Control bootcamp

Special notes:
1. We have broken down the system in view of all the eigen values and eigen
vectors, because this eigen values and eigen vectors give the system or
makes the system or breaks the system in different independent component
2. This component help us to solve the system easily.
3. For eg dx/dt = Ax or x’= Ax
The upcoming value of the variable x1 will be the direction of current value
of the x1 , so the breaken component will get the next iteration value from
this easily!!!!

We have divided or breaked a system using its eigen values

each breaked variable is dependent only on its owns
for e.g. the d(x1)= (K1)x1.

Also using the lapace transformation we get the second relation for solving
the the LDE and that is x(t) = eAt =I+At+(A2t2)/2!+. . . .. . …. .
At=TDT-1
A2t2=TD2T-1 (in this way)
this is how the calculation is used to make the expression simple
-

the dynamics are simpler in the eigen vector coordinates (z coordinates)

***Overview***

1. We compute the Eigen vector (T-1)

and the eigen values (eDt)
2. The mostly used eqn is the first eqn i.e. x(t)=TeDtT-1x(0)
3. then by the simple matrix multiplication we get the state in the
future time. (x(t)).
4. Our basic eqn is d(x)=Ax, then we further add the Bu to control the
system.
5.

How to linearize the non-linear system

now when we required to calculate the Jacobean at x(bar) then we will

put the components (x1 and x2) of the x bar in the Jacobean matrix

Here we have given fn as shown in the image the

derivative matrix is
the Jacobean of the fn w.r.t x
when we look near the derivative=0 point our system behaves like LDE
system,

in the left side image, the system is nearly

LDE near the intersection point that’s why we
consider
this the reason for using the x(bar).

this is our system near the x(bar) area and near this area
our system is LDE.

Now we have added the new term in the expression Bu where u = -kx
x’= (A-Bk)x this will be our new eqn

Important points
• Building of shouldn’t be wrong so that we should be able to control our
system.
• Coupled system where we can make the dependency of variable to other
variable, means variable should be able to change rather it remain
constant or doesn’t take any input from our B matrix
 this LHS is the format for for x’=Ax+Bu in the
matrix format we now multiply this with controllable
matrix to see controllable matrix’s binary decision
whether this is controllable or not.

This curly C is the checking controllable matrix.

We will take the first column as B AB A2B……
And the check the rank the rank of the matrix
If it is the required then the system is
controllable otherwise not

Condition for the controllability

We can use any loop eigen value of the system x’=(A-Bk)x So that there
exist a controllable matrix k for u=-kx
 Actuation input column vector B
This is for dicrete time system
The next iterations are run in the loop for getting the
control on the system.
Here the first eqn Xk+1=Axk+Buk the A and B are
not same as or x’=Ax+Bu whixch is for continue
time system.

The output of rank cmd is the binary

decision which has to be fixed.
So we proceed as:
x’=Ax+Bu (this is our system eqn)
Solution to this eqn is:
𝒕
x(t)= eAtx(0)+ ∫𝟎 𝒆(At-T)Bu(t)dT

The order of Gramian matrix is N*N as:

eAt has N*N order and BBT has N*N order as
one is N*1 and the other is 1*N and again
eAt has N*N order so over

Biggest the eigen value more easy to

control the system
There are Controlabilty vectors of the
Granian WtE=λE

SVG is single value decomposition system

We can get the direction which are easy to go in (in the ellipsoid) by this SVG of the controllable
matrix
PBH test for controllability:
rank[(A-λI)]=n
the rank of A-Λi will be lesser
when lambda is in eigen vector
direction and Speacial actuator
vector B will fill the rank to n
in those dirn

Calay hamilton thm:

Whixh support that we can write that the system will satisfy it’s pwn characterstic eqn and e At can be
written in the form of finite sum with the powers of A

The state ξ can be reached by multiple U(t) if the system is controllable.

Now we are talking about the reachability if the state ξ
𝒕
So if the state ξ is reachable then there exist some U so that ξ =∫𝟎 𝒆(At-T)Bu(t)dT
𝒕
The convolutional integral this ∫𝟎 𝒆(At-T)Bu(t)dT can be written in the format of controllable matrix
and product with a integral column matrix.
 We had written the ξ in the terms
of calay Hamilton e..g.
Our integral is w.r.t T (tao) and
the expression is tao free so we can break
the integrals separately and take out the
powers common to takeout the
controllable matrix.

So we take the common this way!!

How easy it to control a system

 2 DOF applies 4 ODE.
 Get the fixed points.
 Make the control setup variable u.
 To control a system, we first need to compute the Jacobean.
 Then plug them to the fixed point state.
 Jacobean is 𝑫𝒇/𝑫𝒙

Controlling a cartpend system

To Control a cartpend system we will first linearize the ODE and the make
out our matrix A and feed the code in the matlab
First we have make the variable of the system .
Assign the value to the static variables.
Make the matrix in terms of static variables.
Get set the time span.