Controle Multivarivel

Leonardo Mozelli
mozelli@ufsj.edu.br
sala 113 bloco 2
Exerccios
1
Exe. 1

Considere a matriz de transferncia

Para quais valores do parmetro a existem zeros

de fase no-mnima

Note that many of the subproblems can be solved independently of each other!

1. Consider the transfer function matrix

G(s) =

1
s+1

s+1
1
s+1
1
s+2

For what values of does the system have one or more zeros in the right
half plane (which implies that the system is nonminimum-phase)? (2 p)
Solution
As the system is square (i.e., as many inputs as outputs) we can find the
system zero(s) by calculating the determinant of the transfer system matrix
det G(s) =

1
s+1

s+1
1
s+1
1
s+2

=
s(1 ) + (1 2)
(s + 1)
2
(s + 2)
which has a zero at s =
12
1
> 0 if [
1
2
, 1]
2. Consider a feedback loop in Figure 1. The process P has a slow pole in
s = 0.1, P and C are given as:
P(s) =
1
10s + 1
C(s) =
10(10s + 1)
s
C P
1
d
r
y
+ +
Figur 1 Block diagram in Problem
a. Compute the sensitivity function and the complementary sensitivity func-
tion. (1 p)
b. How does the slow pole affect the closed loop dynamics? Consider the re-
sponse from both reference r and load disturbance d. (1 p)
Solution
2
2
Exe. 2

Considere o sistema dinmico no-linear a seguir,

cujo ponto de equilbrio a origem:

Use a seguinte funo de Lyapunov

Use esta funo para provar a estabilidade da

origem e informe o valor da constante a escolhida.

















































































































































3
Exe. 3

Considere a seguinte estrutura de controle

CAMPUS ALTO PARAOPEBA CAMPUS ALTO PARAOPEBA CAMPUS ALTO PARAOPEBA CAMPUS ALTO PARAOPEBA CAMPUS ALTO PARAOPEBA
Unidade Curricular: Controle Multivarivel Unidade Curricular: Controle Multivarivel Unidade Curricular: Controle Multivarivel Unidade Curricular: Controle Multivarivel Unidade Curricular: Controle Multivarivel Unidade Curricular: Controle Multivarivel
Professor: Leonardo Mozelli Professor: Leonardo Mozelli Professor: Leonardo Mozelli Professor: Leonardo Mozelli
Ouro Branco, 09/11/2012 Ouro Branco, 09/11/2012
Aluno: Aluno: Aluno: Aluno: Aluno: Aluno:
Matrcula: Matrcula: Turma: Valor: Valor: Nota:
Q1 Considere a seguinte estrutura de controle multivarivel:
4. A MIMO-system is shown in Figure 4. The plant P(s) is given by
P(s) =

0
4
s+2
8
s+4
0.01
s+1

.
Determine which of the following three controllers that is most suitable for
this process.
C
1
=

1 0
0 1

C
2
=

0 1
1 0

C
3
=

0 1
1 0

(3 p)
r
y
C P
I
+
Figure 4 System in Problem 4.
5. In diesel engines, it is important to keep emissions of soot and oxides of
Nitrogen low. Experiments have shown that emissions can be predicted
from two measured signals: the combustion phasing y
1
and the ignition
delay y
2
. A weighted sum of emissions can be approximated by a quadratic
cost function J
y
= y(t)
T
Q
y
y(t) with level curves shown in Figure 5.
a. Two different simulations of the engine are shown in Figure 6. Which of
the two cases would correspond to lower emissions? (1 p)
b. We can control the system using two control signals: the start of injection
angle u
1
and the exhaust gas recirculation valve position u
2
. To minimize
emissions we want to minimize the cost function
J =

0
(y
T
Q
y
y +u
T
Q
u
u)dt
6 4 2 0 2 4 6
2
1.5
1
0.5
0
0.5
1
1.5
2
y
1
y
2
Figure 5 Level curves of J
y
= y(t)
T
Q
y
y(t).
6
4. A MIMO-system is shown in Figure 4. The plant P(s) is given by
P(s) =

