exercise11_lqr

CHEM-E7190/2024: Exercise 11 Part 1/2 - LQR - Tutorial [EX-
TRA]
Intended Learning Objectives:

By completing this exercise set, students will be able to:
1. Analyze the stability of linear time-invariant (LTI) systems by examining the eigenvalues of the system
matrix.
2. Simulate open-loop LTI systems using MATLAB to observe and interpret their dynamic behavior.
3. Determine the controllability of an LTI system by calculating and analyzing its controllability matrix.
4. Evaluate the observability of an LTI system through the computation of its observability matrix.
5. Design state-feedback controllers using pole placement techniques to achieve desired closed-loop dy-
namics.
6. Understand the impact of pole placement on the transient response and stability of control systems.
7. Apply step inputs to control systems and analyze the resulting time-domain responses.
8. Implement reference input scaling in control systems to ensure accurate steady-state tracking of refer-
ence signals.
To introduce the state-space control design method, we will use the magnetically suspended ball as an
example. The current through the coils induces a magnetic force which can balance the force of gravity and
cause the ball (which is made of a magnetic material) to be suspended in mid-air.
The system is described with the following state-space system

   
0 1 0 0
ẋ(t) = 980 0 −2.8  x(t) +  0  u(t)
0 0 −100 100

y(t) = 1 0 0 x(t) + 0 u(t)
where:
 
∆h
x =  ∆ḣ 
∆i
1
is the set of state variables for the system (a 3x1 vector) where h is the vertical position of the ball, i
is the current through the electromagnet, u is the deviation of the input voltage from its equilibrium value
(∆V ), and y (the output) is the deviation of the height of the ball from its equilibrium position (∆h).
1. Determine the stability of the system.
2. Simulate the open-loop system in matlab.

3. A system is controllable if there always exists a control input, u(t), that transfers any state of the
system to any other state in finite time. It can be shown that an LTI system is controllable if and
only if its controllabilty matrix, C, has full rank (i.e. if rank(C) = n where n is the number of states
variables). Check the controllability of the system.
4. All of the state variables of a system may not be directly measurable, for instance, if the component is
in an inaccessible location. In these cases it is necessary to estimate the values of the unknown internal
state variables using only the available system outputs. A system is observable if the initial state,
x(t0 ), can be determined based on knowledge of the system input, u(t), and the system output, y(t),
over some finite time interval t0 < t < tf . For LTI systems, the system is observable if and only if the
observability matrix, O, has full rank (i.e. if rank(O) = n where n is the number of state variables).
Determine the observability of the system.
5. Let’s build a controller for this system using a pole placement approach. Let’s assume the reference is
zero, r = 0. The input is then
u = −Kx
The state-space equations for the closed-loop feedback system are, therefore,
ẋ = Ax + B(−Kx) = (A − BK)x
y = Cx
The stability and time-domain performance of the closed-loop feedback system are determined primarily
by the location of the eigenvalues of the matrix (A − BK), which are equal to the closed-loop poles.
Place the two dominant poles at -10 +/- 10i and the third pole at -50. Then, simulate your system.
Try also placing the poles further to the left to see if the transient response improves.
6. Take the control system as defined above and apply a step input (Choose a small value for the step,
so we remain in the region where our linearization is valid).
7. Recall the schematic above, we don’t compare the output to the reference; instead we measure all the
states, multiply by the gain vector K, and then subtract this result from the reference. To eliminate
this problem, we can scale the reference input to make it equal to Kx in steady-state. Use command
Nbar = rscale(sys,K) to scale the reference input and simulate your result.

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CHEM-E7190/2024: Exercise 11 Part 1/2 - LQR - Tutorial [EX-

Intended Learning Objectives:

The system is described with the following state-space system

2. Simulate the open-loop system in matlab.

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