National Institute of Technology Silchar, Assam - 788010

Department of Electronics & Instrumentation Engineering

Assignment - II (Due: 27 November 2024, 08:00 AM)

Subject Code: EI-304 Subject: Control Systems-II

1. For the given state-space system:

   
10 8 0 12 10
1 −1 0 22  −1
Ẋ = 
0
 X +   U,
1 0 1 2
−1 1 1 −4 0
 
Y = 1 0 0 1 X.
Determine the stability of the system without using any computational software.

2. For the given state-space system, where U (t) is a unit step input:
     
0 1 0 1
Ẋ = X+ U, X(0) = .
−1 −5 1 0
 
Y = 1 2 X

(a) Find the eigenvalues and eigenvectors of the system matrix.

(b) Derive the state-transition matrix Φ(t) using the eigenvalues and eigenvectors.

(c) Determine the homogeneous solution Xh (t) using the state-transition matrix.

(d) Compute the forced solution Xf (t) due to the unit step input U (t) using the state-
transition matrix.

(e) Obtain the total state solution X(t), which is the sum of the homogeneous and
forced solutions.

(f) Obtain the output Y (t).

(g) Calculate the steady state output Y (t → ∞).

3.
(a) Discuss the role of eigenvalues and eigenvectors of the system matrix in determining
the behavior of trajectories and nature of equilibrium points (from phase plane
representation).

(b) Define and differentiate between node, saddle, spiral, and center equilibrium points.

(c) Sketch the general phase portrait for the system given in Question 2.

(d) Sketch the phase plane trajectory for the system in Question 2 for the given initial
condition.

1
4. For the system described below:
   
−2 −1 −3 2
Ż =  0 −2 1  Z + 1 U,
−7 −8 −9 2
 
Y = 4 6 8 Z

(a) Check whether the system is controllable and observable by using the controllability
matrix and observability matrix.

(b) Design a state-variable feedback controller to yield 40% overshoot and a settling
time of 10 seconds for the closed loop plant.

(c) For the closed-loop system with the designed state feedback controller, calculate the
steady-state error for a unit step input.

5. Design an integral controller for the plant

   
0 1 0
Ẋ = X+ U
−7 −9 1
 
Y = 4 1 X
to yield a step response with 10% overshoot, a peak time of 2 seconds, and zero steady-
state error.

6.

(a) Discuss the need for observer in state space controller design.

(b) Derive the general equations for a full-order observer.

(c) Discuss the design conditions that should be maintained to achieve optimal perfor-
mance of an observer.

7.

(a) Explain the process of converting a continuous-time system into a discrete-time

state-space representation using zero-order hold approximation. What are the key
steps involved, and how do the system matrices change in the discrete domain?

(b) How to determine if a discrete-time system is stable?

8.

(a) Explain how different control strategies address the hierarchy of stability, zero
steady-state error, and optimal performance.

(b) Explain how the LQR controller ensures optimal performance in regulating the
system’s behavior.

2
9.

(a) How does the presence of nonlinearity such as saturation, dead zones, and hysteresis
affect the performance and stability of a control system?

(b) What is a limit cycle in the context of nonlinear systems, and how can it be detected
and analyzed?

(c) How do you determine the equilibrium points of a nonlinear system, and what
methods can be used to analyze their stability? Discuss the relevance of the Jacobian
matrix in this analysis.

10. Consider the nonlinear system described by the following set of differential equations:

ẋ = x2 + y, ẏ = x − y 2

Linearize this system around the equilibrium point (x0 , y0 ) = (0, 0) and find the corre-
sponding linear system. Determine the Jacobian matrix and the state-space representation
of the linearized system.

3
Hints:

Question 1.
The system is represented in state-space form with the state matrix A, input matrix B,
and output matrix C. To analyze the stability of the system, it is necessary to determine
the location of its eigenvalues (poles) in the complex plane.

Since the characteristic equation of the system is of 4th order, solving it directly using a
calculator is cumbersome. Instead, follow these steps:

(i.) Derive the characteristic equation of the system matrix A by finding det(sI −A) = 0,
where s is a complex variable.

(ii.) Construct the Routh-Hurwitz (RH) table for the derived characteristic equation.

(iii.) Analyze the RH table to determine the number of eigenvalues (poles) with positive
real parts.

Based on this analysis, conclude whether the system is stable, marginally stable, or un-
stable. For the system to be stable, all eigenvalues must have negative real parts.

Question 2.
(b).

1.0455e−0.20871t − 0.045545e−4.7913t 0.21822e−0.20871t − 0.21822e−4.7913t

 
Φ(t) =
−0.21822e−0.20871t + 0.21822e−4.7913t −0.045545e−0.20871t + 1.0455e−4.7913t

(c).
1.0455e−0.20871t − 0.045545e−4.7913t
 
Xh (t) =
−0.21822e−0.20871t + 0.21822e−4.7913t
(g). Y (t → ∞) = 1

Question 4.
(a). Controllable and Observable.
 
(b). Equation for Percentage Overshoot: %OS = exp − √ζπ × 100
1−ζ 2

4
Equation for Settling Time: Ts = ζωn

The desired closed loop dominant poles (eigenvalues): p1, p2 = −0.4 ± j0.9165. You can
choose the desired closed loop non-dominant eigenvalue at p3 = −2.

Steps for state feedback controller for open loop system in non phase variable form:

(i.) Find MCz , the controllability matrix of given system.

(ii.) Find the equivalent phase variable form of the given system Ẋ = AX + BU .

4
(iii.) Find MCx , the controllability matrix of equivalent phase variable form.

(iv.) Find Kx , the state feedback controller of the equivalent phase variable form for the
desired closed loop eigenvalues using shortcut method.
−1
(v.) Find P = MCz MCx , the similarity transformation matrix, Z = P X.

(vi.) Find Kz = Kx P −1 , the state feedback controller for the given system.

State feedback gain matrix: Kx = [−1.7753 − 2.2158 − 2.2168]

(c). Steady-state error for unit step input: 50.0014

Question 5.  
ζπ
Equation for Percentage Overshoot: %OS = exp − √ 2 × 100
1−ζ
π
Equation for Peak Time: Tp = p
ωn 1 − ζ 2
Find the desired poles (eigenvalues) from the above equations after finding ζ and ωn .

The open loop system is in phase variable form. The state space controller: K =
[2.21 − 27], Ke ≈ 3.8