0
4
s+2
8
s+4
0.01
s+1

.
Determine which of the following three controllers that is most suitable for
this process.
C
1
=

1 0
0 1

C
2
=

0 1
1 0

C
3
=

0 1
1 0

(3 p)
r
y
C P
I
+
Figure 4 System in Problem 4.
5. In diesel engines, it is important to keep emissions of soot and oxides of
Nitrogen low. Experiments have shown that emissions can be predicted
from two measured signals: the combustion phasing y
1
and the ignition
delay y
2
. A weighted sum of emissions can be approximated by a quadratic
cost function J
y
= y(t)
T
Q
y
y(t) with level curves shown in Figure 5.
a. Two different simulations of the engine are shown in Figure 6. Which of
the two cases would correspond to lower emissions? (1 p)
b. We can control the system using two control signals: the start of injection
angle u
1
and the exhaust gas recirculation valve position u
2
. To minimize
emissions we want to minimize the cost function
J =

0
(y
T
Q
y
y +u
T
Q
u
u)dt
6 4 2 0 2 4 6
2
1.5
1
0.5
0
0.5
1
1.5
2
y
1
y
2
Figure 5 Level curves of J
y
= y(t)
T
Q
y
y(t).
6
Com base nas 3 configuraes para o compensador a seguir, responda:
4. A MIMO-system is shown in Figure 4. The plant P(s) is given by
P(s) =

0
4
s+2
8
s+4
0.01
s+1

.
Determine which of the following three controllers that is most suitable for
this process.
C
1
=

1 0
0 1

C
2
=

0 1
1 0

C
3
=

0 1
1 0

(3 p)
r
y
C P
I
+
Figure 4 System in Problem 4.
5. In diesel engines, it is important to keep emissions of soot and oxides of
Nitrogen low. Experiments have shown that emissions can be predicted
from two measured signals: the combustion phasing y
1
and the ignition
delay y
2
. A weighted sum of emissions can be approximated by a quadratic
cost function J
y
= y(t)
T
Q
y
y(t) with level curves shown in Figure 5.
a. Two different simulations of the engine are shown in Figure 6. Which of
the two cases would correspond to lower emissions? (1 p)
b. We can control the system using two control signals: the start of injection
angle u
1
and the exhaust gas recirculation valve position u
2
. To minimize
emissions we want to minimize the cost function
J =

0
(y
T
Q
y
y +u
T
Q
u
u)dt
6 4 2 0 2 4 6
2
1.5
1
0.5
0
0.5
1
1.5
2
y
1
y
2
Figure 5 Level curves of J
y
= y(t)
T
Q
y
y(t).
6
a) Os trs controladores adotam a mesma estratgia de controle para lidar com a questo do sistema ser multivarivel.
Identifique esta estratgia.
b) Dentre as seguintes alternativas de controladores, determine qual a mais adequada. Justifique com base em algum
critrio.
c) Justifique sua resposta no item b) por meio de simulaes.
Q2 Em motores a combusto fundamental manter em nvel baixo as emisses de fuligem e xido, por motivos de
preservao ambiental e de eficincia.
As emisses podem ser inferidas a partir de duas medies: do faseamento da combusto y1 e da medio do nmero
de cetano, diretamente relacionado ao retardo de ignio, y2. As emisses do motor podem ser aproximadas pela funo
de custo quadrtico a seguir:
4. A MIMO-system is shown in Figure 4. The plant P(s) is given by
P(s) =

0
4
s+2
8
s+4
0.01
s+1

.
Determine which of the following three controllers that is most suitable for
this process.
C
1
=

1 0
0 1

C
2
=

0 1
1 0

C
3
=

0 1
1 0

(3 p)
r
y
C P
I
+
Figure 4 System in Problem 4.
5. In diesel engines, it is important to keep emissions of soot and oxides of
Nitrogen low. Experiments have shown that emissions can be predicted
from two measured signals: the combustion phasing y
1
and the ignition
delay y
2
. A weighted sum of emissions can be approximated by a quadratic
cost function J
y
= y(t)
T
Q
y
y(t) with level curves shown in Figure 5.
a. Two different simulations of the engine are shown in Figure 6. Which of
the two cases would correspond to lower emissions? (1 p)
b. We can control the system using two control signals: the start of injection
angle u
1
and the exhaust gas recirculation valve position u
2
. To minimize
emissions we want to minimize the cost function
J =

