Question No.

1
Design the State Feedback Controller (for the linearized system) and RUN it for both linear and nonlinearized systems in Simulink.
Data Initialization:
m=0.05; k=0.001; g=9.81; a=0.05; Lo=0.01; yss=0.05;
m=1.5*m; % mass perturbation
uss=(a+yss)*sqrt(2*m*g/(a*Lo))
A=[0 1; 2*g/(a+yss) -k/m]
B=[0; -(1/(a+yss))*sqrt(2*Lo*a*g/m)]
C=[1 0]
D=[0]
eig(A)
p=[-10; -14];
K=-place(A,B,p)
x0=[0.05;0]

For Linear System

Output:
subplot(121)
plot(tout,yout(:,1))
title({'State feedback Controller';'applied to Linear model'})
ylabel('Output')
xlabel('Time')
subplot(122)
plot(tout,yout(:,2))
title({'State feedback Controller';'applied to Linear model'})
ylabel('Control')
xlabel('Time')

For Non-Linear System

Output
subplot(121)
plot(tout,yout(:,1))
title({'State feedback Controller';'applied to Non Linear model'})
ylabel('Output')
xlabel('Time')
subplot(122)
plot(tout,yout(:,2))
title({'State feedback Controller';'applied to Non Linear model'})
ylabel('Control')
xlabel('Time')

Question No. 2
Design the Output Feedback Controller (for the linearized system) and RUN it for both linear
non-linearized systems in Simulink.
Data Initialization:
m=0.05; k=0.001; g=9.81; a=0.05; Lo=0.01; yss=0.05;
m=1.5*m; % mass perturbation = 50%
uss=(a+yss)*sqrt(2*m*g/(a*Lo))
A=[0 1; 2*g/(a+yss) -k/m]
B=[0; -(1/(a+yss))*sqrt(2*Lo*a*g/m)]
C=[1 0]
D=[0]
eig(A)
p=[-10; -14];
K=-place(A,B,p)
x0=[0.05;0]
po=[-400 -500];
L=(place(A',C',po))'
Ao=A+B*K-L*C
Bo=L
Co=eye(2)
Do=zeros(2,1)

For Linear System

Output
subplot(121)
plot(tout,yout(:,1))
title({'Output feedback Controller';'applied to Linear model'})
ylabel('Output')
xlabel('Time')
subplot(122)
plot(tout,yout(:,2))
title({'Output feedback Controller';'applied to Linear model'})
ylabel('Control')
xlabel('Time')

For Non-Linear System

Output
subplot(121)
plot(tout,yout(:,1))
title('Output feedback Controller applied to Non-Linear model')
ylabel('Output')
xlabel('Time')
subplot(122)
plot(tout,yout(:,2))
title('Output feedback Controller applied to Non- Linear model')
ylabel('Control')
xlabel('Time')

Question No. 3
Apply the Integral Control to the State Output Feedback Controller and RUN it for both
linear and non-linearized system in Simulink.
Data Initialization:
m=0.05; k=0.001; g=9.81; a=0.05; Lo=0.01; yss=0.05;
m=1.5*m; % mass perturbation = 50%
uss=(a+yss)*sqrt(2*m*g/(a*Lo))
A=[0 1; 2*g/(a+yss) -k/m]
B=[0; -(1/(a+yss))*sqrt(2*Lo*a*g/m)]
C=[1 0]
D=[0]
eig(A)
x0=[0.05;0]
po=[-400 -500];
L=(place(A',C',po))'
A_hat=[A zeros(2,1); -C 0]
B_hat=[B;0]
p=[-14;-12;-10]
K=-place(A_hat,B_hat,p)
Ao=[A+B*K(1,1:2)-L*C zeros(2,1);zeros(1,3)]
Bo=[L;-1]
Co=K
Do=0

Integral Control of Output feedback Controller: Linear model

Output
subplot(121)
plot(tout,yout(:,1))
title({'Integral Control of';'Output feedback Controller';'Linear model'})
ylabel('Output')
xlabel('Time')
subplot(122)
plot(tout,yout(:,2))
title({'Integral Control of';'Output feedback Controller';'Linear model'})
ylabel('Control')
xlabel('Time')

