 𝑑𝜏
𝑡0
Note that,
Describe the state-space modelling of a system of your choice (e.g. electrical circuit,
mechanical system). Explain the system clearly.
Solution
In electric circuit, the energy storage devices are the capacitors and inductors. They contain
all of the state information in the system.
𝑥̇ = 𝐴𝑥 + 𝐵𝑢
𝑦 = 𝐶𝑥 + 𝐷𝑢
where,
B – Input Matrix
𝑑𝑖
𝑉𝐿 = 𝐿
𝑑𝑡
𝑑𝑉𝑐
𝑖=𝐶
𝑑𝑡
Finding x,
𝑥1 = 𝑉𝑐
𝑥2 = 𝑖
For output,
𝑦1 = 𝑉𝑐
𝑦2 = 𝑅𝑖
y becomes
𝑦1 = 𝑥1
𝑦2 = 𝑅𝑥2
𝑉 = 𝑖𝑅 + 𝑉𝐿 + 𝑉𝑐
𝑑𝑖
𝑉 = 𝑖𝑅 + 𝐿 + 𝑉𝑐
𝑑𝑡
𝑑𝑖 𝑉 𝑖𝑅 𝑉𝑐
= − −
𝑑𝑡 𝐿 𝐿 𝐿
𝑑𝑉𝑐 𝑖
=
𝑑𝑡 𝐶
Assume input 𝑢 = 𝑉
𝑑𝑉𝑐
𝑥̇ 1 =
𝑑𝑡
𝑑𝑖
𝑥̇ 2 =
𝑑𝑡
1
𝑥̇ 1 = 𝑥
𝐶 2
𝑢 𝑅 1
𝑥̇ 2 = − 𝑥2 − 𝑥1
𝐿 𝐿 𝐿
1
0 𝑥1 0
𝑥̇ 1 𝐶 1
[ ]=[ ][ ] + [ ]𝑢
𝑥̇ 2 1 𝑅 𝑥2
− − 𝐿
𝐿 𝐿
𝑦1 1 0 𝑥1 0
[𝑦 ] = [ ] [𝑥 ] + [ ] 𝑢
2 0 𝑅 2 0