Written Exam

Control System Design (EE4C04)

Thursday November 10, 2016, 9:00-12:00 hrs

Read the following very carefully.

• Write your name and student number on the response sheet.

• This exam consists of 20 multiple-choice exercises. Only one alternative is correct.

• The answer must be given using the response sheet. Only the response sheet can be
handed in.

• Two hand-written A4 sheets are allowed.

• A calculator is NOT allowed.

• Books, lecture notes, and other material are NOT allowed.

• GOOD LUCK !!!

Delft University of Technology

Faculty 3mE
Delft Center for Systems and Control (DCSC)
Mekelweg 2
2628 CD Delft
Exercise 1

Consider the following block scheme:

✲❡ ✲ e ✲ ✲❡ ✲
y
G1 G2
+ ✻ + ✻
+ −
❄
G3 G4
✻

Derive the transfer function G from r to y.

Answers:
G1 G2 − G1 G4
A. G =
1 − G1 G3 G4
G1 G2 − G2 G3 G4
B. G =
1 − G2 G4
G3 G4 − G1 G4
C. G =
1 + G3 G4
G1 G2
D. G =
1 + G1 G3 + G2 G4

Exercise 2

Given the following input-output system

6ẏ(t) = 4 u(t) + 3 y(t) u(t)

Which answer is correct?

Answers:

A. The system is time-invariant and causal.

B. The system is memoryless and non-linear.

C. The system is dynamic and non-causal.

D. The system is linear and time-varying.

Exercise 3

Consider the state system

ẋ1 = (x2 − x1 )x3 − 0.5 x22

ẋ2 = x2 x3 − x32 + x1 − x3
ẋ3 = x2 − x3 + x3 x1 − x2 x1

Linearize the system around the equilibrium (x1,e , x2,e , x3,e ) = (1, 1, 1). What are the
eigenvalues of system matrix A of the linearized system?
Answers:

A. λ1 = −2, λ2 = −1, λ3 = 0

B. λ1 = −1, λ2 = 0, λ3 = 1

C. λ1 = 0, λ2 = 1, λ3 = 2

D. λ1 = 1, λ2 = 2, λ3 = 3

Exercise 4

Consider the state system

ẋ1 = (x2 − x1 )x3 − 0.5 x22 + u

ẋ2 = x2 x3 − x32 + x1 − x3 + u
ẋ3 = x2 − x3 + x3 x1 − x2 x1 + u

We can linearize the system around two different equilibria:

- Equilibrium I: (x1,e , x2,e , x3,e ) = (1, 1, 1).
- Equilibrium II: (x1,e , x2,e , x3,e ) = (2, 2, 2).
Which of the following answers is correct?

A. The system is controllable for both equilibria.

B. The system is controllable only for equilibrium I.

C. The system is controllable only for equilibrium II.

D. The system is not controllable for both equilibria.

Exercise 5

Consider the system with the system equations

ẋ1 = −2x1 − x2
ẋ2 = −x1 − 2x2
Consider the following two functions:
V1 (x) = 2x21 − 2x1 x2 + 2x22
V2 (x) = 3x21 + 3x22
Which of these functions are Lyapunov functions for this system?
Answers:
A. Only V1 is a Lyapunov function.
B. Only V2 is a Lyapunov function.
C. V1 and V2 are both Lyapunov functions.
D. Neither V1 nor V2 is a Lyapunov function.

Exercise 6

Consider the state system:

ẋ1 = 5x1 + x2 − u
ẋ2 = −x1 + 3x2 + 2u
y = 8x1 + 6x2
We can write this system in Jordan-form, with system matrices
   
4 1 1
A= , B=
0 4 1
Compute the corresponding C-matrix.
Answers:
 
A. C = 1 1
 
B. C = 1 2
 
C. C = 2 1
 
D. C = 2 2
Exercise 7

Given a system with system matrices:

   
1 0 0 1 1
 0 1 1 0   0   
A=  0 0 1 0 , B= 1
  ,
 C= 0 1 0 1 , D=0
−1 0 0 1 0

Which of the following answers is correct?

