WEEK 8
1. A minimum order observer is:
a. An observer with fewer states than the plant.
b. An observer designed using Ackermann’s formula.
c. An observer that estimates all states exactly regardless of order.
d. An observer needing the same number of states as the plant.
Solution:
Option a is correct.
A minimum-order observer uses fewer internal states than the plant model by
leveraging directly measurable outputs, forming a reduced-order observer.
2. Which MATLAB command is used to obtain the observability matrix from state-space
matrices [A] and [C] ?
a. 𝑜𝑏𝑠𝑣(𝐴, 𝐶)
b. 𝑜𝑏𝑠(𝐴, 𝐶)
c. 𝑐𝑡𝑟𝑙(𝐴, 𝐶)
d. 𝑜𝑏𝑠𝑒𝑟𝑣𝑒(𝐴, 𝐶)
Solution:
Option a is correct.
In MATLAB, 𝑜𝑏𝑠𝑣(𝐴, 𝐶) constructs the observability matrix.
3. In case of a sensor having high noise, we put the observer poles nearer to the
imaginary axis as compared to the controller poles.
a. False
b. True
Solution:
Option b is correct.
If observer poles are placed too far to the left (i.e., fast), the observer becomes sensitive
to measurement noise. For noisy sensors, we deliberately slow the observer response
(i.e., place poles nearer to the imaginary axis than controller poles) to reduce the effect
of noise on the state estimates. Thus, it’s better to put observer poles closer to
imaginary axis than the controller poles.
4. What is the main goal when solving a tracking problem using state feedback?
a. Minimize control energy
b. Ensure system output follows a desired reference
c. Maximize closed-loop pole locations
d. Eliminate measurement noise
Solution:
Option b is correct.
The main objective in tracking using state-feedback is to ensure that the system output
y(t) closely follows a desired reference input r(t) over time. This is particularly important
in systems like robotics, power converters, or aircraft control, where output variables
(e.g., position, voltage, angle) must track a given command.
5. Why is a reference (feedforward) gain 𝑇𝑠 computed in tracking design?
a. To amplify the control effort.
b. To stabilize the observer.
c. To ensure the output tracks the reference with zero steady-state error.
d. To minimize but not eliminate the steady-state error.
Solution:
Option c is correct.
𝑇𝑠 Ensures that in steady state, the output tracks the reference with zero steady-state
error.
6. For the system:
𝑋̇ = 𝐴𝑋 + 𝐵𝑈; 𝑌 = 𝐶𝑋
Where, [𝐴] = [
1 4] ; [𝐵] = [0] ; [𝐶] = [
1 0]
0 2 1
Determine if the system is observable.
a. Completely unobservable
b. Partially observable
c. Completely observable
d. Data insufficient
Solution:
Option c is correct.
[𝐴] = [1 4] ; [𝐵] = [0] ; [𝐶] = [1 0]
0 2 1
[𝐶 𝑇 𝐴𝑇 𝐶 𝑇 ] = [1 1]
0 4
Thus,
𝐷𝑒𝑡[𝐶 𝑇 𝐴𝑇 𝐶 𝑇 ] = 4 ≠ 0
Hence, the system is completely observable.
7. The steady-state error for a unit step input can be minimized by adding which
component?
a. Proportional controller
b. Lead compensator
c. Integrator
d. Lag compensator
Solution:
Option c is correct.
Adding an integral component introduces a pole at the origin (type 1 system), which guarantees
zero steady-state error for a step input. Without integral action, any constant input can leave a
residual error depending on the open-loop type.
8. In full-state feedback design, the control law with steady-state gain compensation is
given by:
a. 𝑢 = −𝐾𝑥
b. 𝑢 = −𝐾𝑥 + 𝑇𝑠 𝑟
c. 𝑢 = −𝐾 + 𝑇𝑠 𝑟
d. 𝑢 = 𝐾𝑥 + 𝑟
Solution:
Option b is correct.
The compensating factor (𝑇𝑠 ) is computed for reducing steady-state error for the pole
placement state feedback controller design. The new control law for steady-state error
minimization is:
𝒖 = −𝑲𝒙 + 𝑻𝒔 𝒓
9. The integrator adds a pole to the system at which location?
a. At 𝑠 = −1
b. At 𝑠 > 0
c. At 𝑠 = 0
d. At 𝑠 < 0
e. At 𝑠 → ∞
f. At 𝑠 → −∞
Solution:
Option c is correct.
This integrator introduces a new state variable that is essentially the integral of the output error.
In terms of the system poles:
1
An integrator has a pole at the origin (i.e., in Laplace domain, its transfer function is , which
𝑠
corresponds to a pole at s = 0).
10. The compensating factor (𝑇𝑠 ), for obtaining zero steady-state error will be:
1
a. 𝐶[𝑠𝐼−𝐵𝐾 ]−1
𝑐
1
b. 𝐶[𝑠𝐼−𝐵𝐾 ]−1 𝐵
𝑐
−1
c. 𝐶[𝐴−𝐵𝐾 ]−1 𝐵
𝑐
1
d. [𝑠𝐼−𝐵𝐾 ]−1 𝐶
𝑐
Solution:
Option c is correct.
The compensating factor (𝑇𝑠 ), for obtaining zero steady-state error will be:
−𝟏
𝑪[𝑨 − 𝑩𝑲𝒄 ]−𝟏 𝑩