0
(y
T
Q
y
y +u
T
Q
u
u)dt
6 4 2 0 2 4 6
2
1.5
1
0.5
0
0.5
1
1.5
2
y
1
y
2
Figure 5 Level curves of J
y
= y(t)
T
Q
y
y(t).
6
cujas curvas de nvel so mostradas abaixo para um dado motor:
4. A MIMO-system is shown in Figure 4. The plant P(s) is given by
P(s) =

0
4
s+2
8
s+4
0.01
s+1

.
Determine which of the following three controllers that is most suitable for
this process.
C
1
=

1 0
0 1

C
2
=

0 1
1 0

C
3
=

0 1
1 0

(3 p)
r
y
C P
I
+
Figure 4 System in Problem 4.
5. In diesel engines, it is important to keep emissions of soot and oxides of
Nitrogen low. Experiments have shown that emissions can be predicted
from two measured signals: the combustion phasing y
1
and the ignition
delay y
2
. A weighted sum of emissions can be approximated by a quadratic
cost function J
y
= y(t)
T
Q
y
y(t) with level curves shown in Figure 5.
a. Two different simulations of the engine are shown in Figure 6. Which of
the two cases would correspond to lower emissions? (1 p)
b. We can control the system using two control signals: the start of injection
angle u
1
and the exhaust gas recirculation valve position u
2
. To minimize
emissions we want to minimize the cost function
J =

0
(y
T
Q
y
y +u
T
Q
u
u)dt
6 4 2 0 2 4 6
2
1.5
1
0.5
0
0.5
1
1.5
2
y
1
y
2
Figure 5 Level curves of J
y
= y(t)
T
Q
y
y(t).
6
4
Exe. 3

3 controladores adotam a mesma estratgia de

controle para lidar com a questo do sistema ser
multivarivel. Identique esta estratgia.

Dentre as seguintes alternativas de controladores,

determine qual a mais adequada. Justique com
base em algum critrio.

Justique sua resposta no item b) por meio de

simulaes.
4. A MIMO-system is shown in Figure 4. The plant P(s) is given by
P(s) =

0
4
s+2
8
s+4
0.01
s+1

.
Determine which of the following three controllers that is most suitable for
this process.
C
1
=

1 0
0 1

C
2
=

0 1
1 0

C
3
=

0 1
1 0

(3 p)
r
y
C P
I
+
Figure 4 System in Problem 4.
5. In diesel engines, it is important to keep emissions of soot and oxides of
Nitrogen low. Experiments have shown that emissions can be predicted
from two measured signals: the combustion phasing y
1
and the ignition
delay y
2
. A weighted sum of emissions can be approximated by a quadratic
cost function J
y
= y(t)
T
Q
y
y(t) with level curves shown in Figure 5.
a. Two different simulations of the engine are shown in Figure 6. Which of
the two cases would correspond to lower emissions? (1 p)
b. We can control the system using two control signals: the start of injection
angle u
1
and the exhaust gas recirculation valve position u
2
. To minimize
emissions we want to minimize the cost function
J =

0
(y
T
Q
y
y +u
T
Q
u
u)dt
6 4 2 0 2 4 6
2
1.5
1
0.5
0
0.5
1
1.5
2
y
1
y
2
Figure 5 Level curves of J
y
= y(t)
T
Q
y
y(t).
6
5
Exe. 3

Relembre
1.2 The Special Case 2x2 1 BASICS

1
=
Tr(A) +

Tr(A)
2
4 det(A)
2

2
=
Tr(A)

Tr(A)
2
4 det(A)
2

1
+
2
= Tr(A)
1

2
= det(A)
Eigenvectors
v
1

A
12

1
A
11

v
2

A
12

2
A
11

Inverse
A
1
=
1
det(A)

A
22
A
12
A
21
A
11

Petersen & Pedersen, The Matrix Cookbook, Version: February 16, 2006, Page 6
6