A. The system is controllable and observable.

B. The system is controllable but not observable.

C. The system is observable but not controllable .

D. The system is not controllable and not observable.

Exercise 8

Consider the following dynamical system:

ẋ = Ax + Bu
y = Cx

with    
−1 1 0 0  
A =  0 −1 b  , B =  a  , C = 1 0 1
0 0 −1 1
For which values of a and b is the system controllable?
Answers:

A. For a 6= 0 .

B. For b 6= 0.

C. For a 6= 0 and b 6= 0.

D. For all a and b.

Exercise 9

Given the following state system:

   
−3 −2 −1
ẋ(t) = x(t) + u(t)
1 0 0
 
y(t) = 0 3 x(t)
 
4
Let x(0) = and let u(t) = 0. Compute x(t) for t = ln(2).
2
(where ln(·) is the natural logarithm with base e).
Answers:
 
−0.5
a. x(ln(2)) =
2
 
−1
b. x(ln(2)) =
2.5
 
−1.5
c. x(ln(2)) =
3
 
−2
d. x(ln(2)) =
3.5
Exercise 10

Consider the state system:

ẋ1 = x1 − 4 x2 + 2 u
ẋ2 = −2 x1 + x2 − u

An LQR controller has been designed for

 
12 2
Qx = , Qu = 1 .
2 3

What is the resulting state feedback K?

(Hint: the matrix P in the related Riccati-equation has a diagonal form.)
Answers:
 
A. K = 5 −2
 
B. K = 4 −3
 
C. K = 3 −4
 
D. K = 2 −5
Exercise 11

Consider the state system

ẋ = Ax + Bu
y = Cx

and the observer

d x̂
= Ax̂ + Bu + L(y − C x̂)
dt
where    
−2 −7 1  
A= , B= , C= 3 4 .
4 4 3
 
ℓ1
The observer gain L = is such that the observer poles are s1 = −3 and s2 = −5.
ℓ2
Compute the first entry of the observer gain.
Answers:

A. ℓ1 = 1

B. ℓ1 = 2

C. ℓ1 = 3

D. ℓ1 = 4
Exercise 12

Consider the state system

ẋ = A x + B u + F v
y =Cx+w
where A = 9, B = 1, F = 1, and C = 6. Assume that the disturbance v and noise w are zero
mean and Gaussian and let the covariances be given by Rv = 60 and Rw = 6. We design a
Kalman filter for the system with
d x̂
= Ax̂ + Bu + L(y − C x̂)
dt
y = Cx + w

What is the Kalman gain?

Answers:
A. L = 5
B. L = 7
C. L = 9
D. L = 11

Exercise 13

Consider the state system

ẋ1 = −8x1 − 20x2 + u

ẋ2 = x1 + x2
y = −2x1 − 10x2 + 2u

This system has a pole-zero cancelation for s = s0 .

Which statement is true:
Answers:
A. The system is controllable and s0 = −3.
B. The system is observable and s0 = −3.
C. The system is controllable and s0 = −4.
D. The system is observable and s0 = −4.
Exercise 14

Consider the simple first-order model described by ẋ = ax + bu, y = cx with

a = −3, b = 2, c = 1. A closed-loop system has been designed through feedback and integral
control. The state-feedback has the form
 
x
u = −K + kr r
xi
 
where K = k1 k2 and xi = y − r. The closed-loop system has two coinciding poles at
s = −6.
Compute k1 .
Answers:
A. k1 = 4.5

B. k1 = 9

C. k1 = 18

D. k1 = 36

Exercise 15

Consider a system with nominal model

1
P (s) =
s+2
and an additive model error ∆ with |∆| ≤ 0.1. The system is in closed loop with a proportional
controller C(s) = 8.
Which of the following answers is correct?

Answers:
A. The controller is robustly stabilizing the system and the controller stabilizes the nominal
model.