Integral Control of Output feedback Controller: Non Linear model

Output
subplot(121)
plot(tout,yout(:,1))
title({'Integral Control of';'Output feedback Controller';'Non Linear
model'})
ylabel('Output')
xlabel('Time')
subplot(122)
plot(tout,yout(:,2))
title({'Integral Control of';'Output feedback Controller';'Non Linear
model'})
ylabel('Control')
xlabel('Time')

Integral Control of State feedback Controller: Linear model

Output
subplot(121)
plot(tout,yout(:,1))
title({'Integral Control of';'State feedback Controller';'applied to Linear
model'})
ylabel('Output')
xlabel('Time')
subplot(122)
plot(tout,yout(:,2))
title({'Integral Control of';'State feedback Controller';'applied to Linear
model'})
ylabel('Control')
xlabel('Time')

Integral Control of State feedback Controller: Non Linear model

Output
subplot(121)
plot(tout,yout(:,1))
title({'Integral Control of';'State feedback Controller';'applied to Non
Linear model'})
ylabel('Output')
xlabel('Time')
subplot(122)
plot(tout,yout(:,2))
title({'Integral Control of';'State feedback Controller';'applied to Non
Linear model'})
ylabel('Control')
xlabel('Time')

Question No.4
For the Linear system, apply the Servomechanism. (Disturbance Magnitude=10)
Data Initialization:
m=0.05; k=0.001; g=9.81; a=0.05; Lo=0.01; yss=0.05;
m=1.5*m; % mass perturbation = 50%
uss=(a+yss)*sqrt(2*m*g/(a*Lo))
A=[0 1; 2*g/(a+yss) -k/m]
B=[0; -(1/(a+yss))*sqrt(2*Lo*a*g/m)]
C=[1 0]
D=[0]
eig(A)
x0=[0.05;0]
po=[-400 -500];
L=(place(A',C',po))'
A_hat=[A zeros(2,1); -C 0]
B_hat=[B;0]
p=[-14;-12;-10]
K=-place(A_hat,B_hat,p)
Ao=A+B*K(1,1:2)-L*C
Bo=L
Co=eye(2)
Do=zeros(2,1)

REFERENCE :
[1] Linear State-Space Control Systems By Robert L. Williams II
Douglas A. Lawrence
[2] Modern Control Engineering By Katsuhiko Ogata
Output
subplot(121)
plot(tout,yout(:,1))
title({'Reference Input applied';'to Linear model'})
ylabel('Reference')
xlabel('Time')

subplot(122)
plot(tout,yout(:,2))
title({'Observer based Servomechanism';'applied to Linear model'})
ylabel('Output')
xlabel('Time')

Question No.5
Apply Regulation for Part1 and Part2. Input to be taken is a Unit Step.
Data Initialization
m=0.05; k=0.001; g=9.81; a=0.05; Lo=0.01; yss=0.05;
uss=(a+yss)*sqrt(2*m*g/(a*Lo))
m=1.5*m; % mass perturbation
A=[0 1; 2*g/(a+yss) -k/m]
B=[0; -(1/(a+yss))*sqrt(2*Lo*a*g/m)]
C=[1 0]
D=[0]
eig(A)
p=[-10; -14];
K=-place(A,B,p)
x0=[0.05;0]
po=[-600 -700];
L=(place(A',C',po))'
Ao=A+B*K-L*C
Bo=L
Co=eye(2)
Do=zeros(2,1)
N=-1/(C*inv(A+B*K)*B)

Regulation of State Feedback : Linear Model

Output:
subplot(121)
plot(tout,yout(:,2))
title('Regulation of Linear State Feedback')
ylabel('Reference')
xlabel('Time')
subplot(122)
plot(tout,yout(:,1))
title('Reference Tracking')
ylabel('Output')
xlabel('Time')

Regulation of State Feedback : Non Linear Model

Output:
subplot(121)
plot(tout,yout(:,2))
title('Regulation of Non Linear State Feedback')
ylabel('Reference')
xlabel('Time')
subplot(122)
plot(tout,yout(:,1))
title('Reference Tracking')
ylabel('Output')
xlabel('Time')

Regulation of Output Feedback : Linear Model

Output:
subplot(121)
plot(tout,yout(:,2))
title('Regulation of Linear Output Feedback')
ylabel('Reference')
xlabel('Time')
subplot(122)
plot(tout,yout(:,1))
title('Reference Tracking')
ylabel('Output')
xlabel('Time')