B. The controller is not robustly stabilizing the system but the controller stabilizes the
nominal model.

C. The controller is robustly stabilizing the system but the controller does not stabilize the
nominal model.

D. The controller is not robustly stabilizing the system and the controller does not stabilize
the nominal model.
Exercise 16

Given a system
   
1 α 0
x(k + 1) = x(k) + u(k)
0 1 2
 
y(k) = 1 0 x(k)
 
1
with x(k) = and
1 (
1 for j = 10
u(k + j|k) =
0 elsewhere

1. Compute ŷ(k + 25|k).

Answers:

A. ŷ(k + 25|k) = 1 + 33a

B. ŷ(k + 25|k) = 1 + 43a

C. ŷ(k + 25|k) = 1 + 53a

D. ŷ(k + 25|k) = 1 + 63a

Exercise 17

Consider a LTI system given in the state space description

x(k + 1) = A x(k) + B3 v(k)

z(k) = C2 x(k) + D23 v(k)

where A = −1, B3 = 2, C2 = 3 and D23 = 1. Note that there is no noise (so e = 0) and there is
no external input (w = 0). A performance index is defined as
N
X −1
min J(ṽ, k) = min ẑ T (k + j|k)ẑ(k + j|k) (1)
ṽ(k) ṽ(k)
j=0

for N = 1 and x(0) = 2.

1. Compute v(k) for k = 2.

Answers:

A. v(2) = 40

B. v(2) = 60

C. v(2) = 80

D. v(2) = 100
Exercise 18

System

x(k + 1) = A x(k) + B1 e(k) + B2 w(k) + B3 v(k)

y(k) = C1 x(k) + D11 e(k) + D12 w(k)
z(k) = C2 x(k) + D21 e(k) + D22 w(k) + D23 v(k)

with v = ∆u (so we have an IIO system) and a steady-state

(vss , xss , wss, zss ) = (vss , xss , wss , 0)

at time k with state x(k), external signal w̃(k) and ZMWN signal e(k). The minimum cost
horizon is Nm = 4 and there are no inequality constraints.
Define the optimized performance indices J1∗ (k), . . . , J4∗ (k) as follows:

Ji∗ (k) = min Ji (k) , i = 1, . . . , 4

ṽ

where

• J1 is the performance index for the SPCP with infinite prediction horizon (N = ∞) and
control horizon Nc = 10.
• J2 is the performance index for the SPCP with infinite prediction horizon (N = ∞) and
control horizon Nc = 40.
• J3 is the performance index for the SPCP with prediction horizon N = 50 and control
horizon Nc = 10.
• J4 is the performance index for the SPCP with prediction horizon N = 50 and control
horizon Nc = 40.
Which of the following answers is correct?

Answers:

A. J1 ∗ ≤ J2 ∗ ≤ J4 ∗ and J1 ∗ ≤ J3 ∗ ≤ J4 ∗.

B. J3 ∗ ≤ J4 ∗ ≤ J2 ∗ and J3 ∗ ≤ J1 ∗ ≤ J2 ∗.

C. J2 ∗ ≤ J1 ∗ ≤ J3 ∗ and J2 ∗ ≤ J4 ∗ ≤ J3 ∗.

D. J4 ∗ ≤ J3 ∗ ≤ J1 ∗ and J4 ∗ ≤ J2 ∗ ≤ J1 ∗.
Exercise 19

Consider a LTI system given in the state space description

x(k + 1) = A x(k) + B1 e(k) + B3 v(k)

y(k) = C1 x(k) + D11 e(k)
z(k) = C2 x(k) + D21 e(k) + D23 v(k)

where A = −2, B1 = 2, B3 = 1, C1 = −1.2, D11 = 1, . Note that there is no external input

(w = 0). A performance index is defined as
N
X −1
min J(ṽ, k) = min ẑ T (k + j|k)ẑ(k + j|k) . (2)
ṽ(k) ṽ(k)
j=0

There are no constraints. We consider two case:

I. We consider the performance matrices C2 = −4, D21 = 1, D23 = 1.

     
−4 1 1
II. We consider the performance matrices C2 = , D21 = , D23 = .
0 0 1
Which of the following answers is correct?

Answers:

A. The closed loop is stable for Case I and the closed loop is stable for Case II.

B. The closed loop is stable for Case I but the closed loop is unstable for Case II.

C. The closed loop is unstable for Case I but the closed loop is stable for Case II.

D. The closed loop is unstable for Case I and the closed loop is unstable for Case II.
Exercise 20

We design a GPC controller for the following system:

y(k) − 0.5 y(k − 1) = u(k) + e(k) − 0.3 e(k − 1)

Find feasible initial setting for the tuning parameters N and Nc .

Answers:

A. N = 5 and Nc = 1.

B. N = 8 and Nc = 1.

C. N = 5 and Nc = 2.

D. N = 8 and Nc = 2.